Robot for pipe orifice grinding and polishing machining

Abstract

The invention relates to the technical field of industrial robots, in particular to a pipe orifice grinding and polishing robot which comprises a base, a storage barrel, a grinding disc body and a manipulator body, a supporting frame is bolted to one side of the top of the base, and the manipulator body is fixed to the top of the supporting frame; a second motor is started to drive a rotating pipe, a transverse transmission rod and a transmission column to rotate, under cooperation of an inner rod and a movable sleeve, the effect of driving a lower through pipe and a grinding disc body to rotate is achieved, the multiple sets of grinding discs are synchronously driven by one motor, the number of the motors is reduced, and part of cost is reduced; meanwhile, a rotating pipe is matched with a vertical rotating shaft, a vertical transmission rod and the like to drive fan blades to rotate, air flowing downwards is generated in a long pipe, the outside air and most of chippings generated by grinding enter a cylinder through an arc-shaped cover, the chippings are intercepted by a blocking net, centralized collection is achieved, the chippings left outside are reduced, and the grinding efficiency is improved. And the workload of cleaning work is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, in particular to a robot for grinding and polishing a pipe mouth. Background Art

[0002] Grinding and polishing robots are important equipment in the field of industrial automation. They can efficiently and accurately complete the grinding and polishing tasks of pipe nozzles, improving production efficiency and product quality. The grinding and polishing robots for pipe nozzles use advanced servo control systems and precise mechanical structures, which can achieve micron-level processing accuracy and ensure the flatness and finish of the pipe nozzle surface. The robots have a multi-joint structure and can flexibly adjust their posture and angle to meet the processing needs of pipe nozzles of different shapes and sizes. Through programming and automatic control technology, the robots can automatically complete grinding, polishing and other operation processes, reduce manual intervention and improve production efficiency.

[0003] The robot used for grinding and polishing processing usually clamps the pipe by a manipulator, and then aligns the pipe mouth with the grinding part or grinding disc. Multiple groups of grinding discs spin and make circular motion around the pipe mouth to achieve the grinding of the pipe mouth. However, high temperature heat is bound to be generated in the grinding process. For grinding discs with poor high temperature resistance, high temperature heat will cause them to expand thermally, and the surface of the grinding disc is prone to irreversible deformation, which seriously affects its product performance and further affects the grinding effect. Although some robots currently cool down the grinding disc by spraying coolant, the continuous spraying of coolant consumes a lot of money and increases the cost. The high-speed rotation of the grinding disc causes the coolant to splash, which also brings trouble to the cleaning work; and each grinding disc needs to be equipped with a motor, and multiple groups of grinding discs need to be equipped with multiple motors. The increase in the number of motors directly leads to an increase in manufacturing costs, including the purchase cost, installation cost and subsequent maintenance cost of the motor. At the same time, it is difficult to ensure the synchronization of the rotation speeds of multiple grinding discs. The speed difference in different directions will lead to different material removal rates. The surface of the workpiece may have wear marks of varying depths and inconsistent roughness, and there are problems with the uniformity of grinding. Summary of the invention

[0004] The object of the present invention is to provide a robot for pipe mouth grinding and polishing, which can drive multiple grinding discs to rotate through a group of motors, thereby reducing the number of motors and reducing some costs. It can also utilize coolant circulation to cool the grinding discs without spraying coolant, thus avoiding coolant loss.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A robot for grinding and polishing a pipe orifice, comprising a base, a storage bucket, a grinding disc body and a manipulator body, a support frame is bolted to one side of the top of the base, and the manipulator body is fixed to the top of the support frame, and further comprising:

[0006] A fixing frame is bolted to the other side of the top of the base, a long tube is rotatably connected to the surface of the fixing frame, a first motor is also bolted to the rear side of the fixing frame, and the output shaft of the first motor is connected to the long tube through a gear transmission, a cylinder is connected to the top of the long tube, and an arc cover is connected to the top of the cylinder, and the number of grinding disc bodies is three groups and they are symmetrically distributed around the center of the long tube;

[0007] A support rod is bolted to the inner side of the arc-shaped cover, a support platform is bolted to the top of the support rod, a slider is slidably connected to the surface of the support platform, and an electric hydraulic rod for adjusting the position of the grinding disc body is also bolted to the top of the support platform;

[0008] A lower through-tube is rotatably connected to the surface of the slider, a disc is welded on the top of the lower through-tube, an upper connecting piece is connected to the top of the disc, a grinding disc body is sleeved on the surface of the upper connecting piece, and the height of the top of the grinding disc body is lower than the height of the top of the upper connecting piece, a fixing cap is bolted to the surface of the upper connecting piece, and the fixing cap, the upper connecting piece and the disc cooperate to fix the grinding disc body, the outer diameter of the grinding disc body is larger than the outer diameter of the disc, and the thickness of the grinding disc body is larger than the thickness of the disc;

[0009] A connecting frame bolted to one side of the storage barrel, a second motor bolted below the surface of the connecting frame, and a top of the connecting frame and a bottom end of the long tube bolted to each other;

[0010] A transmission mechanism used in conjunction with the second motor to drive the grinding disc body to rotate;

[0011] A dust collecting mechanism that uses the power of the transmission mechanism to suck the debris into the cylinder;

[0012] A circulation mechanism that circulates the coolant inside the storage barrel.

[0013] Preferably, the transmission mechanism includes a rotating tube, a transverse transmission rod and a connecting seat, the connecting seat is bolted to the inner side of the long tube, the rotating tube is rotatably connected to the connecting seat, the output shaft of the second motor is connected to the rotating tube by belt transmission, the transverse transmission rod passes through the long tube and is rotatably connected to the penetration point, and the end of the transverse transmission rod close to the long tube is connected to the rotating tube by bevel gear transmission, the transmission mechanism also includes a long plate bolted to the bottom of the support platform, the transverse transmission rod is rotatably connected to the surface of the long plate, a transmission column is rotatably connected above the surface of the long plate, and the transmission column is connected to the transverse transmission rod by belt transmission, one end of the transmission column is bolted to an inner rod, a movable sleeve is fixed to the bottom of the slider through a bearing seat, the inner rod is slidably connected to the inner wall of the movable sleeve, and the end of the movable sleeve away from the inner rod is connected to the lower through tube by bevel gear transmission.

[0014] Preferably, the cross section of the inner rod is designed to be square, and the inner wall of the movable sleeve is designed to be square.

[0015] Preferably, the dust suction mechanism includes a blocking net, a vertical rotating shaft and fan blades, the blocking net is bolted to the inner side of the cylinder, a support block is also bolted above the surface of the long tube, and the vertical rotating shaft is rotatably connected to the support block, the fan blades are fixed to the surface of the vertical rotating shaft, and the dust suction mechanism also includes a horizontal plate bolted to the top of the inner wall of the long tube, the surface of the horizontal plate is rotatably connected to a vertical transmission rod, the vertical transmission rod is connected to the rotating tube through a gear transmission, and the vertical transmission rod is connected to the vertical rotating shaft through a gear transmission.

[0016] Preferably, the circulation mechanism includes a pump body, a suction pipe and a connecting pipeline. The pump body is bolted to one side of the top of the storage barrel, one end of the suction pipe is communicated with the inlet end of the pump body, and the other end of the suction pipe is communicated with the bottom of the surface of the storage barrel, and the outlet end of the pump body is connected with a connecting pipeline. The circulation mechanism also includes a vertical pipe fixed to the inner side of the long tube, the bottom end of the vertical pipe is communicated with the connecting pipeline, and the end of the vertical pipe away from the connecting pipeline is connected with a delivery pipeline. A plurality of heat conducting plates are bolted to the surface of the vertical pipe, the other end of the delivery pipeline is communicated with the upper connecting piece through a pipeline rotating connecting piece, and the bottom end of the down pipe is connected with a return pipeline through a pipeline rotating connecting piece. A vertical pipe is fixed to the inner side of the rotating pipe through a bearing, and the end of the return pipeline away from the down pipe is communicated with the vertical pipe, and the bottom end of the vertical pipe is communicated with the storage barrel.

[0017] Preferably, the delivery pipeline is composed of a hard pipe and a hose.

[0018] Preferably, the heat conducting plates are distributed on the surface of the vertical tube in a ring array, and there is a gap between the heat conducting plates and the surface of the rotating tube.

[0019] Preferably, a support leg is bolted below the surface of the storage bucket, and a universal wheel is bolted to the bottom of the support leg.

[0020] Preferably, a conductive slip ring is also provided on the top of the base, a bifurcated tube is fixed on the top of the conductive slip ring, and the top end of the bifurcated tube passes through to the top of the storage barrel.

[0021] Preferably, the slider is designed in an I-shape.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention drives the rotating tube, the horizontal transmission rod and the transmission column to rotate by turning on the second motor, and with the cooperation of the inner rod and the movable sleeve, the effect of driving the lower through pipe and the grinding disc body to rotate is achieved. Multiple groups of grinding discs are synchronously driven by one motor, which reduces the number of motors and reduces some costs. Moreover, under the action of the transmission mechanism, the grinding disc body in three directions can maintain the consistency of rotation speed, and the grinding processing of the pipe mouth is more uniform. The grinding disc body can also be adjusted in position and maintain normal power transmission, so as to grind the pipe mouths with different outer diameters. At the same time, the rotating tube drives the fan blades to rotate under the cooperation of the vertical rotating shaft and the vertical transmission rod, and generates downwardly flowing air in the long tube, so that the external air and most of the debris generated by grinding enter the cylinder through the arc cover, and the debris is intercepted by the blocking net to achieve centralized collection, thereby reducing the debris left outside and reducing the labor of cleaning work. In addition, the power from the transmission mechanism is cleverly utilized, and there is no need to set up a vacuum cleaner additionally, thereby reducing energy consumption.

[0024] 2. The present invention opens the pump body to allow the coolant inside the storage barrel to enter the disc through the suction pipe, connecting pipes, vertical pipes and other pipes to cool down the grinding disc body. The cooled coolant can also return to the interior of the storage barrel through the delivery pipe, return pipe and vertical pipe to achieve the circulation of the coolant without spraying the coolant. Moreover, the cooling method can also adapt to the high-speed rotating grinding disc body to avoid the coolant splashing everywhere. At the same time, the fan blades generate downward air flow, which can also cool the coolant circulating in the pipeline to prevent the coolant from continuously absorbing heat and the temperature from rising, thereby ensuring the cooling effect of the coolant on the grinding disc, and there is no need to set up additional facilities for cooling multiple coolants. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 It is a structural schematic diagram of another side viewing angle in the present invention;

[0027] Figure 3 It is a bottom view of the local structure in the present invention;

[0028] Figure 4 It is a cross-sectional view of the long tube and the cylinder in the present invention;

[0029] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure at A in the middle;

[0030] Figure 6 It is a partial structural schematic diagram of the transmission mechanism in the present invention;

[0031] Figure 7 is a cross-sectional view of the movable sleeve in the present invention;

[0032] Figure 8 It is a structural schematic diagram of the slider and its surroundings in the present invention;

[0033] Fig. 9 It is a schematic diagram of the grinding disc body after being separated in the present invention;

[0034] Fig.10 It is a cross-sectional view of the disc and the upper connecting member in the present invention;

[0035] Fig.11 It is a structural schematic diagram of the delivery pipeline in the present invention;

[0036] Fig.12 It is a structural schematic diagram of the reflux pipeline in the present invention;

[0037] Fig.13 It is a partial structural schematic diagram of the circulation mechanism in the present invention;

[0038] Fig.14 is a cross-sectional view of the storage barrel of the present invention;

[0039] Fig.15 is a cross-sectional view of the transfer tube of the present invention;

[0040] Fig.16 It is a cross-sectional view of the bifurcated tube in the present invention.

[0041] In the figure: 1, base; 2, storage bucket; 3, conductive slip ring; 4, bifurcated pipe; 5, support frame; 6, fixed frame; 7, long tube; 8, cylinder; 9, arc cover; 10, sealing door; 11, support rod; 12, slider; 13, support platform; 14, electric hydraulic rod; 15, grinding disc body; 16, first motor; 17, second motor; 18, disc; 19, upper connecting piece; 20, lower through pipe; 21, transmission mechanism; 211, rotating tube; 212, horizontal transmission rod; 213, connecting seat; 214, long board; 215, transmission Column; 216, inner rod; 217, movable sleeve; 22, dust suction mechanism; 221, blocking net; 222, vertical rotation axis; 223, fan blades; 224, support block; 225, cross plate; 226, vertical transmission rod; 23, circulation mechanism; 231, pump body; 232, suction pipe; 233, connecting pipeline; 234, vertical pipe; 235, heat conduction plate; 236, delivery pipeline; 237, return pipeline; 238, vertical pipe; 24, fixing cap; 25, supporting leg; 26, universal wheel; 27, connecting frame; 28, manipulator body. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-16 A robot for grinding and polishing a pipe mouth includes a base 1, a storage bucket 2, a grinding disc body 15 and a manipulator body 28. A support frame 5 is bolted to one side of the top of the base 1, and the manipulator body 28 is fixed to the top of the support frame 5. The support frame 5 plays a supporting role. The robot also includes a transmission mechanism 21, a dust suction mechanism 22 and a circulation mechanism 23. A fixed frame 6 is bolted to the other side of the top of the base 1. A long tube 7 is rotatably connected to the surface of the fixed frame 6. The long tube 7 is fixed to the fixed frame 6 through a bearing and can be rotatably connected. A first motor 16 is also bolted to the rear side of the fixed frame 6, and the first motor 16 The output shaft is connected to the long tube 7 through a gear transmission. The top of the long tube 7 is connected to a cylinder 8, and the top of the cylinder 8 is connected to an arc cover 9. The number of grinding disc bodies 15 is three groups and is symmetrically distributed with the center of the long tube 7. A support rod 11 is bolted to the inner side of the arc cover 9, and a support platform 13 is bolted to the top of the support rod 11. A slider 12 is slidably connected to the surface of the support platform 13. An electric hydraulic rod 14 for adjusting the position of the slider 12 is also bolted to the top of the support platform 13. The output shaft of the electric hydraulic rod 14 is bolted to the slider 12. The number of the slider 12 is three groups, and the slider 12 is of I-shaped design. The surface is rotatably connected with a lower through pipe 20, the top of which is welded with a disc 18, the top of which is connected with an upper connecting piece 19, the outer diameter of the grinding disc body 15 is larger than the outer diameter of the disc 18, and the thickness of the grinding disc body 15 is larger than the thickness of the disc 18, the grinding disc body 15 is sleeved on the surface of the upper connecting piece 19, and the height of the top of the grinding disc body 15 is lower than the height of the top of the upper connecting piece 19, and the surface of the upper connecting piece 19 is also bolted with a fixing cap 24, which is fixed to the upper connecting piece 19 by bolts, and the grinding disc body 15 is clamped and fixed between the discs 18, and the fixing cap 24 is fixed to the upper connecting piece 19 by bolts. It can also be disassembled, and in actual use, the pipe connected to the top of the connecting piece 19 is first disassembled, and then the bolts corresponding to the fixing cap 24 are loosened, the fixing cap 24 and the grinding disc body 15 are removed, and replaced with new ones, and then the bolts corresponding to the fixing cap 24 are re-covered and tightened, and then the pipe is reconnected, and the replacement of the worn grinding disc body 15 is completed. A connecting frame 27 is bolted to one side of the storage barrel 2, and a second motor 17 is bolted to the bottom of the surface of the connecting frame 27. The top of the connecting frame 27 and the bottom end of the long tube 7 are bolted to each other. Under the action of the connecting frame 27, the storage barrel 2 and the long tube 7 are fixed.

[0044] The transmission mechanism 21 includes a rotating tube 211, a horizontal transmission rod 212 and a connecting seat 213. The connecting seat 213 is bolted to the inner side of the long tube 7. The rotating tube 211 is rotatably connected to the connecting seat 213. The output shaft of the second motor 17 is connected to the rotating tube 211 through a belt drive. The horizontal transmission rod 212 penetrates the long tube 7 and is rotatably connected to the penetration point. The end of the horizontal transmission rod 212 close to the long tube 7 is connected to the rotating tube 211 through a bevel gear drive. The transmission mechanism 21 also includes a long plate 214. The number of the long plates 214 is two groups, which are bolted to the bottom of the support platform 13. The horizontal transmission rod 212 and the long plates 214 The surface of the long board 214 is rotatably connected, and a transmission column 215 is rotatably connected above the surface of the long board 214, and the transmission column 215 is connected to the horizontal transmission rod 212 through a belt drive. An inner rod 216 is bolted to one end of the transmission column 215, and the cross-section of the inner rod 216 is square in design. A movable sleeve 217 is fixed to the bottom of the slider 12 through a bearing seat, which enables the movable sleeve 217 to rotate. The inner wall of the movable sleeve 217 is square in design, and the inner rod 216 is slidably connected to the inner wall of the movable sleeve 217. The end of the movable sleeve 217 away from the inner rod 216 is connected to the lower through pipe 20 through a bevel gear drive.

[0045] When working, firstly, the pipe to be processed is clamped and moved to the middle of the three groups of grinding disc bodies 15 by the manipulator body 28, and then the pipe mouth is aligned with the grinding disc body 15, and then the second motor 17 is turned on. The output shaft of the second motor 17 drives the rotating tube 211 to rotate through the belt, and then the rotating tube 211 drives the horizontal transmission rod 212 to rotate through the bevel gear, and the horizontal transmission rod 212 drives the transmission column 215 and the inner rod 216 to rotate through the belt, and then the inner rod 216 drives the movable sleeve 217 to rotate, and then the movable sleeve 217 can drive the lower through pipe 20 to rotate through the bevel gear, and drive the upper disc 18, the grinding disc body 15 and the upper connecting piece 19 to rotate, so as to achieve the effect of driving multiple grinding disc bodies 15 to rotate synchronously, and only one motor is needed to keep multiple grinding discs at the same speed, thereby ensuring the uniformity of grinding, and there is no need to set up multiple groups of motors. The added transmission column 215, inner rod 216, horizontal transmission rod 212 and other structures have lower costs than motors.

[0046] After the grinding disc body 15 rotates, the electric hydraulic rod 14 is turned on, and its output shaft is extended to drive the slider 12 to move. The slider 12 drives the lower through pipe 20, the disc 18 and the grinding disc body 15 to approach the pipe mouth, and then the grinding disc body 15 contacts the pipe mouth for grinding. The manipulator body 28 adjusts the angle of the pipe fitting, and at the same time, the first motor 16 is turned on. The output shaft of the first motor 16 drives the long tube 7 to rotate through the gear, thereby driving the upper cylinder 8, the arc cover 9, and the support platform 13 to move together, which makes the support platform 13 do circular motion and drives the grinding disc body 15 to do circular motion around the pipe mouth to achieve comprehensive grinding, and other facilities and structures such as the storage barrel 2 below can also rotate with the long tube 7; and during the movement of the slider 12, it can drive the movable sleeve 217 to move together through the bearing seat, and the movable sleeve 217 can slide along the surface of the inner rod 216 to ensure the normal transmission of power.

[0047] The dust collecting mechanism 22 includes a blocking net 221, a vertical shaft 222 and blades 223. The blocking net 221 is bolted to the inner side of the cylinder 8. A support block 224 is also bolted above the surface of the long tube 7, and the vertical shaft 222 is rotatably connected to the support block 224. The blades 223 are fixed to the surface of the vertical shaft 222. The dust collecting mechanism 22 also includes a horizontal plate 225 bolted to the top of the inner wall of the long tube 7. A vertical transmission rod 226 is rotatably connected to the surface of the horizontal plate 225. The vertical transmission rod 226 is connected to the rotating tube 211 through a gear transmission. During the high-speed rotation of the rotating tube 211, the rotating tube 211 drives the vertical transmission rod 226 to rotate in the manner of a large gear driving a small gear. The vertical transmission rod 226 is connected to the vertical shaft 222 through a gear transmission. The vertical transmission rod 226 can rotate the vertical shaft 222 in the manner of a large gear driving a small gear, which causes the vertical shaft 222 to rotate at a high speed and drives the blades 223 to rotate, thereby producing A downward airflow is generated, which allows external air to pass through the arc hood 9 and the cylinder 8 into the interior of the long tube 7 and be discharged from the bottom of the long tube 7, thereby realizing air flow and generating negative pressure at the arc hood 9. Most of the debris generated during the grinding process, under the action of the flowing air, passes through the arc hood 9 into the interior of the cylinder 8 and is blocked by the blocking net 221, while the air can circulate normally through the blocking net 221, thereby realizing the suction of the debris and preventing a large amount of debris from being scattered around the equipment, thereby reducing the burden of cleaning work. A sealing door 10 is also provided on the surface of the cylinder 8. The sealing door 10 is equipped with a door lock during actual use. When processing is in progress, the sealing door 10 is closed. When the machine is shut down, the sealing door 10 can be opened to take out the debris intercepted on the surface of the blocking net 221. Most of the debris is concentrated on the surface of the blocking net 221, making centralized cleaning more convenient, and there is no need to additionally set up a vacuum cleaner to implement the vacuuming function.

[0048] The circulation mechanism 23 includes a pump body 231, a suction pipe 232 and a connecting pipeline 233. The pump body 231 is bolted to one side of the top of the storage barrel 2. One end of the suction pipe 232 is communicated with the inlet end of the pump body 231, and the other end of the suction pipe 232 is communicated with the bottom of the surface of the storage barrel 2. The outlet end of the pump body 231 is connected with a connecting pipeline 233. The circulation mechanism 23 also includes a vertical pipe 234 fixed to the inner side of the long pipe 7. The number of the vertical pipes 234 is three groups, and each of them corresponds to each grinding disc body 15. The bottom end of the vertical pipe 234 is communicated with the connecting pipeline 233. The end of the vertical pipe 234 away from the connecting pipeline 233 is connected with a delivery pipeline 236. The delivery pipeline 236 is composed of a hard pipe and a hose, and is close to the upper connecting piece 19. Most of it is a hard pipe, the middle part below is a hose, and the part near the vertical pipe 234 is a hard pipe, so that it can adapt to the sliding block 12 that moves in position. A number of heat conducting plates 235 are bolted to the surface of the vertical pipe 234. The other end of the delivery pipeline 236 is connected to the upper connecting piece 19 through a pipeline rotating connector. The rotation of the upper connecting piece 19 will not affect the delivery pipeline 236. The bottom end of the lower through pipe 20 is connected to a return pipeline 237 through a pipeline rotating connector. The rotation of the lower through pipe 20 will not affect the return pipeline 237. The structure of the return pipeline 237 is similar to that of the delivery pipeline 236, and a combination of a hard pipe and a hose is also used. A hard pipe is used near the sliding block 12, and a hose is used in the middle part. The inner side of the rotating pipe 211 is fixed by a bearing There is a vertical pipe 238, which makes the rotating pipe 211 rotate at a high speed without affecting the vertical pipe 238. The end of the return pipe 237 away from the lower pipe 20 is interconnected with the vertical pipe 238, and the bottom end of the vertical pipe 238 is interconnected with the storage barrel 2. The storage barrel 2 is filled with coolant, and the coolant is heat-conducting oil. The pump body 231 is turned on, and the coolant in the storage barrel 2 enters the connecting pipe 233 after passing through the suction pipe 232 and the pump body 231, and then enters the disc 18 through the vertical pipe 234, the delivery pipeline 236, and the upper connecting piece 19. The disc 18, the vertical pipe 234, the heat-conducting sheet 235, the rotating pipe 211 and the vertical pipe 238 are all made of heat-conducting metal materials. The heat generated by the grinding disc body 15 during the processing is transferred to the disc 18 In the cooling liquid flowing inside, the cooling liquid carrying heat returns to the interior of the storage barrel 2 through the down pipe 20, the return pipe 237 and the vertical pipe 238, so as to realize the recycling of the cooling liquid, be more environmentally friendly, reduce production costs, and facilitate cleaning. Moreover, the fan blades 223 generate downwardly flowing air, which can contact the vertical pipe 234, the heat conducting sheet 235, the rotating pipe 211 and the vertical pipe 238 when passing through the interior of the long pipe 7. The heat conducting sheet 235 is distributed in a circular array on the surface of the vertical pipe 234, and there is a gap between the heat conducting sheet 235 and the surface of the rotating pipe 211. The flowing air exchanges heat with the cooling liquid inside the vertical pipe 234 and the vertical pipe 238, thereby reducing the temperature of the cooling liquid and ensuring the cooling effect of the cooling liquid on the grinding disc itself.And it can adapt to high-speed rotating grinding discs.

[0049] A support leg 25 is bolted to the bottom of the storage bucket 2, and a universal wheel 26 is bolted to the bottom of the support leg 25. When the long tube 7 drives the storage bucket 2 to rotate, the universal wheel 26 can be driven by the support leg 25 to move along the surface of the base 1 to support the bottom of the storage bucket 2. A conductive slip ring 3 is also provided on the top of the base 1. A forked tube 4 is fixed to the top of the conductive slip ring 3. The top of the forked tube 4 passes through the top of the storage bucket 2. The conductive slip ring 3 can achieve a rotational connection and the top can rotate, so that power can be supplied while rotating. The wires and signal lines connecting the first motor 16, the second motor 17 and the electric hydraulic rod 14 extend to the top through the conductive slip ring 3 and the forked tube 4 (the direction of the wires and signal lines is not shown in the figure). The conductive slip ring 3 is a prior art, and its specific structure and working method are no longer described in detail.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for grinding and polishing a pipe orifice, comprising a base (1), a storage bucket (2), a grinding disc body (15) and a manipulator body (28), wherein a support frame (5) is bolted to one side of the top of the base (1), and the manipulator body (28) is fixed to the top of the support frame (5), characterized in that: Also includes: A fixing frame (6) is bolted to the other side of the top of the base (1), the surface of the fixing frame (6) is rotatably connected with a long tube (7), the rear side of the fixing frame (6) is also bolted with a first motor (16), and the output shaft of the first motor (16) is connected to the long tube (7) through a gear transmission, the top of the long tube (7) is connected to a cylinder (8), and the top of the cylinder (8) is connected to an arc cover (9), and the number of the grinding disc bodies (15) is three groups and they are symmetrically distributed around the center of the long tube (7); A support rod (11) is bolted to the inner side of the arc-shaped cover (9), the top end of the support rod (11) is bolted to a support platform (13), the surface of the support platform (13) is slidably connected to a slider (12), and the top of the support platform (13) is also bolted to an electric hydraulic rod (14) for adjusting the position of the grinding disc body (15); A lower through pipe (20) is rotatably connected to the surface of the slider (12), a disc (18) is welded to the top of the lower through pipe (20), an upper connecting piece (19) is connected to the top of the disc (18), the grinding disc body (15) is sleeved on the surface of the upper connecting piece (19), and the height of the top of the grinding disc body (15) is lower than the height of the top of the upper connecting piece (19), and a fixing cap (24) is bolted to the surface of the upper connecting piece (19), and the fixing cap (24), the upper connecting piece (19) and the disc (18) cooperate to fix the grinding disc body (15), the outer diameter of the grinding disc body (15) is greater than the outer diameter of the disc (18), and the thickness of the grinding disc body (15) is greater than the thickness of the disc (18); A connecting frame (27) bolted to one side of the storage barrel (2), a second motor (17) bolted below the surface of the connecting frame (27), and a top of the connecting frame (27) and a bottom end of the long tube (7) bolted to each other; a transmission mechanism (21) used in conjunction with the second motor (17) to drive the grinding disc body (15) to rotate; A dust collecting mechanism (22) that utilizes the power of the transmission mechanism (21) to suck the debris into the interior of the cylinder (8); A circulation mechanism (23) allows the cooling liquid in the storage barrel (2) to circulate.

2. The robot for grinding and polishing a pipe orifice according to claim 1, characterized in that: The transmission mechanism (21) comprises a rotating tube (211), a transverse transmission rod (212) and a connecting seat (213); the connecting seat (213) is bolted to the inner side of the long tube (7); the rotating tube (211) is rotationally connected to the connecting seat (213); the output shaft of the second motor (17) is connected to the rotating tube (211) via a belt transmission; the transverse transmission rod (212) penetrates the long tube (7) and is rotationally connected to the penetration point thereof; and one end of the transverse transmission rod (212) close to the long tube (7) is connected to the rotating tube (211) via a bevel gear transmission; the transmission mechanism (21) further comprises a The long board (214) is provided with a horizontal transmission rod (212) which is rotatably connected to the surface of the long board (214); a transmission column (215) is rotatably connected above the surface of the long board (214); the transmission column (215) is connected to the horizontal transmission rod (212) via a belt drive; an inner rod (216) is bolted to one end of the transmission column (215); a movable sleeve (217) is fixed to the bottom of the slider (12) via a bearing seat; the inner rod (216) is slidably connected to the inner wall of the movable sleeve (217); and an end of the movable sleeve (217) which is away from the inner rod (216) is connected to the lower through pipe (20) via a bevel gear drive.

3. A robot for grinding and polishing a pipe orifice according to claim 2, characterized in that: The cross section of the inner rod (216) is designed to be square, and the inner wall of the movable sleeve (217) is designed to be square.

4. The robot for grinding and polishing a pipe orifice according to claim 2, characterized in that: The dust suction mechanism (22) comprises a blocking net (221), a vertical rotating shaft (222) and a fan blade (223); the blocking net (221) is bolted to the inner side of the cylinder (8); a support block (224) is bolted above the surface of the long tube (7); the vertical rotating shaft (222) is rotatably connected to the support block (224); the fan blade (223) is fixed to the surface of the vertical rotating shaft (222); the dust suction mechanism (22) further comprises a horizontal plate (225) bolted to the inner wall of the long tube (7); a vertical transmission rod (226) is rotatably connected to the surface of the horizontal plate (225); the vertical transmission rod (226) is connected to the rotating tube (211) via a gear transmission; the vertical transmission rod (226) is connected to the vertical rotating shaft (222) via a gear transmission.

5. The robot for grinding and polishing a pipe orifice according to claim 2, characterized in that: The circulation mechanism (23) comprises a pump body (231), a suction pipe (232) and a connecting pipeline (233); the pump body (231) is bolted to one side of the top of the storage barrel (2); one end of the suction pipe (232) is in communication with the inlet end of the pump body (231); the other end of the suction pipe (232) is in communication with the lower part of the surface of the storage barrel (2); the outlet end of the pump body (231) is in communication with the connecting pipeline (233); the circulation mechanism (23) further comprises a vertical pipe (234) fixed to the inner side of the long pipe (7); the bottom end of the vertical pipe (234) is in communication with the connecting pipeline (233); the vertical pipe (234) ) is connected to an end of the vertical pipe (234) away from the connecting pipe (233) and is provided with a delivery pipe (236); a plurality of heat conducting plates (235) are bolted to the surface of the vertical pipe (234); the other end of the delivery pipe (236) is connected to the upper connecting piece (19) via a pipe rotating connecting piece; a return pipe (237) is connected to the bottom end of the lower pipe (20) via a pipe rotating connecting piece; a vertical pipe (238) is fixed to the inner side of the rotating pipe (211) via a bearing; an end of the return pipe (237) away from the lower pipe (20) is connected to the vertical pipe (238), and the bottom end of the vertical pipe (238) is connected to the storage bucket (2).

6. The robot for grinding and polishing a pipe orifice according to claim 5, characterized in that: The delivery pipeline (236) is composed of a hard pipe and a hose.

7. The robot for grinding and polishing a pipe orifice according to claim 5, characterized in that: The heat conducting plates (235) are distributed on the surface of the vertical tube (234) in a ring array, and there is a gap between the heat conducting plates (235) and the surface of the rotating tube (211).

8. The robot for grinding and polishing a pipe orifice according to claim 1, characterized in that: A support leg (25) is bolted below the surface of the storage bucket (2), and a universal wheel (26) is bolted to the bottom of the support leg (25).

9. The robot for grinding and polishing a pipe orifice according to claim 1, characterized in that: A conductive slip ring (3) is also provided on the top of the base (1), a bifurcated tube (4) is fixed on the top of the conductive slip ring (3), and the top end of the bifurcated tube (4) penetrates to the top of the storage barrel (2).

10. The robot for grinding and polishing a pipe orifice according to claim 1, characterized in that: The sliding block (12) is designed in an I-shape.

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