CN2505244Y - Robot for ignition and water-spraying machine-shaping of curved steel plate - Google Patents
Robot for ignition and water-spraying machine-shaping of curved steel plate Download PDFInfo
- Publication number
- CN2505244Y CN2505244Y CN 01250852 CN01250852U CN2505244Y CN 2505244 Y CN2505244 Y CN 2505244Y CN 01250852 CN01250852 CN 01250852 CN 01250852 U CN01250852 U CN 01250852U CN 2505244 Y CN2505244 Y CN 2505244Y
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- Prior art keywords
- manipulator
- along
- robot
- guide rail
- steel plate
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Abstract
The utility model relates to a robot for ignition and water-spraying machine-shaping of curved steel plate, which belongs to the automation intelligent device for large complicated curved steel plate processing. The robot consists of a microcomputer controller, a control software, a walking mechanism and a manipulator, wherein, the walking mechanism and the manipulator adopt machinery transmissions which are of simple structures and reliable work. The operations of walking, measurement, adjustment, firing and water spraying can be automatically completed. Various plate materials are processed into the demanded curved surface with high processing precision. The device is widely applicable to ship making industry. Shipbuilding cycle can be shortened and shipbuilding quality is improved; therefore the international competitiveness is strengthened. The utility model is welcome in large metal container, large support foot of maritime oil gas development table and large steel structure making industry.
Description
A kind of plate with curved surface extreme misery forming machine people, it belongs to large complicated carved steel plate process automation smart machine.
In existing shipbuilding was produced, from the Ship Design in early stage, sheet material number material and blanking all realized computerization, mechanization and automatic assembly line substantially to the hull assembling in later stage.And the complex-curved steel plate extreme misery of hull processing and forming technology is still by rule of thumb by manual operation, promptly undertaken finishing with water-cooled method after local wire heats by artificial use oxygen-acetylene flame, operating worker directly contacts flame and steam, and work situation is abominable, and labour intensity is excessive.Because experienced veteran worker sharply reduces in recent years, young workman also was difficult to grasp this complex technology in short-term, so cause this technology to leave no successor, directly influenced manufacturing schedule, shipbuilding quality and the shipbuilding period in each shipyard.
The purpose of this utility model is: design a kind of plate with curved surface extreme misery forming machine people, adopt existing Control Technique of Microcomputer and machine driving to combine, be equipped with control corresponding software and finish operations such as walking, measurement, adjustment, flame and water spray automatically.This device should be simple in structure, reliable operation, and the machining accuracy height, labour intensity is little, can satisfy the automated job that various sheet materials are processed to the curved surface that requires.
Technical solution of the present utility model is: a kind of plate with curved surface extreme misery forming machine people, and it is made up of walking mechanism, controller, manipulator and control software, and controller is finished the automatic operation of automatic walking and manipulator by control software control robot.Manipulator is along Y moving by the odontoid belt transmission to crossbeam; Manipulator is along Z moving by lead screw transmission to adjusting height; Z
1Manipulator and Z
2Manipulator is fixed on can be around X on the swivel mount
1-X
1Axle rotation: Z
1Manipulator can be along Z
1-Z
1Axle moves by leading screw, also can be along X
2-X
2Axle moves by leading screw; Z
2Manipulator can only be along Z
2-Z
2Axle moves by leading screw.Special character of the present utility model is: above-mentioned walking mechanism is made up of to guide rail portal frame, 4 rollers and 2 X.Portal frame is made of to crossbeam 2 columns and Y, is equipped with under each column to be located in 2 rollers of X on guide rail, is fixed on motor-driven on the column and X to rail-sides face tooth bar meshed gears.Above-mentioned Z
1Manipulator and Z
2A firn-jet head and 4 fountain heads all are housed on the manipulator.
Above-mentioned portal frame is 11～16m along X to the stroke of guide rail; Manipulator is 3～6m along Y to the stroke of crossbeam; Manipulator is 0.5～2m along Z to the stroke of adjusting height; Z
1Manipulator is at X
1-X
1On the axle with respect to Z
2Range-adjustable between the manipulator is 200～600mm; Z
1Manipulator is at Z
1-Z
1Axial range-adjustable is 50～150mm; Z
2Manipulator is at Z
2-Z
2Axial range-adjustable also is 50～150mm; Swivel mount can make Z
1Manipulator and Z
2Manipulator is that benchmark angle adjustable to the left and right respectively is 45 ° with the vertical plane.
The guiding theory of technique scheme is: this plate with curved surface extreme misery forming machine people is that artificial employing of imitation burnt water and watered and allow the course of work that is shaped into the curved surface that requires behind the steel plate deformed, this robot is except should equipping microcomputerized controller and control software, and robot should walk and operate freely.Therefore the manipulator of robot has 4 frees degree at three dimensions, promptly X to, Y to, Z to around X
1-X
1The axle rotation.In addition, Z
1Manipulator can be at Z
1-Z
1Axle and X
2-X
2Axially fine setting, Z
2Manipulator also can be at Z
2-Z
2Axially fine setting is so that to the accurate selected control of setting.Traditional rack-and-pinion transmission, odontoid belt transmission and lead screw transmission are adopted in the walking of robot and the transmission of manipulator, are equipped with decelerator, brake and motor and are easy to accurately be controlled by microcomputer.Electrically driven (operated) mechanical drive mode is simple in structure, reliable operation, cheap.The running stroke of robot, the impulse stroke of manipulator and amount trimmed can satisfy the processing request of domestic and international various model steel plates.So this robot not only can be used for shipbuilding, also can be used for the manufacturing of large-scale leg of manufacturing, exploitation of offshore oil and gas platform of large-scale canister and manufacturing of large-scale steel structure etc.
Effect of the present utility model is: this plate with curved surface extreme misery forming machine people is owing to adopt Control Technique of Microcomputer and control software, machine driving is adopted in the walking of robot and the operation of manipulator, makes it can finish operations such as walking, measurement, adjustment, flame and water spray automatically.This robot architecture is simple, reliable operation, and the machining accuracy height can satisfy the automated job that various sheet materials are processed to the curved surface that requires.Can not only the be multiplied output of this operation of this equipment is used in the shipyard, and guarantee the crudy of follow-up work hull assembling, and can improve shipbuilding speed on the whole, be that advantageous conditions is created in the precision control that the whole ship of round Realization is built.
Description of drawings:
Accompanying drawing 1 is a kind of plate with curved surface extreme misery forming machine people's a structural representation.
Be an embodiment of the present utility model below, provide details of the present utility model by description and accompanying drawing to this embodiment.
Fig. 1 is a kind of plate with curved surface extreme misery forming machine people's a structural representation.Among the figure, portal frame is made of to crossbeam (2) 2 columns (1) and Y, 2 rollers (3) are housed under each column (1), roller (3) can be gone up to guide rail (4) at X and slide, the motor (5) that has brake and decelerator is fixed on the column (1), motor (5) drive installation with tooth bar (7) meshed gears (6) of X to guide rail (4) side, the portal frame range is that 13.5m, maximal rate are 0.2m/s, peak acceleration is 0.137m/s
2
Y in crossbeam (2), be equipped with make Z to adjusting height (8) at Y to the toothed belt transmission that moves, the motor of band brake and decelerator (20) drives drive pulley and moves to the slideway of crossbeam (2) along Y to adjusting height (8) by driven pulley drive Z through odontoid belt, Z to adjusting height (8) Y to range be that 4.3m, maximal rate are 0.5m/s, peak acceleration is 1.237m/s
2
Be installed in the manipulator of Z on adjusting height (8) by swivel mount (11), Z
1Manipulator (9) and Z
2Manipulator (10) is formed, and the motor (19) by band brake can make manipulator move to the slideway of adjusting height (8) along Z through leading screw, and the Z of manipulator is 1.2m to range, and maximal rate is 0.5m/s, and peak acceleration is 0.851m/s
2
The motor of band brake and decelerator (16) makes swivel mount (11) with X through driver (21)
1-X
1Vertical plane be that benchmark angle adjustable to the left and right respectively is 45 °.
Z
1Manipulator (9) and Z
2Manipulator (10) all is installed on the swivel mount (11).Z
1Manipulator (9) by motor (18) through leading screw (26) along 2 feed rods (25) at Z
1-Z
1Move axially, range is 96mm; Z
1Manipulator (9) by stepper motor (15) through leading screw (24) along the slideway on the swivel mount (11) at X
2-X
2Move axially, so as to regulating the distance between 2 firn-jet heads (12), adjustable range is 200～450mm.Z
2Manipulator (10) by motor (17) through leading screw (23) along 2 feed rods (22) at Z
2-Z
2Move axially, range is 96mm.
At Z
1Manipulator (9) and Z
2All be provided with a firn-jet head (12) and 4 fountain heads (13) on the manipulator (10).Propane and oxygen that firn-jet head (12) uses, the solenoid control of the water that fountain head (13) uses in being installed in clack box (14) supplied with.
Above-mentioned plate with curved surface extreme misery forming machine people by microcomputerized controller by the process data of control software and the input job search point of walking automatically, by various sensors present situation is measured then, automatically adjust the station of manipulator, igniting is carried out the anaerobic heating to steel plate, the limit heating edge is measured the distortion of steel plate, and the water spray cooling makes the steel plate typing when reaching deformation requirements.Robot goes to next operating point automatically then, and the rest may be inferred.
Claims (2)
1. plate with curved surface extreme misery forming machine people, it is made up of walking mechanism, controller, manipulator and control software, controller is finished the automatic operation of automatic walking and manipulator by control software control robot, manipulator is along Y moving by the odontoid belt transmission to crossbeam (2), manipulator depends on lead screw transmission, Z along Z to moving of adjusting height (8)
1Manipulator (9) and Z
2Manipulator (10) is fixed on the swivel mount (11), can be around X
1-X
1The axle rotation, Z
1Manipulator (9) can be along Z
1-Z
1Axle moves by leading screw, also can be along X
2-X
2Axle moves Z by leading screw
2Manipulator can only be along Z
2-Z
2Axle moves by leading screw, of the present utility model being characterised in that, above-mentioned walking mechanism is made up of to guide rail (4) portal frame, 4 rollers (3) and 2 X, portal frame is made of to crossbeam (2) 2 columns (1) and Y, be equipped with under each column (1) and be located in 2 rollers (3) of X on guide rail (4), be fixed on motor (5) on the column (1) drive with X to guide rail (4) side tooth bar (7) meshed gears (6), above-mentioned Z
1Manipulator (9) and Z
2A firn-jet head (12) and 4 fountain heads (13) all are housed on the manipulator (10).
2. according to the described plate with curved surface extreme misery of claim 1 forming machine people, it is characterized in that above-mentioned portal frame is 11～16m along X to the stroke of guide rail (4), manipulator is 3～6m along Y to the stroke of crossbeam (2), manipulator is 0.5～2m along Z to the stroke of adjusting height (8), Z
1Manipulator (9) is at X
2-X
2On the axle with respect to Z
2Range-adjustable between the manipulator (10) is 200～600mm, Z
1Manipulator (9) is at Z
1-Z
1Axial range-adjustable is 50～150mm, Z
2Manipulator (10) is at Z
2-Z
2Axial range-adjustable also is 50～150mm, and swivel mount (11) can make Z
1Manipulator (9) and Z
2Manipulator (10) is that benchmark angle adjustable to the left and right respectively is 45 ° with the vertical plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01250852 CN2505244Y (en) | 2001-09-25 | 2001-09-25 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01250852 CN2505244Y (en) | 2001-09-25 | 2001-09-25 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2505244Y true CN2505244Y (en) | 2002-08-14 |
Family
ID=33660917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01250852 Expired - Fee Related CN2505244Y (en) | 2001-09-25 | 2001-09-25 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2505244Y (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100402175C (en) * | 2006-03-10 | 2008-07-16 | 广州广船国际股份有限公司 | Water fire plate bending machine |
| CN100429013C (en) * | 2007-04-25 | 2008-10-29 | 大连理工大学 | Portable semi-automatic processing machine of plate with curved surface |
| CN100450728C (en) * | 2003-07-18 | 2009-01-14 | 美国发那科机器人有限公司 | Handling large, heavy workpieces using gantry robots with two robot arms |
| CN100457404C (en) * | 2004-04-12 | 2009-02-04 | 大连理工大学 | System having multiple fires for automatic processing curved face steel plate |
| CN101966537A (en) * | 2010-10-27 | 2011-02-09 | 浙江海洋学院 | Ship body section flame straightening device |
| CN102092366A (en) * | 2010-12-29 | 2011-06-15 | 上海电巴新能源科技有限公司 | Power battery replacement system for pure electric car |
| CN102689793A (en) * | 2012-04-29 | 2012-09-26 | 江苏天奇物流***工程股份有限公司 | Automatic power-assisted assembling manipulator |
| CN103639251A (en) * | 2013-11-23 | 2014-03-19 | 华中科技大学 | Cold-hot integrally forming method for ship bidirectional curvature plate |
| CN104858863A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Novel carrying robot |
| CN105127591A (en) * | 2015-09-02 | 2015-12-09 | 哈尔滨工业大学 | Vertically-arranged two-dimensional large-stroke rapid moving device for repairing microdefects of surface of large-caliber hook-face optical element |
| CN105328428A (en) * | 2015-11-11 | 2016-02-17 | 芜湖市振华戎科智能科技有限公司 | Displacement mechanism of module fixing shell integrated assembling machine for Beidou navigation system |
| CN105345419A (en) * | 2015-11-11 | 2016-02-24 | 芜湖市振华戎科智能科技有限公司 | Integrated device for fixing Beidou navigation module and assembling shell |
| CN105459132A (en) * | 2016-01-25 | 2016-04-06 | 德州凯斯锐数控科技有限公司 | Section bar cutting robot |
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN105690379A (en) * | 2016-03-24 | 2016-06-22 | 同济大学 | Four-track gantry suspended type double-manipulator collaborative machining system |
| CN105890516A (en) * | 2014-11-14 | 2016-08-24 | 北京方道环保科技有限公司 | Long-range three-dimensional robot measurement control system |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN106272447A (en) * | 2016-08-18 | 2017-01-04 | 广东工业大学 | A kind of quick teaching system of flame forming plate intelligent robot and method |
| CN106583519A (en) * | 2016-12-30 | 2017-04-26 | 中国冶集团有限公司 | Fan-shaped steel plate curved surface forming device |
| CN107838904A (en) * | 2017-11-14 | 2018-03-27 | 徐州欧普莱斯工业机械有限公司 | A kind of safety-type Pneumatic manipulator with emergency power |
| CN107901072A (en) * | 2017-11-14 | 2018-04-13 | 徐州欧普莱斯工业机械有限公司 | A kind of three coordinate automatic feed dividing machinery hands |
| CN108214471A (en) * | 2018-01-31 | 2018-06-29 | 湖北环电磁装备工程技术有限公司 | The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives |
| CN108282070A (en) * | 2018-01-31 | 2018-07-13 | 湖北环电磁装备工程技术有限公司 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
| CN108528561A (en) * | 2018-04-27 | 2018-09-14 | 王承辉 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
| WO2018210287A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Guide rail |
| CN109015595A (en) * | 2018-08-01 | 2018-12-18 | 湖南华菱涟源钢铁有限公司 | A kind of robot sliding bottom |
| CN110743976A (en) * | 2019-10-21 | 2020-02-04 | 江苏科技大学 | Ship body outer plate curved surface forming equipment based on double mechanical arms and implementation method thereof |
-
2001
- 2001-09-25 CN CN 01250852 patent/CN2505244Y/en not_active Expired - Fee Related
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100450728C (en) * | 2003-07-18 | 2009-01-14 | 美国发那科机器人有限公司 | Handling large, heavy workpieces using gantry robots with two robot arms |
| CN100457404C (en) * | 2004-04-12 | 2009-02-04 | 大连理工大学 | System having multiple fires for automatic processing curved face steel plate |
| CN100402175C (en) * | 2006-03-10 | 2008-07-16 | 广州广船国际股份有限公司 | Water fire plate bending machine |
| CN100429013C (en) * | 2007-04-25 | 2008-10-29 | 大连理工大学 | Portable semi-automatic processing machine of plate with curved surface |
| CN101966537A (en) * | 2010-10-27 | 2011-02-09 | 浙江海洋学院 | Ship body section flame straightening device |
| CN102092366A (en) * | 2010-12-29 | 2011-06-15 | 上海电巴新能源科技有限公司 | Power battery replacement system for pure electric car |
| CN102092366B (en) * | 2010-12-29 | 2012-10-10 | 上海电巴新能源科技有限公司 | Power battery replacement system for pure electric car |
| CN102689793A (en) * | 2012-04-29 | 2012-09-26 | 江苏天奇物流***工程股份有限公司 | Automatic power-assisted assembling manipulator |
| CN103639251A (en) * | 2013-11-23 | 2014-03-19 | 华中科技大学 | Cold-hot integrally forming method for ship bidirectional curvature plate |
| CN103639251B (en) * | 2013-11-23 | 2016-04-20 | 华中科技大学 | A kind of cold-hot integrated forming method for boats and ships bidrectional cured plate |
| CN105890516A (en) * | 2014-11-14 | 2016-08-24 | 北京方道环保科技有限公司 | Long-range three-dimensional robot measurement control system |
| CN104858863A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Novel carrying robot |
| CN105127591A (en) * | 2015-09-02 | 2015-12-09 | 哈尔滨工业大学 | Vertically-arranged two-dimensional large-stroke rapid moving device for repairing microdefects of surface of large-caliber hook-face optical element |
| CN105127591B (en) * | 2015-09-02 | 2017-03-29 | 哈尔滨工业大学 | The microdefect reparation of heavy caliber curved optical device surface is with being disposed vertically two-dimensional large-stroke quick moving device |
| CN105328428A (en) * | 2015-11-11 | 2016-02-17 | 芜湖市振华戎科智能科技有限公司 | Displacement mechanism of module fixing shell integrated assembling machine for Beidou navigation system |
| CN105345419A (en) * | 2015-11-11 | 2016-02-24 | 芜湖市振华戎科智能科技有限公司 | Integrated device for fixing Beidou navigation module and assembling shell |
| CN105459132A (en) * | 2016-01-25 | 2016-04-06 | 德州凯斯锐数控科技有限公司 | Section bar cutting robot |
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN105690379A (en) * | 2016-03-24 | 2016-06-22 | 同济大学 | Four-track gantry suspended type double-manipulator collaborative machining system |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN106272447A (en) * | 2016-08-18 | 2017-01-04 | 广东工业大学 | A kind of quick teaching system of flame forming plate intelligent robot and method |
| CN106583519B (en) * | 2016-12-30 | 2018-06-19 | 中国一冶集团有限公司 | A kind of fan-shaped steel plate curved surface forming device |
| CN106583519A (en) * | 2016-12-30 | 2017-04-26 | 中国冶集团有限公司 | Fan-shaped steel plate curved surface forming device |
| WO2018210287A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Guide rail |
| CN107838904A (en) * | 2017-11-14 | 2018-03-27 | 徐州欧普莱斯工业机械有限公司 | A kind of safety-type Pneumatic manipulator with emergency power |
| CN107901072A (en) * | 2017-11-14 | 2018-04-13 | 徐州欧普莱斯工业机械有限公司 | A kind of three coordinate automatic feed dividing machinery hands |
| CN108214471A (en) * | 2018-01-31 | 2018-06-29 | 湖北环电磁装备工程技术有限公司 | The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives |
| CN108282070A (en) * | 2018-01-31 | 2018-07-13 | 湖北环电磁装备工程技术有限公司 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
| CN108528561A (en) * | 2018-04-27 | 2018-09-14 | 王承辉 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
| CN109015595A (en) * | 2018-08-01 | 2018-12-18 | 湖南华菱涟源钢铁有限公司 | A kind of robot sliding bottom |
| CN109015595B (en) * | 2018-08-01 | 2021-01-26 | 湖南华菱涟源钢铁有限公司 | Robot sliding base |
| CN110743976A (en) * | 2019-10-21 | 2020-02-04 | 江苏科技大学 | Ship body outer plate curved surface forming equipment based on double mechanical arms and implementation method thereof |
| CN110743976B (en) * | 2019-10-21 | 2022-01-18 | 江苏科技大学 | Ship body outer plate curved surface forming equipment based on double mechanical arms and implementation method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |