Moving mechanism and machining system

Abstract

The invention relates to the technical field of end face groove machining, in particular to a moving mechanism and a machining system. The moving mechanism comprises a recognition mechanism and two crawling units arranged on the two sides, perpendicular to the first direction, of the main frame correspondingly. The crawling unit comprises a plurality of wheel sets arranged at intervals in the first direction. The wheel set comprises two crawling wheel assemblies. The crawling wheel assembly comprises a driving assembly and crawling wheels; the two crawling wheels of the same wheel set are arranged in a vertically spaced mode, and the driving assembly drives the crawling wheels to rotate and drives the crawling wheels to move in the direction close to or away from the other crawling wheel of the same wheel set. The driving assembly further controls the crawling wheels to cross the welding seam on the workpiece based on the welding seam information, recognized by the recognition mechanism, on the workpiece. The moving machine can clamp the end of the workpiece, can drive the main frame to move in the extending direction of the end of the workpiece and is matched with the grinding equipment arranged on the main frame, automatic groove machining is achieved, and the problem that the groove of an existing large workpiece is manually ground is solved.

Description

Technical Field

[0001] The invention relates to the technical field of end face groove processing, in particular to a moving mechanism and a processing system. Background Art

[0002] Bevel refers to the beveled edge processed on the edge of the workpiece to be welded. The design of the bevel is crucial to ensure welding quality and structural strength. Bevel processing equipment used for processing bevels is widely used in industries such as shipbuilding, petroleum, chemical industry, and power.

[0003] Common groove processing equipment is mostly portable groove machines, which are generally handheld and manually completed by operators to process small diameter and small batch grooves, and are not suitable for large workpieces, such as large diameter tubular / annular workpieces. In view of this, the present invention proposes a moving part mechanism for processing grooves on the end faces of large workpieces; the present invention also proposes a processing system including the above-mentioned moving mechanism. Summary of the invention

[0004] The main purpose of the present invention is to provide a moving mechanism for realizing the end face processing groove of a large workpiece; the present invention also provides a processing system, including the above-mentioned moving mechanism.

[0005] In order to achieve the above-mentioned object, an embodiment of the present invention provides a mobile mechanism for a processing system, wherein the processing system comprises a main frame; the mobile mechanism comprises: an identification mechanism and a crawling unit; Two crawling units are provided, and the two crawling units are respectively provided on two sides of the main frame perpendicular to the first direction; each crawling unit includes a plurality of wheel groups spaced apart along the first direction; The wheel set includes two sets of crawler wheel assemblies; the crawler wheel assembly includes a driving assembly and a crawler wheel; the two crawler wheels of the same wheel set are arranged with an interval up and down, the driving assembly is connected to the crawler wheel in a transmission manner, and is used to drive the crawler wheel to rotate, and is used to drive the crawler wheel to move towards or away from another crawler wheel of the same wheel set; The identification mechanism is electrically connected to the driving component, and the identification mechanism is used to identify the weld information on the workpiece; the driving component also controls the crawling wheel to pass over the weld on the workpiece based on the information identified by the identification mechanism.

[0006] Furthermore, the wheel sets of the two crawling units correspond one to one, and the two sets of wheel sets that correspond one to one are arranged relatively to each other.

[0007] Furthermore, the identification mechanism includes two laser sensors; the two laser sensors are respectively arranged at two ends of the main frame along the first direction.

[0008] Further, the driving assembly includes a rotational driving assembly and a radial driving assembly; The rotational driving assembly is in transmission connection with the crawling wheel and is used for driving the crawling wheel to rotate; the radial driving assembly is connected to the rotational driving assembly and is used for driving the rotational driving assembly and the crawling wheel located on the rotational driving assembly to move in a direction close to or away from another crawling wheel of the same wheel set.

[0009] Further, the rotational driving assembly includes a support block, a rotational driving motor and a speed reducer; The crawling wheel is rotatably arranged on the support block, the speed reducer is fixedly arranged on the support block, and the support block is further connected to the radial driving assembly; the rotational driving motor is in transmission connection with the crawling wheel through the speed reducer.

[0010] Further, the radial driving assembly includes a lifting sliding sleeve, a radial driving motor and a lead screw assembly; The lifting sliding sleeve is connected to the lead screw assembly, and one end of the lifting sliding sleeve is connected to the support block; the radial driving motor is in transmission connection with the lead screw assembly to drive the lifting sliding sleeve to move.

[0011] Further, a lifting slider is fixedly arranged on the lifting sliding sleeve, a lifting slide rail is fixedly arranged on the main frame, and the lifting slider is slidably connected to the lifting slide rail.

[0012] Further, pressure sensors are arranged inside the crawling wheels of the wheel sets at both ends, the pressure sensors are electrically connected to the driving assembly, and the driving assembly also controls the pressure between the crawling wheels and the workpiece based on the pressure sensors.

[0013] Further, the crawling wheels of the wheel sets at both ends are steel wheels, and the crawling wheels of the remaining wheel sets are rubber wheels.

[0014] Another embodiment of the present invention further provides a processing system, including the above-mentioned moving mechanism.

[0015] Advantages of the present invention: The present invention provides a mobile mechanism for a processing system, which includes a main frame; the mobile mechanism includes: an identification mechanism and a crawling unit; two crawling units are provided, and the two crawling units are respectively provided on both sides of the main frame perpendicular to a first direction; each crawling unit includes a plurality of wheel groups spaced apart along a first direction; the wheel group includes two groups of crawling wheel assemblies; the crawling wheel assembly includes a driving assembly and a crawling wheel; the two crawling wheels of the same wheel group are spaced apart up and down, the driving assembly is transmission-connected to the crawling wheel, and is used to drive the crawling wheel to rotate, and is used to drive the crawling wheel to move toward or away from another crawling wheel of the same wheel group; the identification mechanism is electrically connected to the driving assembly, and the identification mechanism is used to identify weld information on a workpiece; the driving assembly also controls the crawling wheel to cross the weld on the workpiece based on the information identified by the identification mechanism.

[0016] The moving mechanism is set on the main frame of the processing system, which can be clamped on the end of the workpiece and can drive the main frame to move along the extension direction of the end of the workpiece. The main frame moves with the tool and motor for grinding the groove set on the main frame to realize automatic grinding of the end face of the workpiece and form a groove on the end face of the workpiece. It has a high degree of automation and solves the pain point of manual grinding of grooves of existing large workpieces. In addition, the recognition mechanism can identify the weld of the workpiece, and cooperate with the drive component to prevent the weld on the workpiece from affecting the operation of the moving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a moving mechanism provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a processing system provided in an embodiment of the present invention.

[0019] Icons: 11-wheel assembly; 12-crawling wheel assembly; 121-crawling wheel; 13-driving assembly; 131-support block; 132-rotation driving motor; 133-reducer; 134-lifting sleeve; 135-radial driving motor; 136-lifting slider; 137-lifting slide rail; 138-screw assembly; 14-identification mechanism; 2-main frame; 21-first frame; 22-second frame; 23-connecting frame. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Components of the embodiments of the present invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0021] Therefore, the detailed description of the embodiments of the present invention provided in the drawings below is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0022] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0024] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The following will describe in detail some embodiments of the present invention with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0027] As Figure 1 and Figure 2 shown, an embodiment of the present invention provides a moving mechanism for a processing system. The processing system includes a main frame 2. The moving mechanism is disposed on the main frame 2 and is used to drive the main frame 2 to move along the extending direction of the workpiece end face groove. The processing system includes a tool for grinding the workpiece end face and a motor for driving the tool to rotate. The motor and the tool are integrated and fixedly disposed on the main frame 2. When the moving mechanism drives the main frame 2 to move, the motor drives the tool to rotate to grind the workpiece end face to form a groove on the end face of the workpiece.

[0028] Specifically, the above-mentioned moving mechanism includes an identification mechanism 14 and a crawling unit. The crawling units are respectively disposed on both sides of the main frame 2 perpendicular to the first direction. Each crawling unit includes multiple groups of wheel sets 11 arranged at intervals along the first direction. Further, each group of wheel sets 11 includes two sets of crawling wheel assemblies 12. Each set of crawling wheel assemblies 12 includes a driving component 13 and a crawling wheel 121. The two crawling wheels 121 in the same group of wheel sets 11 are arranged at an interval up and down, and the axial directions of the two crawling wheels 121 are perpendicular to the first direction. When in use, the upper crawling wheel 121 can contact the upper surface of the workpiece end, and the lower crawling wheel 121 can contact the lower surface of the workpiece end, so that the end of the workpiece can be pressed between the two crawling wheels 121. The driving component 13 is in transmission connection with the corresponding crawling wheel 121. The driving component 13 is used to drive the corresponding crawling wheel 121 to rotate, so that the main frame 2 can move under the action of the crawling wheel 121. In addition, the driving component 13 is also used to drive the corresponding crawling wheel 121 to move in a direction close to or away from another crawling wheel 121 in the same group, so that the two crawling wheels 121 in the same group can clamp or release the end of the workpiece. For a large ring welded workpiece with a weld on it, the above-mentioned identification mechanism 14 can identify the weld on the workpiece, and the identification mechanism 14 can feed back the identified information to the driving component 13. When driving the main frame 2 to move, the driving component 13 can also drive the corresponding crawling wheel 121 to move based on the information identified by the identification mechanism 14, so that when the main frame 2 is moving, the crawling wheel 121 can cross the weld when passing through the weld.

[0029] The moving mechanism provided in this embodiment is arranged on the main frame 2 of the processing system. It can clamp the end of the workpiece and drive the main frame 2 to move along the extending direction of the workpiece end. Cooperating with the main frame 2 where the tool and motor for grinding the bevel are arranged on the main frame 2, it can automatically grind the end face of the workpiece and form a bevel on the end face of the workpiece, with a high degree of automation, solving the pain point that large workpieces in the prior art need to be manually ground for bevels. Moreover, the recognition mechanism 14 can recognize the weld seam of the workpiece. Cooperating with the driving component 13, it can avoid the influence of the weld seam on the workpiece on the operation of the moving mechanism.

[0030] Since there are two such crawling units, and the two crawling units are respectively located on both sides of the main frame 2 perpendicular to the first direction. During use, two workpieces can be processed simultaneously, that is, the two workpieces are arranged at intervals, and the two crawling units are respectively clamped on the two workpieces. The tool, motor and the main frame 2 are arranged on one side of the main frame 2. After processing one workpiece, the main frame 2 is rotated 180° to be able to process the other workpiece.

[0031] Preferably, the wheel sets 11 of the two crawling units are arranged in one-to-one correspondence, and moreover, the two wheel sets 11 arranged in one-to-one correspondence are also arranged opposite to each other, so as to ensure the stability during the operation of the crawling unit, the forces on each crawling unit are balanced, and the service life is prolonged.

[0032] Preferably, the recognition mechanism 14 includes two laser sensors. Since the moving direction of the main frame 2 is along the first direction, the two laser sensors are respectively arranged at both ends of the main frame 2 in the first direction for detecting the weld seam information on the workpiece. The laser sensor uses non-contact measurement, with high precision and strong environmental adaptability.

[0033] Optionally, as Figure 1 shown, the above-mentioned driving component 13 includes a rotary driving component 13 and a radial driving component 13. The rotary driving component 13 is in transmission connection with the corresponding crawling wheel 121 and is used to drive the corresponding crawling wheel 121 to rotate. The radial driving component 13 is connected to the corresponding crawling wheel 121 and is used to drive the corresponding crawling wheel 121 to move in a direction close to or away from another crawling wheel 121 in the same wheel set 11. Preferably, the radial driving component 13 is connected to the rotary driving component 13, and the rotary driving component 13 is in transmission connection with the crawling wheel 121 through a speed reducer 133.

[0034] Optionally, as Figure 1As shown in the figure, the above-mentioned rotation drive assembly 13 includes a support block 131, a rotation drive motor 132, and a speed reducer 133. Among them, the support block 131 is used to support the crawler wheel 121. Structures such as bearings are arranged inside the support block 131. One end of the support block 131 is rotatably provided with the above-mentioned crawler wheel 121, and the speed reducer 133 and the rotation drive motor 132 are sequentially arranged at the other end. Moreover, the support block 131 is also used to be connected to the above-mentioned radial drive assembly 13.

[0035] Optionally, as Figure 1 shown in the figure, the above-mentioned radial drive assembly 13 includes a lifting sliding sleeve 134, a radial drive motor 135, and a lead screw assembly 138. The lifting sliding sleeve 134 is connected to the lead screw assembly 138. Specifically, the lead screw nut of the lead screw assembly 138 is fixedly connected to the lifting sliding sleeve 134. The radial drive motor 135 is connected to the lead screw assembly 138 through a coupling and a worm and worm gear reducer and is used to drive the lead screw assembly 138 to move. When the lead screw assembly 138 moves, the lifting sliding sleeve 134 can move. One end of the lifting sliding sleeve 134 is connected to the above-mentioned support block 131. When the lifting sliding sleeve 134 moves, the support block 131 and the crawler wheel 121 and the rotation drive motor 132 on the support block 131 move synchronously, realizing movement in the direction of approaching or moving away from another crawler wheel 121 in the same wheel set 11.

[0036] Preferably, in this embodiment, a pressure sensor can also be arranged on the lifting sliding sleeve 134 to monitor the pressure change during the traveling process.

[0037] In this embodiment, the lead screw assembly 138 drives the crawler wheel 121 to move. When the two crawler wheels 121 of the same wheel set 11 clamp the end of the workpiece, they can self-lock, and the safety is higher.

[0038] Preferably, in this embodiment, as Figure 1 shown in the figure, a lifting slider 136 is also fixedly arranged on the lifting sliding sleeve 134, and a lifting slide rail 137 matching the lifting slider 136 is fixedly arranged on the main frame 2 of the processing system. After assembly, the lifting slider 136 is slidably connected to the lifting slide rail 137. When the lifting sliding sleeve 134 moves under the action of the radial drive motor 135, the coupling, the worm and worm gear reducer, and the lead screw assembly 138, the lifting slider 136 can move synchronously with the lifting sliding sleeve 134 on the lifting slide rail 137, thereby improving the overall stability of the mechanism.

[0039] Preferably, in this embodiment, pressure sensors are arranged inside the crawler wheels 121 of the wheel sets 11 at both ends to monitor the pressure between the crawler wheels 121 and the workpiece, so that the radial drive assembly 13 of the drive assembly 13 can be adjusted in time to ensure the stable operation of the mechanism.

[0040] Optionally, the mobile mechanism is equipped with an electric control cabinet, and each wheel set 11 is provided with an electric control cabinet corresponding to the wheel set 11 for controlling the operating state of the corresponding wheel set 11 .

[0041] Preferably, the crawling wheel 121 provided with the pressure sensor is a steel wheel, which has a long service life and is convenient for cooperating with the pressure sensor, and the remaining crawling wheels 121 are rubber wheels, thereby ensuring stability during movement and having a certain obstacle-crossing ability.

[0042] In this embodiment, since each crawling unit includes multiple sets of wheel groups 11, it can achieve 360° movement along the tubular / annular workpiece and has the function of weld crossing. The pressure sensor in the crawling wheel 121 can adjust the radial drive assembly 13 according to factors such as the thickness of the workpiece, control the clamping force of the wheel group 11, and ensure that the processing system can operate in the best state.

[0043] Another embodiment of the present invention further provides a processing system, comprising the moving mechanism in any of the above embodiments.

[0044] Optionally, in this embodiment, the processing system includes a main frame 2, and the main frame 2 includes a first frame 21, a second frame 22 and a connecting frame 23; the first frame 21 and the second frame 22 are arranged opposite to each other, and the two crawling units are respectively arranged on the first frame 21 and the second frame 22; the connecting frame 23 is used to connect the first frame 21 and the second frame 22; preferably, the first frame 21 and the second frame 22 are both slidably arranged on the connecting frame 23, and a handle and a screw mechanism are provided on the connecting frame 23. By turning the handle, the distance between the first frame 21 and the second frame 22 can be adjusted, so that the main frame 2 can be better adapted to the workpiece.

[0045] Optionally, in this embodiment, the processing system further includes a tool assembly, which includes a tool head and a motor, which is connected to the tool head for driving the tool head to rotate, so that the tool head can grind the end face of the workpiece and form a groove on the end face. The tool assembly can be provided in one group or in multiple groups; the tool assembly can be provided only on the first frame 21, or on both the first frame 21 and the second frame 22.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile mechanism for a processing system, the processing system comprising a main frame (2); characterized in that: The moving mechanism comprises: an identification mechanism (14) and a crawling unit; Two crawling units are provided, and the two crawling units are respectively provided on two sides of the main frame (2) perpendicular to the first direction; each crawling unit comprises a plurality of wheel groups (11) arranged at intervals along the first direction; The wheel set (11) comprises two sets of crawler wheel assemblies (12); the crawler wheel assembly (12) comprises a driving assembly (13) and a crawler wheel (121); the two crawler wheels (121) of the same wheel set (11) are arranged vertically and spaced apart; the driving assembly (13) is transmission-connected to the crawler wheel (121) and is used to drive the crawler wheel (121) to rotate, and to drive the crawler wheel (121) to move in a direction approaching or away from another crawler wheel (121) of the same wheel set (11); The identification mechanism (14) is electrically connected to the drive assembly (13), and the identification mechanism (14) is used to identify information of a weld on a workpiece; the drive assembly (13) also controls the crawler wheel (121) to pass over the weld on the workpiece based on the information identified by the identification mechanism (14).

2. The moving mechanism according to claim 1, characterized in that: The wheel sets (11) of the two crawling units correspond one to one, and the two sets of wheel sets (11) that correspond one to one are arranged relative to each other.

3. The moving mechanism according to claim 1, characterized in that: The identification mechanism (14) comprises two laser sensors; the two laser sensors are respectively arranged at two ends of the main frame (2) along a first direction.

4. The moving mechanism according to claim 1, characterized in that: The drive assembly (13) comprises a rotation drive assembly (13) and a radial drive assembly (13); The rotary drive assembly (13) is in driving connection with the crawler wheel (121) and is used to drive the crawler wheel (121) to rotate; the radial drive assembly (13) is connected to the rotary drive assembly (13) and is used to drive the rotary drive assembly (13) and the crawler wheel (121) located on the rotary drive assembly (13) to move in a direction approaching or moving away from another crawler wheel (121) of the same wheel assembly (11).

5. The moving mechanism according to claim 4, characterized in that: The rotary drive assembly (13) comprises a support block (131), a rotary drive motor (132) and a reducer (133); The crawler wheel (121) is rotatably mounted on the support block (131), the reducer (133) is fixedly mounted on the support block (131), and the support block (131) is also connected to the radial drive assembly (13); the rotary drive motor (132) is transmission-connected to the crawler wheel (121) via the reducer (133).

6. The moving mechanism according to claim 5, characterized in that: The radial drive assembly (13) comprises a lifting sleeve (134), a radial drive motor (135) and a screw assembly (138); The lifting sleeve (134) is connected to the screw assembly (138), and one end of the lifting sleeve (134) is connected to the support block (131); the radial drive motor (135) is transmission-connected to the screw assembly (138), thereby driving the lifting sleeve (134) to move.

7. The moving mechanism according to claim 6, characterized in that: A lifting slider (136) is also fixedly provided on the lifting sleeve (134), a lifting rail (137) is fixedly provided on the main frame (2), and the lifting slider (136) is slidably connected to the lifting rail (137).

8. The moving mechanism according to any one of claims 1 to 7, characterized in that: A pressure sensor is provided in the crawler wheel (121) of the wheel set (11) at both ends, the pressure sensor is electrically connected to the drive assembly (13), and the drive assembly (13) also controls the pressure between the crawler wheel (121) and the workpiece based on the pressure sensor.

9. The moving mechanism according to any one of claims 1 to 7, characterized in that: The crawling wheels (121) of the wheel sets (11) at the two ends are steel wheels, and the crawling wheels (121) of the remaining wheel sets (11) are rubber wheels.

10. A processing system, characterized in that: Comprising the moving mechanism as claimed in any one of claims 1 to 9.

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