Full-automatic glass fiber reinforced plastic pipeline intersecting line milling device based on robot

Abstract

The invention discloses a full-automatic glass fiber reinforced plastic pipeline intersecting line milling device based on a robot. The device comprises a multi-axis movement mechanism, a milling machine head for milling and cutting, a transverse-axis movement mechanism, a pipe fitting movement mechanism and a pipe fitting rotating mechanism, the multi-axis movement mechanism is fixedly mounted on the surface of the transverse-axis movement mechanism, and the bottom surface of the pipe fitting rotating mechanism is fixedly connected with the output end of the pipe fitting movement mechanism. According to the device, a multi-axis connecting arm type milling machine head structure and a pipe fitting movement structure are arranged to carry out linkage type programming control; and the multi-axis movement mechanism and the pipe fitting movement mechanism are used for adjusting the milling dip angle of the milling machine head to conduct arc movement milling of an intersecting line milling face, the pipe fitting movement mechanism and the pipe fitting rotating mechanism are used for conducting movement deflection correction of the pipe fitting to adjust a milling contact face, and unification of the pipe fitting and the machine head is achieved. The milling precision is effectively improved, intersecting faces of different angles are milled, and the practicability of the milling robot is improved.

Description

technical field [0001] The invention relates to the technical field of machine tool processing, in particular to a robot-based fully automatic intersecting line milling device for FRP pipes. Background technique [0002] FRP pipe products have the advantages of light weight, corrosion resistance, and good designability, making them widely used in petroleum, chemical, shipping, municipal water supply and drainage and other fields. The intersecting structure formed by pipe insertion is common in large and complex piping systems. Therefore, it is necessary to cut the intersecting line of the fiberglass pipe after winding, and the intersecting line of FRP pipe is usually cut by traditional manual methods. The manual method has the defects of poor cutting quality, large precision error and low processing efficiency, and the on-site working environment is harsh, the labor intensity is high, and the dust generated by cutting will cause great harm to the body of the workers. [000...

AI Technical Summary

Problems solved by technology

The intersecting structure formed by pipe insertion is common in large and complex piping systems. Therefore, it is necessary to cut the intersecting line of the fiberglass pipe after winding, and the intersecting line of FRP pipe is usually cut by traditional manual methods. The manual method has defects such as poor cutting quality, large precision error and low processing efficiency, and the on-site working environment is harsh, the labor intensity is high, and the dust generated by cutting will cause great harm to the body of the workers.

[0003] The existing milling of intersecting lines of FRP pipes is still operated by traditional CNC milling robots. There is no special intersecting line milling equipment. In order to realize the milling of complex surfaces and complex intersecting curves, four-axis, five-axis or even more complex CNC automatic robots are often used. For milling, the control operation of four-axis and five-axis milling machine tools is complex, resulting in complex programming algorithms with low error tolerance, and complex equipment structures and high costs. In the processing of intersecting surfaces with an inclination angle below 30 degrees, it is often due to the tricky milling angle on the surface of pipe fittings. It cannot be formed at one time, and the position of the pipe fittings needs to be readjusted and recalibrated manually, which seriously affects the product processing quality and processing efficiency, and has certain defects

[0004] In view of this, the existing problems are studied and improved, and a robot-based fully automatic FRP pipe intersecting line milling device is provided to solve the existing problems of milling complex intersecting surfaces such as small angles and low work efficiency. The problem of one-time molding aims to solve the problem and improve the practical value through this technology

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