Round pipe end face chamfering machine

Abstract

The invention discloses a chamfering machine for the end face of a round pipe. The chamfering machine comprises a working table, a chamfering device, a clamping device, a feeding mechanical arm and a feeding device. The chamfering device comprises a pneumatic power head, a chamfering cutter head and a parallel clamp; the clamping device comprises a fixed clamping block, a movable clamping block, a floating connector, an air cylinder support and a sliding guide rail, and clamping of a workpiece is achieved through pushing of an air cylinder. The feeding mechanical arm comprises a mechanical arm base, a mechanical arm body, a plurality of rotating joints and a clamping jaw, all the rotating joints act in a coordinated mode, the feeding mechanical arm can accurately move between a material taking position and a clamping position, and therefore the feeding mechanical arm can accurately complete the feeding action; the feeding device comprises a cam, a push rod, an L-shaped plate, a guide sliding block, a feeding frame and a feeding plate. According to the circular pipe end face chamfering machine, feeding, loading and end face chamfering of circular pipe workpieces can be achieved, and the diameter of the machined workpieces can be adjusted.

Description

Technical Field

[0001] The present invention belongs to the technical field of machining equipment, and specifically relates to a chamfering machine for the end face of a circular pipe. Background Art

[0002] In the production process of circular pipe parts, the mother material is usually cut into equal lengths to obtain sub-materials. The sub-materials obtained by this processing method will have problems such as flash, burrs, and protrusions on the end face, which have a greater impact on the quality of the part end face. Therefore, chamfering processing is required for the end face of the sub-materials. Currently, in the chamfering processing of the end face of circular pipes, although automated equipment has significant advantages in improving efficiency, many enterprises still prefer to use semi-automatic chamfering equipment operated manually for processing. Although traditional manual operation has a certain degree of flexibility during the processing, it is often difficult to compare with automated equipment in terms of processing efficiency and consistency. In summary, the present invention proposes a chamfering machine for the end face of a circular pipe. Summary of the Invention

[0003] In order to solve the above existing problems, the present invention provides a chamfering machine for the end face of a circular pipe.

[0004] The present invention is realized through the following technical solutions: A chamfering machine for the end face of a circular pipe includes a chamfering device, a clamping device, a loading robotic arm, and a feeding device. The above-mentioned devices are modularly arranged on the workbench surface, and each device can be adjusted or replaced according to different workpiece sizes to meet various processing requirements. Each device operates independently and works in coordination at the same time to ensure processing accuracy and efficiency. The chamfering device includes a pneumatic power head, a chamfering cutter head, and a parallel fixture; the clamping device includes a fixed clamping block, a movable clamping block, a floating joint, a cylinder support, and a sliding guide rail. The movable clamping block is connected to the piston rod of the cylinder, and the workpiece is clamped under the action of the clamping cylinder; the loading robotic arm includes a robotic arm base, a robotic arm body, multiple rotating joints, and a gripper. The rotating joints coordinate with each other, enabling the loading robotic arm to move flexibly in the working space, so that the loading robotic arm can accurately complete the loading action; the feeding device includes a cam, a push rod, an L-shaped plate, a guiding slider, a feeding rack, and a feeding plate. The feeding plate moves along with the movement of the push rod, and its surface is provided with multiple V-shaped grooves for placing and conveying workpieces. As the feeding plate reciprocates, the workpieces are sequentially conveyed to the picking position of the loading robotic arm.

[0005] As a further optimized solution of the present invention, the chamfering device includes a pneumatic power head, a chamfering cutter head, and a parallel fixture. The chamfering cutter head includes a cutter head, an external angle cutter, an internal angle cutter, a flat cutter, a locking bolt, and an adjusting bolt. The three cutters are installed on the cutter head, and the positions of the three cutters can be adjusted through the adjusting bolt to adapt to workpieces of different sizes. After the adjustment is in place, the cutters are locked by the locking bolt on the side; the pneumatic power head is fixed on the workbench surface through the parallel fixture, and the chamfering cutter head is installed at the head of the power head and is driven by the power head motor to drive the chamfering cutter head to rotate, thereby completing the chamfering process.

[0006] As a further optimized solution of the present invention, the clamping device includes a fixed clamping block, a movable clamping block, a floating joint, a cylinder support, and a sliding guide rail. The fixed clamping block and the sliding guide rail are firmly installed on the workbench surface. The movable clamping block is connected to the cylinder piston rod through the floating joint. One end of the floating joint is connected to the cylinder piston rod, and the other end is fixed to the movable clamping block through a bolt, which is used to compensate for the installation error between the cylinder piston rod and the movable clamping block. The cylinder support is installed on the workbench surface to stably support the cylinder. The slider on the sliding guide rail is connected to the movable clamping block (32) through a bolt. Under the action of the clamping cylinder, the movable clamping block slides smoothly along the straight line direction on the sliding guide rail to realize the clamping action on the workpiece.

[0007] As a further optimized solution of the present invention, the loading robotic arm includes a robotic arm base, a robotic arm body, multiple rotating joints, and a gripper. The robotic arm base is fixed on the workbench surface to provide stable support for the robotic arm; the multiple rotating joints are sequentially connected to various parts of the robotic arm body, and each joint is driven by a motor to enable the robotic arm to move flexibly within multiple degrees of freedom; the robotic arm body is composed of multiple rigid connecting rods, and through the coordinated actions of each rotating joint, the robotic arm accurately moves between the loading position and the clamping device; the gripper is an electric gripper, which can stably grasp the workpiece and perform fine adjustment during the loading process to ensure that the workpiece is accurately placed in the clamping device.

[0008] As a further optimized solution of the present invention, the feeding device includes a cam, a push rod, an L-shaped plate, a guiding slider, a feeding rack, and a feeding plate. The cam is driven by a driving motor to rotate, and the contour curve of the cam acts on the push rod, causing the push rod to perform reciprocating linear motion up and down along the guide rail of the L-shaped plate, thereby driving the feeding plate to move periodically; the L-shaped plate is used to connect the push rod and the guiding slider, and the guiding slider is connected to the L-shaped plate and slides horizontally along the guiding rail, so as to ensure that the feeding plate maintains stable linear motion during the feeding process, preventing deviation or shaking; the feeding rack and the feeding device support frame are integrated and fixed on the workbench surface; the feeding plate is connected to the top end of the push rod through a rib plate and moves along with the movement of the push rod. Multiple V-shaped grooves are provided on the surfaces of the feeding rack and the feeding plate for placing and conveying round tube workpieces. As the feeding plate reciprocates, the workpieces are successively conveyed to the picking position of the loading robot arm.

[0009] Compared with the existing technology, the beneficial effects of the present invention are as follows: The round tube to be processed is placed on the feeding rack, and the driving motor in the feeding mechanism drives the cam to rotate. The contour curve of the cam acts on the push rod, causing the push rod to perform reciprocating linear motion up and down along the guide rail of the L-shaped plate, thereby driving the feeding plate to move periodically. The guiding slider is connected to the L-shaped plate and slides horizontally along the guiding rail, so as to ensure that the feeding plate maintains stable linear motion during the feeding process, preventing deviation or shaking. As the feeding plate reciprocates, the workpieces are successively conveyed to the picking position of the loading robot arm. Then the loading robot arm works. Supported by the robot arm base, through the coordinated actions of the multiple rotating joints, the gripper firmly grabs the workpiece and moves it to the positioning area of the clamping device. The clamping cylinder of the clamping device pushes the movable clamping block, causing the clamping block to move towards the fixed clamping block to complete the clamping of the workpiece. Finally, the chamfering device is started, the pneumatic power head drives the chamfering cutter head to rotate at high speed, and the power head cylinder controls the feeding movement of the power head to complete the external circle chamfering, internal circle chamfering, and end face machining of the workpiece end face at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art solutions. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0011] Figure 1 is a structural schematic diagram of the present invention; Figure 2 is a structural schematic diagram of the chamfering device of the present invention; Figure 3 It is a schematic structural diagram of the clamping device of the present invention; Figure 4 It is a schematic structural diagram of the loading robotic arm of the present invention; Figure 5 It is a schematic structural diagram of the feeding device of the present invention.

[0012] The reference numerals in the figure respectively represent: 1, workbench surface; 2, chamfering device; 3, clamping device; 4, loading robotic arm; 5, feeding device; 21, pneumatic power head; 22, chamfering cutter head; 23, parallel fixture; 31, fixed clamping block; 32, movable clamping block; 33, floating joint; 34, cylinder support; 35, sliding guide rail; 41, robotic arm base; 42, robotic arm body; 43, rotary joint; 44, jaw; 51, cam; 52, push rod; 53, L-shaped plate; 54, guiding slider; 55, feeding rack; 56, feeding plate. Specific embodiments

[0013] In order to more clearly understand the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art solutions. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments: As Figures 1-5 shown, a circular tube end chamfering machine includes a workbench surface (1), a chamfering device (2), a clamping device (3), a loading robotic arm (4), and a feeding device (5).

[0015] The chamfering device (2) includes a pneumatic power head (21), a chamfering cutter head (22), and a parallel fixture (23). The chamfering cutter head (22) includes a cutter head, an external angle cutter, an internal angle cutter, a flat cutter, locking bolts, and adjusting bolts. Three cutters are installed on the cutter head, and the positions of the three cutters are adjusted through the adjusting bolts to adapt to processing workpieces of different sizes. After the adjustment is in place, the cutters are locked by the locking bolts on the side; the two pneumatic power heads (21) are fixed on the workbench surface (1) through the parallel fixture (23) and are arranged oppositely along the main axis. The chamfering cutter head (22) is installed at the head of the pneumatic power head (21) and is driven by the power head motor to drive the chamfering cutter head to rotate. The main axis feed movement is realized by the power head cylinder, and the external circle chamfering, internal circle chamfering, and flat surface processing of the two end faces of the circular tube are completed at one time.

[0016] The clamping device (3) includes a fixed clamping block (31), a movable clamping block (32), a floating joint (33), a cylinder support (34), and a sliding guide rail (35). The fixed clamping block (31) and the sliding guide rail (35) are firmly installed on the workbench surface (1). The movable clamping block (32) is connected to the cylinder piston rod through the floating joint (33). One end of the floating joint (33) is connected to the cylinder piston rod, and the other end is fixed to the movable clamping block (32) by bolts, which is used to compensate for the installation error between the cylinder piston rod and the movable clamping block (32). The cylinder support (34) is installed on the workbench surface (1) to stably support the cylinder. The slider on the sliding guide rail (35) is connected to the movable clamping block (32) by bolts. Under the action of the clamping cylinder, the movable clamping block (32) slides smoothly along a straight line on the sliding guide rail (35) to realize the clamping action on the workpiece. During the clamping process, the sliding guide rail (35) is used to guide the smooth movement of the movable clamping block (32), ensure its operation along a predetermined trajectory, reduce friction and deviation, thereby improving the stability and accuracy of clamping.

[0017] The loading robot arm (4) includes a robot arm base (41), a robot arm body (42), a plurality of rotating joints (43), and a gripper (44). The robot arm base (41) is fixed to the workbench surface (1) by bolts to provide stable support for the entire robot arm. The robot arm body (42) is composed of a plurality of rigid connecting rods and is sequentially connected through the rotating joints (43). Through the coordinated movement of each joint, the robot arm can accurately move between the loading position and the clamping device. The rotating joints (43) are driven by motors to achieve high-precision angle control, enabling the robot arm to execute precise trajectory movements. The gripper (44) is driven by a motor, capable of stably grasping the workpiece, and has the functions of adjustable force and fine position adjustment to ensure that the workpiece can be accurately placed inside the clamping device.

[0018] The feeding device (5) includes a cam (51), a push rod (52), an L-shaped plate (53), a guiding slider (54), a feeding rack (55), and a feeding plate (56). The cam (51) is driven to rotate by a driving motor. The contour curve of the cam determines the movement trajectory and period of the feeding plate. The push rod (52) is affected by the contour curve of the cam (51) and makes a reciprocating linear motion up and down on the guide rail of the L-shaped plate (53), thereby pushing the feeding plate to move periodically. The L-shaped plate (53) is used to connect the push rod (52) and the guiding slider (54). The guiding slider (54) is connected to the L-shaped plate (53) by bolts and slides horizontally along the guiding rail, so as to ensure that the feeding plate maintains a stable linear motion during the feeding process and prevent deviation or shaking. The feeding rack (55) and the feeding device support frame are an integral whole, and the support base is fixed on the workbench surface (1) by bolts. The feeding plate (56) is connected to the top end of the push rod by a rib plate and moves along with the movement of the push rod. Multiple V-shaped grooves are provided on the surfaces of the feeding rack (55) and the feeding plate (56) for placing and conveying round tube workpieces. With the reciprocating movement of the feeding plate (56), the workpieces are sequentially conveyed to the picking position of the loading robotic arm (4).

[0019] In this embodiment of the device of the present invention, the various devices of the invention are modularly arranged on the workbench surface and can be adjusted or replaced according to the processing requirements of different workpieces, so that the equipment has high flexibility and adaptability. The various devices operate independently and cooperate with each other simultaneously to ensure the stability and high efficiency of the processing process. When performing chamfering processing, first, the feeding device sends the round tube workpiece to the picking position of the loading robotic arm. Then, through the coordinated movement of the rotating joints of the loading robotic arm, the gripper firmly grabs the workpiece and accurately moves along the set trajectory to send the workpiece accurately to the positioning area of the clamping device. Subsequently, the air cylinder of the clamping device pushes the movable clamping block to move the movable clamping block towards the fixed clamping block to achieve the firm clamping of the round tube workpiece. After the workpiece is fixed, the chamfering device is started, and the pneumatic power head drives the chamfering cutter head to rotate at a high speed. The feeding movement of the power head is controlled by the power head air cylinder, so that the chamfering cutter head contacts the workpiece and completes the external round chamfering, internal round chamfering and plane processing of the workpiece end face at one time according to the set processing path. After the processing is completed, the clamping device releases the workpiece, and the robotic arm takes away the processed workpiece and places it at the designated position.

[0020] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A circular pipe end chamfering machine, comprising a chamfering device, a clamping device, a loading robotic arm, and a feeding device, characterized in that: The chamfering device includes a pneumatic power head, a chamfering cutter head, and a parallel fixture; the clamping device includes a fixed clamping block, a movable clamping block, a floating joint, a cylinder support, and a sliding guide rail. The movable clamping block is connected to the piston rod of the clamping cylinder, and the workpiece is clamped by the push of the cylinder; the loading robotic arm includes a robotic arm base, a robotic arm body, multiple rotating joints, and a gripper. Each rotating joint works in coordination to enable the loading robotic arm to move flexibly in the working space, so that the loading robotic arm can accurately complete the loading action; The feeding device includes a cam, a push rod, an L-shaped plate, a guiding slider, a feeding rack, and a feeding plate. The various devices are modularly arranged on the workbench and can be adjusted or replaced according to the processing requirements of different workpieces.

2. The chamfering machine for the end face of a circular tube according to claim 1, wherein: The chamfering device includes a pneumatic power head, a chamfering cutter head, and a parallel fixture. The chamfering cutter head includes a cutter head, an external angle cutter, an internal angle cutter, a flat cutter, a locking bolt, and an adjusting bolt. The three cutters are installed on the cutter head, and the positions of the three cutters can be adjusted by the adjusting bolt to adapt to workpieces of different sizes. After adjustment, the cutters are locked by the locking bolt on the side; the pneumatic power head is fixed on the workbench through the parallel fixture, and the chamfering cutter head is installed at the head of the power head and is driven by the power head motor to drive the chamfering cutter head to rotate, thereby completing the chamfering processing.

3. The chamfering machine for the end face of a round tube according to claim 1, characterized in that: The clamping device includes a fixed clamping block, a movable clamping block, a floating joint, a cylinder support, and a sliding guide rail. The fixed clamping block and the sliding guide rail are firmly installed on the workbench. The movable clamping block is connected to the piston rod of the cylinder through the floating joint. One end of the floating joint is connected to the piston rod of the cylinder, and the other end is fixed to the movable clamping block by a bolt, which is used to compensate for the installation error between the piston rod of the cylinder and the movable clamping block. The cylinder support is installed on the workbench to stably support the cylinder. The slider on the sliding guide rail is connected to the movable clamping block by a bolt. The sliding guide rail is used to guide the smooth movement of the movable clamping block. Under the action of the clamping cylinder, the movable clamping block slides smoothly along the straight line direction on the sliding guide rail to achieve the clamping action of the workpiece.

4. The chamfering machine for the end face of a round tube according to claim 1, characterized in that: The loading robotic arm includes a robotic arm base, a robotic arm body, multiple rotating joints, and a gripper. The robotic arm base is fixed on the workbench to provide stable support for the robotic arm; the multiple rotating joints are sequentially connected to various parts of the robotic arm body, and each joint is driven by a motor to enable the robotic arm to move flexibly in multiple degrees of freedom; The robotic arm body is composed of multiple rigid connecting rods. Through the coordinated actions of the rotating joints, the robotic arm moves precisely between the loading position and the clamping device; the gripper is an electric gripper that can stably grasp the workpiece and make fine adjustments during the loading process to ensure that the workpiece is accurately placed in the clamping device.

5. A circular pipe end chamfering machine according to claim 1, characterized in that: The feeding device includes a cam, a push rod, an L-shaped plate, a guiding slider, a feeding rack, and a feeding plate. The cam is driven to rotate by a driving motor, and the contour curve of the cam acts on the push rod, causing the push rod to perform reciprocating linear motion up and down along the guide rail of the L-shaped plate, thereby driving the feeding plate to move periodically; the L-shaped plate is used to connect the push rod and the guiding slider, and the guiding slider is connected to the L-shaped plate and slides horizontally along the guiding rail, so as to ensure that the feeding plate maintains stable linear motion during the feeding process and prevent deviation or shaking; the feeding rack and the feeding device support frame are an integral whole and are fixed on the workbench surface; the feeding plate is connected to the top end of the push rod through a rib plate and moves along with the movement of the push rod. A plurality of V-shaped grooves are provided on the surfaces of the feeding rack and the feeding plate for placing and conveying round tube workpieces. With the reciprocating movement of the feeding plate, the workpieces are sequentially conveyed to the picking position of the loading manipulator.

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