Automatic chamfering device for side wall hole of pipe fitting with large depth-diameter ratio

Abstract

The automatic chamfering device for the side wall hole of the large-depth-diameter-ratio pipe fitting comprises a machine body, a walking unit, a machining unit and a positioning unit, the machining unit is connected with the positioning unit, and the positioning unit is connected with the machine body through the walking unit. The positioning mode that the mechanical positioning pin and the positioning sensor are combined is adopted, the linear feeding module is matched, and axial and circumferential positioning which is simple in structure, accurate and reliable is achieved. Multi-axis combined control is adopted, the main shaft rotating speed, the main shaft forward and reverse rotation, the grinding depth and the axial reciprocating motion of the elastic spherical grinding rod are controlled through programming, and accurate chamfering machining of the side wall hole edges of different positions of the large-depth-diameter-ratio pipe fitting is achieved by controlling the position of the elastic spherical grinding rod. According to the chamfering machine, the chamfering size can be automatically machined, the chamfering machining precision is ensured, and damage to the machined surface is further avoided. According to the invention, the endoscope is arranged above the grinding rod, so that the edge chamfer size of the side wall hole can be evaluated.

Description

Technical Field

[0001] The invention relates to a large depth-to-diameter ratio pipe fitting processing device, in particular to an automatic chamfering device for side wall holes of a large depth-to-diameter ratio pipe fitting. Background Art

[0002] Large depth-to-diameter ratio pipe fittings (hereinafter referred to as pipe fittings) refer to parts whose length divided by the minimum inner diameter is greater than 10, such as the barrel of a gun, the turbine shaft and air duct in an aircraft engine, and the wheel axle of an aircraft landing gear. Such pipe fittings work in a high temperature and high pressure environment, and it is necessary to open a large number of small-diameter pores on the inner wall of the pipe fittings, and these holes are drilled from the outside, which will cause many burrs on the edges of the holes on the side walls of the pipe fittings. Traditionally, a scraper is used to manually remove materials and chamfer the edges of the holes. However, since large depth-to-diameter ratio pipe fittings are usually made of high-strength steel that is difficult to process, and the position of the holes is at a deeper position in large depth-to-diameter ratio pipe fittings, manual operation is not only inefficient and labor-intensive, but also difficult to meet high-precision processing requirements. Chinese patent CN202022210176.3 uses platform-type horizontal machining, which adjusts the length of the spindle and uses a scraper or a variety of tools to perform chamfering. This method can only achieve axial positioning and processing of the chamfer, and there are problems such as large processing platform volume, high cost, and low efficiency in the clamping process of pipe fittings. Chinese patent CN201620913966.9 designs a chamfering tool; Chinese patent CN202320599315.7 designs a tool clamping spindle structure, which allows the tool to penetrate into the pipe through the designed adjustment component, and uses a scraper or chamfering tool to perform chamfering. However, this structure only has an axial feed adjustment device for the pipe, and the tail end needs to be fixed on the machine tool support, which has a large limit on the depth of the pipe. In addition, the spindle is longer and the spindle rigidity is smaller, and the top of the spindle is greatly deformed, the tool will give up, and its material removal force becomes smaller, and it is impossible to quickly and accurately perform chamfering precision processing. Summary of the invention

[0003] In view of the problems of lack of chamfering processing equipment for the edges of holes in the inner cavity of large aspect ratio pipes, low processing accuracy, low efficiency, and low degree of automation, the present invention designs an automatic chamfering device for the side wall holes of large aspect ratio pipes, which can chamfer the edges of holes of large aspect ratio pipes, and has the advantages of high degree of automation, portable device, high processing accuracy, and high processing efficiency.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows:

[0005] An automatic chamfering device for side wall holes of a large depth-to-diameter ratio pipe fitting comprises a body, a traveling unit, a processing unit and a positioning unit, wherein the processing unit is connected to the positioning unit, and the positioning unit is connected to the body through the traveling unit; the large depth-to-diameter ratio pipe fitting is referred to as a pipe fitting hereinafter.

[0006] The fuselage body includes a cylinder, a left end cover, a connecting strip, an upper shell, a lower shell, a right end cover, a pull ring and a plug. The pull ring and the plug are fixed on the right end cover. The left and right ends of the cylinder are connected to the left and right end covers respectively. There are two connecting strips. The left and right ends of the connecting strips are connected to the left and right end covers respectively. The two connecting strips are arranged front and back and the center lines of the connecting strips are located in the horizontal plane. The upper shell is fixedly connected to the upper side of the two connecting strips, and the lower shell is fixedly connected to the lower side of the two connecting strips.

[0007] The walking unit comprises a driving motor I, a driving motor II, a driving motor I support, a pressing plate, a tensioning mechanism I, a tensioning mechanism II, a swing bracket, a driving wheel I, a driving wheel II, a driven wheel I and a driven wheel II;

[0008] There are two driven wheels I, which are symmetrically mounted on the front and rear sides of the left end of the upper shell through a connecting axis.

[0009] There are two driven wheels II, which are symmetrically mounted on the front and rear sides of the left end of the lower housing through a connecting axis.

[0010] There are two driving wheels I, which are symmetrically installed on the front and rear sides of the right end of the upper shell through the output shaft of the driving motor I.

[0011] There are two driving wheels II, which are symmetrically installed on the front and rear sides of the right end of the upper shell through the output shaft of the driving motor II.

[0012] The drive motor I is connected to the drive motor I support, and the top of the drive motor I support is fixedly connected to the upper housing;

[0013] The driving motor II is connected to the pressing plate, the right end of the pressing plate is connected to the lower housing through a pin shaft, and the left end is connected to the tensioning mechanism II;

[0014] The tensioning mechanism II comprises a spring and a pressure rod, wherein the spring is nested on the pressure rod;

[0015] The lower end of the spring of the tensioning mechanism II is connected to the pressure plate, the upper end of the spring is in contact with the nut, the upper end of the pressure rod is connected to the nut through a thread, and the lower end of the pressure rod is fixedly connected to the lower shell;

[0016] The tensioning mechanism I has the same structure as the tensioning mechanism II;

[0017] The lower end of the spring of the tensioning mechanism I is connected to the swing bracket, the upper end of the spring is in contact with the nut, the upper end of the pressure rod is connected to the nut through a thread, and the lower end of the pressure rod is fixedly connected to the lower housing;

[0018] The processing unit includes a spindle motor, a spindle motor support, a spindle support, a spherical grinding rod, a bearing, an endoscope, a support, a mounting block, an electric push rod, a dividing plate, an adapter support and a linear module.

[0019] The bottom of the linear module is fixed to the lower shell, the top of the linear module is connected to the dividing plate through an adapter bracket, the dividing plate is connected to the spindle bracket, the left end of the spindle bracket is connected to the spindle motor support through a bearing, the spindle motor support is connected to the spindle motor, the spindle motor is connected to the spherical grinding rod through a clamp, a mounting block is fixed on the right side beam of the spindle bracket, the mounting block is connected to the electric push rod, the bottom of the electric push rod is connected to the right side of the spindle motor support, and the endoscope is fixed to the right side beam of the spindle bracket through a support.

[0020] The adapter bracket is L-shaped, with its short side connected to the dividing plate for transmitting rotational power, and its long side connected to the top of the linear module for increasing structural rigidity; the spindle motor support adjusts the clamping force of the spindle motor through bolts to fix the spindle motor.

[0021] The angle between the axis of the spindle motor and the central axis of the cylinder is 30° to 60°.

[0022] The positioning unit includes a positioning pin, a head cover, a positioning sensor, a reducer and a dividing motor. The size of the positioning pin matches the size of the side wall hole. When working, the positioning pin is inserted into the side wall hole from the outside to the inside, and the inner end extends out of the inner wall of the pipe. The head cover is installed on the spindle bracket, the positioning sensor is fixed on the right end beam of the spindle bracket through a support, and the dividing motor is connected to the dividing plate through the reducer. The outer shape of the head cover is a stepped cylindrical shape, and the difference between the outer radius of the right cylinder and the outer radius of the left cylinder is greater than the diameter of the inner end of the positioning pin;

[0023] When the inner end of the locating pin contacts the stepped surface on the right side of the head cover and the diameter of the spherical grinding rod is at its maximum size, the distance from the rotation center of the spindle motor support to the stepped surface on the right side of the head cover is greater than the distance from the rotation center to the head end of the spherical grinding rod.

[0024] Furthermore, the lower end of the electric push rod is rotatably connected to the right end of the spindle motor support via a rotating shaft.

[0025] Furthermore, the rotation speeds of the drive motor I and the drive motor II are both less than 500 r / min.

[0026] Furthermore, the pin shaft serves as the rotation center axis of the pressure plate, the pin shaft is located on the right side of the driving motor II, and the pressure plate is fixed at the rear of the pin shaft.

[0027] Furthermore, the cross-sectional shape of the upper shell is a "J" shape, and the cross-sectional shapes of the lower shell and the upper shell are symmetrical about the horizontal plane; the installation positions of the driving wheel I and the driving wheel II are symmetrical about the horizontal plane; and the installation positions of the driven wheel I and the driven wheel II are symmetrical about the horizontal plane.

[0028] Furthermore, the positioning sensor adopts a photoelectric switch or a laser displacement sensor.

[0029] Furthermore, the spindle motor clamping end is connected to the handle of the ball-shaped grinding rod through a collet chuck.

[0030] Furthermore, the linear stroke length of the linear module is greater than the maximum distance between two groups of adjacent side wall holes in the axial direction of the pipe.

[0031] Furthermore, both drive motor I and drive motor II are DC speed-reducing dual-axis motors, that is, the line connecting the two output shafts is perpendicular to the axis of the motor.

[0032] Furthermore, the connecting strip is a square tube.

[0033] The spindle motor speed range is stepless speed regulation.

[0034] The bearing connected to the spindle motor support and the spindle bracket is located at the bottom of the spindle motor support.

[0035] The measuring range of the positioning sensor is greater than half of the maximum value of the difference between the diameter of the series of pipes to be measured and the length of the electric push rod.

[0036] The spindle motor has forward and reverse rotation functions.

[0037] The ball-shaped grinding rod is an elastic rod.

[0038] The electric push rod is connected to the mounting block via a pin shaft.

[0039] The endoscope and the positioning sensor are both firmly mounted on the support by using set screws.

[0040] The endoscope is installed just above the spherical grinding head and is used to observe the chamfer quality of the side wall hole edge after processing. The optimal focal length range measured by the endoscope covers the descent distance of the spherical grinding head.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention adopts a positioning method combining a mechanical positioning pin and a positioning sensor, and cooperates with a linear feed module to achieve simple structure, accurate and reliable axial and circumferential positioning.

[0043] 2. The present invention adopts multi-axis joint control, and programmatically controls the spindle speed, spindle forward and reverse rotation, grinding depth and axial reciprocating movement of the elastic spherical grinding rod. By controlling the position of the elastic spherical grinding rod, the precise chamfering of the edges of the side wall holes at different positions of the large aspect ratio pipe can be achieved. The control method can automatically process the chamfer size, ensure the chamfering accuracy, and avoid damage to the processed surface.

[0044] 3. The present invention uses a ball-shaped grinding rod for chamfering, which can quickly produce high-precision chamfers. By installing the electric push rod on the spindle bracket, the tilting stroke of the ball-shaped grinding rod can be shortened, the structural rigidity can be improved, and the chamfering efficiency of the ball-shaped grinding rod can be improved. The tensioning mechanism is matched with the walking wheel mounting rod, so that the extension distance of the driving wheel and the driven wheel can be adjusted, which is suitable for running in the inner cavity of pipes with different inner diameters and large depth-to-diameter ratios. By arranging an endoscope above the grinding rod, the chamfer size of the side wall hole edge can be evaluated.

[0045] 4. The overall mass of the present invention is less than 10 kg, and it is a portable automatic processing device.

[0046] 5. In summary, the present invention solves the problems of low surface quality, low efficiency and difficult surface observation in chamfering of side wall holes of large aspect ratio pipes with different inner diameter sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a working schematic diagram of the present invention;

[0048] Figure 2 yes Figure 1 Right view of;

[0049] Figure 3 It is a schematic diagram of the overall structure of the present invention;

[0050] Figure 4 is a schematic diagram of the walking unit structure;

[0051] Figure 5 It is a schematic diagram of the processing unit structure;

[0052] Figure 6 is a schematic diagram of the positioning unit structure;

[0053] Figure 7 It is a schematic diagram of the observation mechanism;

[0054] Figure 8 It is the front view of the observation mechanism;

[0055] Fig. 9 It is a schematic diagram of the side wall hole positioning method;

[0056] Fig.10 It is a structural diagram of the tensioning mechanism.

[0057] In the figure: 1, pipe fitting, 2, positioning pin, 3, driven wheel I, 4, driving wheel I, 5, pull ring, 6, driving wheel II, 7, cylinder, 8, driven wheel II, 9, head cover, 10, ball grinding rod, 11, side wall hole, 12, right end cover, 13, plug, 14, spindle motor, 15, spindle motor support, 16, left end cover, 17, indexing motor, 18, upper shell, 19, lower shell, 20, connecting strip, 21, indexing plate, 22. Spindle bracket, 23. Bearing, 24. Spring, 25. Pressure plate, 26. Drive motor I support, 27. Drive motor I, 28. Drive motor II, 29. Pressure rod, 30. Swing bracket, 31. Reducer, 32. Adapter bracket, 33. Linear module, 34. Endoscope, 35. Positioning sensor, 36. Mounting block, 37. Support, 38. Electric push rod, 39. Connecting shaft, 40. Nut, 41. Pin. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings. Figure 1-9 As shown, an automatic chamfering device for the side wall holes of a large aspect ratio pipe fitting comprises a body, a traveling unit, a processing unit and a positioning unit, wherein the processing unit is connected to the positioning unit, and the positioning unit is connected to the body through the traveling unit; the large aspect ratio pipe fitting is hereinafter referred to as pipe fitting 1.

[0059] The fuselage body includes a cylinder 7, a left end cover 16, a connecting bar 20, an upper shell 18, a lower shell 19, a right end cover 12, a pull ring 5 and a plug 13. The pull ring 5 and the plug 13 are fixed on the right end cover 12. The left and right ends of the cylinder 7 are respectively connected to the left end cover 16 and the right end cover 12. There are two connecting bars 20, and the left and right ends of the connecting bars 20 are respectively connected to the left end cover 16 and the right end cover 12. The two connecting bars 20 are arranged front and back and separated, and the center line of the connecting bars 20 is located in the horizontal plane; the upper shell 18 is fixedly connected to the upper side of the two connecting bars 20, and the lower shell 19 is fixedly connected to the lower side of the two connecting bars 20.

[0060] The walking unit includes a driving motor I 27, a driving motor II 28, a driving motor I support 26, a pressure plate 25, a tensioning mechanism I, a tensioning mechanism II, a swing bracket 30, a driving wheel I 4, a driving wheel II 6, a driven wheel I 3 and a driven wheel II 8;

[0061] There are two driven wheels I3, which are symmetrically installed on the front and rear sides of the left end of the upper shell 18 through a connecting shaft 39.

[0062] There are two driven wheels II8, which are symmetrically installed on the front and rear sides of the left end of the lower shell 19 through a connecting shaft 39.

[0063] There are two driving wheels I4, which are symmetrically installed on the front and rear sides of the right end of the upper shell 18 through the output shaft of the driving motor I27.

[0064] There are two driving wheels II 6 , which are symmetrically mounted on the front and rear sides of the right end of the upper shell 18 through the output shaft of the driving motor II 28 .

[0065] The drive motor I 27 is connected to the drive motor I support 26, and the top of the drive motor I support 26 is fixedly connected to the upper housing 18;

[0066] The driving motor II 28 is connected to the pressing plate 25. The right end of the pressing plate 25 is connected to the lower housing 19 through a pin 41, and the left end is connected to the tensioning mechanism II.

[0067] The tensioning mechanism II includes a spring 24 and a pressure rod 29, wherein the spring 24 is nested on the pressure rod 29;

[0068] The lower end of the spring 24 of the tensioning mechanism II is connected to the pressure plate 25, the upper end of the spring 24 is in contact with the nut 40, the upper end of the pressure rod 29 is connected to the nut 40 by threads, and the lower end of the pressure rod 29 is fixedly connected to the lower housing 19;

[0069] The tensioning mechanism I has the same structure as the tensioning mechanism II;

[0070] The lower end of the spring 24 of the tensioning mechanism 1 is connected to the swing bracket 30, the upper end of the spring 24 is in contact with the nut 40, the upper end of the pressure rod 29 is connected to the nut 40 by a thread, and the lower end of the pressure rod 29 is fixedly connected to the lower housing 19;

[0071] The processing unit includes a spindle motor 14 , a spindle motor support 15 , a spindle support 22 , a spherical grinding rod 10 , a bearing 23 , an endoscope 34 , a support 37 , a mounting block 36 , an electric push rod 38 , a dividing plate 21 , an adapter support 32 and a linear module 33 .

[0072] The bottom of the linear module 33 is fixed to the lower shell 19, the top of the linear module 33 is connected to the dividing plate 21 through the adapter bracket 32, the dividing plate 21 is connected to the spindle bracket 22, the left end of the spindle bracket 22 is connected to the spindle motor support 15 through the bearing 23, the spindle motor support 15 is connected to the spindle motor 14, the spindle motor 14 is connected to the spherical grinding rod 10 through the clamp, the mounting block 36 is fixed on the right side beam of the spindle bracket 22, the mounting block 36 is connected to the electric push rod 38, the bottom of the electric push rod 38 is connected to the right side of the spindle motor support 15, and the endoscope 34 is fixed to the right side beam of the spindle bracket 22 through the support 37.

[0073] The adapter bracket 32 ​​is L-shaped, with its short side connected to the dividing plate 21 for transmitting rotational power, and its long side connected to the top of the linear module 33 for increasing structural rigidity; the spindle motor support 15 adjusts the clamping force of the spindle motor 14 through bolts, thereby fixing the spindle motor 14.

[0074] The angle between the axis of the spindle motor 14 and the central axis of the cylinder 7 is 30° to 60°.

[0075] The positioning unit includes a positioning pin 2, a head cover 9, a positioning sensor 35, a reducer 31 and a dividing motor 17. The size of the positioning pin 2 matches the size of the side wall hole 11. When working, the positioning pin 2 is inserted into the side wall hole 11 from the outside to the inside, and the inner end extends out of the inner wall of the pipe 1; the head cover 9 is installed on the spindle bracket 22, the positioning sensor 35 is fixed on the right end crossbeam of the spindle bracket 22 through a support 37, and the dividing motor 17 is connected to the dividing plate 21 through the reducer 31. The outer shape of the head cover 9 is a stepped cylindrical shape, and the difference between the outer radius of the right cylinder and the outer radius of the left cylinder is greater than the diameter of the inner end of the positioning pin 2;

[0076] When the inner end of the positioning pin 2 contacts the stepped surface on the right side of the head cover 9 and the diameter of the spherical grinding rod 10 is at the maximum size, the distance from the rotation center of the spindle motor support 15 to the stepped surface on the right side of the head cover 9 is greater than the distance from the rotation center to the ball head end of the spherical grinding rod 10.

[0077] Furthermore, the lower end of the electric push rod 38 is rotatably connected to the right end of the spindle motor support 15 via a rotating shaft.

[0078] Furthermore, the rotation speeds of the drive motor I and the drive motor II 28 are both less than 500 r / min.

[0079] Furthermore, the pin shaft 41 serves as the central axis of rotation of the pressure plate 25 . The pin shaft 41 is located on the right side of the driving motor II 28 , and the pressure plate 25 is fixed to the rear of the pin shaft 41 .

[0080] Furthermore, the cross-sectional shape of the upper shell 18 is a "J" shape, and the cross-sectional shapes of the lower shell 19 and the upper shell 18 are symmetrical about the horizontal plane; the installation positions of the driving wheel I4 and the driving wheel II6 are symmetrical about the horizontal plane; and the installation positions of the driven wheel I3 and the driven wheel II8 are symmetrical about the horizontal plane.

[0081] Furthermore, the positioning sensor 35 is a photoelectric switch or a laser displacement sensor.

[0082] Furthermore, the clamping end of the spindle motor 14 is connected to the handle of the ball-shaped grinding rod 10 through a collet chuck.

[0083] Furthermore, the linear stroke length of the linear module 33 is greater than the maximum distance between two groups of adjacent side wall holes 11 in the axial direction of the pipe 1.

[0084] Furthermore, both the drive motor I 27 and the drive motor II 28 are DC speed-reducing dual-axis motors, that is, the line connecting the two output shafts is perpendicular to the axis of the motor.

[0085] Furthermore, the connecting strip 20 is a square tube.

[0086] The spindle motor 14 has a speed range of stepless speed regulation.

[0087] The bearing 23 connecting the spindle motor support 15 and the spindle bracket 22 is located at the bottom of the spindle motor support 15 .

[0088] The measuring range of the positioning sensor 35 is greater than the maximum value of half of the difference between the diameter of the series of pipes 1 to be measured and the length of the electric push rod 38.

[0089] The spindle motor 14 has forward and reverse rotation functions.

[0090] The ball-shaped grinding rod 10 is an elastic rod.

[0091] The electric push rod 38 is connected to the mounting block 36 via a pin shaft 41 .

[0092] The endoscope 34 and the positioning sensor 35 are both firmly mounted on the support 37 by using set screws.

[0093] The endoscope 34 is installed just above the spherical grinding rod 10 and is used to observe the chamfer quality of the edge of the side wall hole 11 after processing. The optimal focal length range measured covers the descending distance of the spherical grinding head.

[0094] The working principle of the present invention is as follows:

[0095] First, adjust the distance between the nut 40 in the tensioning mechanism I and the pressure rod 29, so that the spring 24 is compressed and generates a restoring force, and the rotation of the swing bracket 30 is controlled, thereby adjusting the position of the driven wheel II8. Similarly, adjust the distance between the nut 40 in the tensioning mechanism II and the pressure rod 29, so that the spring 24 is compressed and generates a restoring force, and the compression spring 24 controls the rotation of the pressure plate 25, thereby adjusting the inclination of the drive motor II28, so that the driving wheel II6 and the driven wheel II8 are consistent. Put the positioning pin 2 into any of the side wall holes 11 to be processed in the first circle at the top of the pipe 1, and then manually press the driving wheel II6 and the driven wheel II8 to compress the spring in the tensioning mechanism, put the entire device into the pipe 1, and connect the power supply, the driving wheel II6 and the driven wheel II8 springs are restored to keep in contact with the inner surface of the pipe 1.

[0096] Then the traveling unit moves inside the pipe 1 until the inner end of the positioning pin 2 contacts the stepped position on the right side of the head cover 9, the axial positioning of the side wall hole 11 is determined, and the movement stops.

[0097] The indexing motor 17 drives the indexing plate 21 to rotate the spindle support 22, and receives the optical signal through the positioning sensor 35 to determine the circumferential end point of the side wall hole 11. The electric push rod 38 is connected to the spindle motor support 15 to adjust the inclination angle of the spindle motor 14 and the ball-shaped grinding rod 10, control the grinding depth, and cooperate with the linear module 33 to perform high-precision chamfering of the side wall hole 11.

[0098] After the processing is completed, the entire device is manually removed through the pull ring 5. The surface of the side wall hole 11 is photographed by the endoscope 34 before and after the processing to evaluate the processing quality.

[0099] Since the internal dimensions of the side wall hole 11 cannot be completely symmetrical after being drilled from the outside, in order to achieve consistency in the chamfer dimensions of the edge of the side wall hole 11 after processing, the spindle motor 14 has a forward and reverse function. By first rotating the spherical grinding head forward and then reversing to repeat the same trajectory, consistency in the chamfer dimensions on both sides of the same side wall hole 11 can be achieved.

[0100] like Figure 1-9 As shown, the working method of the present invention comprises the following steps:

[0101] A. Control the two tensioning mechanisms to make the pressing plate 25 and the swing bracket 30 tilt at a certain angle, and the driving wheel Ⅱ6 and the driven wheel Ⅱ8 extend a certain distance;

[0102] B. Press the driven wheel II8 and the driving wheel II6 in sequence so that the device is placed in the pipe 1 until the driving wheel completely enters the pipe 1. At this time, the driving wheel I4, the driving wheel II6, the driven wheel I3 and the driven wheel II8 are all in contact with the inner wall of the pipe 1.

[0103] C. Connect the device to the power supply through the plug 13, and press the power button to control the linear module 33 and the electric push rod 38 to reset;

[0104] D. Place the positioning pin 2 in the first side wall hole 11 that needs to be processed at the top of the pipe 1;

[0105] E. Control the driving motor I27 and the driving motor II28 to rotate forward, so that the driving wheel I4 and the driving wheel II6 rotate at a certain speed, driving the driven wheel I3 and the driven wheel II8 to move, and the driving device moves in a straight line in the pipe 1;

[0106] F. When the step position of the head cover 9 contacts the inner end of the positioning pin 2, the travel unit stops linear feeding and controls the indexing plate 21 to rotate a certain angle;

[0107] G. Turn on the photoelectric switch. During the rotation of the indexing plate 21, the photoelectric switch identifies the angle of the side wall hole 11 in the circumferential direction of the pipe 1 due to the light transmission and shielding of the side wall hole 11;

[0108] H. If the side wall holes 11 of the pipe 1 are continuously and evenly distributed in two rows, the linear module 33 and the indexing plate 21 are controlled to move in coordination, so that the photoelectric switch recognizes the axial and circumferential positions of the second row of side wall holes 11;

[0109] I. After the photoelectric switch returns to its original position, the photoelectric switch tool setting procedure is executed, the endoscope 34 is turned on, and the surface morphology of the side wall hole 11 is photographed;

[0110] J. After the tool setting is completed, the electric push rod 38 is controlled to move linearly, and the height of the right side of the spindle motor support 15 and its connection position is lowered, so that the ball-shaped grinding rod 10 contacts the left side of the side wall hole 11;

[0111] K. Control the spindle motor 14 to rotate, so that the ball-shaped grinding rod 10 rotates, and cooperates with the linear module 33 to feed the ball-shaped grinding rod 10 and the electric push rod 38 to control the grinding depth of the ball-shaped grinding rod 10, and execute the processing program;

[0112] L. After the chamfering of all the side wall holes 11 is completed, the endoscope 34 photographs the surface of the side wall holes 11, and the surface quality of the side wall holes 11 is evaluated through a data processing program;

[0113] M. After the processing result satisfies the chamfering error, the spindle motor 14 is controlled to rotate at 0 speed, the linear module 33 and the electric push rod 38 are reset, and the drive motors Ⅰ27 and Ⅱ28 are controlled to reverse, driving the driving wheel Ⅰ4, the driving wheel Ⅱ6, the driven wheel Ⅰ3 and the driven wheel Ⅱ8 to rotate, and the device moves outward in a straight line until the pull ring 5 of the right end cover 12 exposes the pipe fitting 1;

[0114] N. Control the drive motor I 27 and the drive motor II 28 to stop, manually pull the pull ring 5, take out the device, and disconnect the power supply of the device.

[0115] The up, down, left, right, front, and back directions in the present invention are only relative to Figure 1 , does not constitute any limitation to the present invention.

[0116] The present invention is not limited to this embodiment, and any equivalent concepts or changes within the technical scope disclosed by the present invention are included in the protection scope of the present invention.

Claims

1. An automatic chamfering device for side wall holes of pipe fittings with large depth-to-diameter ratio, characterized in that: It comprises a fuselage body, a walking unit, a processing unit and a positioning unit, wherein the processing unit is connected to the positioning unit, and the positioning unit is connected to the fuselage body through the walking unit; the large aspect ratio pipe fitting is hereinafter referred to as pipe fitting (1); The fuselage body comprises a cylinder (7), a left end cover (16), a connecting bar (20), an upper shell (18), a lower shell (19), a right end cover (12), a pull ring (5) and a plug (13); the pull ring (5) and the plug (13) are fixed on the right end cover (12); the left and right ends of the cylinder (7) are respectively connected to the left end cover (16) and the right end cover (12); there are two connecting bars (20); the left and right ends of the connecting bars (20) are respectively connected to the left end cover (16) and the right end cover (12); the two connecting bars (20) are arranged front and back and spaced apart, and the center line of the connecting bars (20) is located in a horizontal plane; the upper shell (18) is fixedly connected to the upper side of the two connecting bars (20); the lower shell (19) is fixedly connected to the lower side of the two connecting bars (20); The walking unit comprises a driving motor I (27), a driving motor II (28), a driving motor I support (26), a pressure plate (25), a tensioning mechanism I, a tensioning mechanism II, a swing bracket (30), a driving wheel I (4), a driving wheel II (6), a driven wheel I (3) and a driven wheel II (8); There are two driven wheels I (3), which are symmetrically mounted on the front and rear sides of the left end of the upper housing (18) through a connecting shaft (39); There are two driven wheels II (8), which are symmetrically mounted on the front and rear sides of the left end of the lower housing (19) through a connecting shaft (39); There are two driving wheels I (4), which are symmetrically mounted on the front and rear sides of the right end of the upper housing (18) through the output shaft of the driving motor I (27); There are two driving wheels II (6), which are symmetrically mounted on the front and rear sides of the right end of the upper housing (18) through the output shaft of the driving motor II (28); The drive motor I (27) is connected to the drive motor I support (26), and the top of the drive motor I support (26) is fixedly connected to the upper housing (18); The driving motor II (28) is connected to the pressing plate (25), the right end of the pressing plate (25) is connected to the lower housing (19) through a pin shaft (41), and the left end is connected to the tensioning mechanism II; The tensioning mechanism II comprises a spring (24) and a pressure rod (29), wherein the spring (24) is nested on the pressure rod (29); The lower end of the spring (24) of the tensioning mechanism II is connected to the pressure plate (25), the upper end of the spring (24) is in contact with the nut (40), the upper end of the pressure rod (29) is connected to the nut (40) by threads, and the lower end of the pressure rod (29) is fixedly connected to the lower shell (19); The tensioning mechanism I has the same structure as the tensioning mechanism II; The lower end of the spring (24) of the tensioning mechanism I is connected to the swing bracket (30), the upper end of the spring (24) is in contact with the nut (40), the upper end of the pressure rod (29) is connected to the nut (40) by a thread, and the lower end of the pressure rod (29) is fixedly connected to the lower shell (19); The processing unit comprises a spindle motor (14), a spindle motor support (15), a spindle bracket (22), a spherical grinding rod (10), a bearing (23), an endoscope (34), a support (37), a mounting block (36), an electric push rod (38), a dividing plate (21), an adapter bracket (32) and a linear module (33); The bottom of the linear module (33) is fixed to the lower shell (19), the top of the linear module (33) is connected to the indexing plate (21) through the adapter bracket (32), the indexing plate (21) is connected to the spindle bracket (22), the left end of the spindle bracket (22) is connected to the spindle motor support (15) through the bearing (23), the spindle motor support (15) is connected to the spindle motor (14), the spindle motor (14) is connected to the ball-shaped grinding rod (10) through a clamp, a mounting block (36) is fixed on the right side beam of the spindle bracket (22), the mounting block (36) is connected to the electric push rod (38), the bottom of the electric push rod (38) is connected to the right side of the spindle motor support (15), and the endoscope (34) is fixed to the right side beam of the spindle bracket (22) through a support (37); The adapter bracket (32) is L-shaped, with its short side connected to the indexing plate (21) for transmitting rotational power, and its long side connected to the top of the linear module (33) for increasing structural rigidity; the spindle motor support (15) adjusts the clamping force on the spindle motor (14) through bolts, thereby fixing the spindle motor (14); The angle between the axis of the spindle motor (14) and the central axis of the cylinder (7) is 30° to 60°; The positioning unit comprises a positioning pin (2), a head cover (9), a positioning sensor (35), a reducer (31) and a dividing motor (17); the size of the positioning pin (2) matches the size of the side wall hole (11); when working, the positioning pin (2) is inserted into the side wall hole (11) from the outside to the inside, and the inner end extends out of the inner wall of the pipe (1); the head cover (9) is installed on the main shaft support (22); the positioning sensor (35) is fixed to the right end crossbeam of the main shaft support (22) through a support (37); the dividing motor (17) is connected to the dividing plate (21) through the reducer (31); the outer side of the head cover (9) is in the shape of a stepped cylinder, and the difference between the outer radius of the right cylinder and the outer radius of the left cylinder is greater than the diameter of the inner end of the positioning pin (2); When the inner end of the positioning pin (2) contacts the stepped surface on the right side of the head cover (9) and the diameter of the spherical grinding rod (10) is at its maximum size, the distance from the rotation center of the spindle motor support (15) to the stepped surface on the right side of the head cover (9) is greater than the distance from the rotation center to the ball end of the spherical grinding rod (10).

2. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized in that: The lower end of the electric push rod (38) is rotatably connected to the right end of the spindle motor support (15) via a rotating shaft.

3. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized by: The rotation speeds of the drive motor I (27) and the drive motor II (28) are both less than 500 r / min.

4. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized by: The pin shaft (41) serves as the central axis of rotation of the pressure plate (25). The pin shaft (41) is located on the right side of the driving motor II (28). The pressure plate (25) is fixed to the rear of the pin shaft (41).

5. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized in that: The cross-sectional shape of the upper housing (18) is in the shape of "ji", and the cross-sectional shape of the lower housing (19) is symmetric with respect to the horizontal plane to that of the upper housing (18); the installation positions of the driving wheel I (4) and the driving wheel II (6) are symmetric with respect to the horizontal plane; the installation positions of the driven wheel I (3) and the driven wheel II (8) are symmetric with respect to the horizontal plane.

6. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized by: The positioning sensor (35) adopts a photoelectric switch or a laser displacement sensor.

7. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized by: The clamping end of the main shaft motor (14) is connected to the shank of the spherical grinding rod (10) through a collet chuck.

8. According to claim 1, the automatic chamfering device for side wall holes of pipe fittings with large aspect ratio is characterized by: The linear travel length of the linear module (33) is greater than the maximum distance between two adjacent side wall holes (11) in the axial direction of the pipe fitting (1).

9. The automatic chamfering device for side wall holes of pipe fittings with large aspect ratio according to claim 1, characterized in that: The driving motor I (27) and the driving motor II (28) are both DC deceleration speed-regulating double-shaft motors, that is, the line connecting the two output shafts is perpendicular to the axis of the motor.

10. The automatic chamfering device for side wall holes of pipe fittings with large aspect ratio according to claim 1, characterized in that: The connecting bar (20) is a square pipe; The rotation speed range of the main shaft motor (14) is stepless speed regulation; The bearing (23) connecting the main shaft motor support (15) and the main shaft bracket (22) is located at the bottom of the main shaft motor support (15); The measurement range of the positioning sensor (35) is greater than the maximum value of half of the difference between the diameter of the series of pipe fittings (1) to be measured and the length dimension of the electric push rod (38); The main shaft motor (14) has a forward and reverse function; The spherical grinding rod (10) is an elastic rod type; The electric push rod (38) is connected to the mounting block (36) through a pin shaft (41); Both the endoscope (34) and the positioning sensor (35) are firmly installed on the support (37) by set screws; The installation position of the endoscope (34) is directly above the spherical grinding rod (10), and is used to observe the chamfer quality of the edge of the side wall hole (11) after processing, and its optimal focal length range for measurement covers the descending distance of the spherical grinding head.

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