Automatic grinding device for steel pipe flash and working method of automatic grinding device

Abstract

The invention discloses an automatic steel pipe flash grinding device and a working method thereof. The automatic steel pipe flash grinding device comprises a main manipulator, a mounting seat, a left grinding mechanism, a right grinding mechanism, a detection mechanism, a rotary supporting mechanism and a control system. Wherein the rotary supporting mechanism is used for placing a steel pipe and driving the steel pipe to rotate, and the detection mechanism is used for scanning and obtaining the outline of the outer wall of the part, opposite to the detection mechanism, of the steel pipe in the rotating process of the steel pipe and obtaining position information of a flash on the outer wall of the steel pipe in real time. The control system is connected with the detection mechanism and the rotary supporting mechanism and used for controlling the rotary supporting mechanism to act according to the obtained position information of the flash so as to drive the steel pipe to rotate till the flash on the steel pipe is located at the grinding position. According to the device, the flash on the outer wall of the steel pipe can be ground and removed, the flash grinding efficiency can be improved, the labor intensity of workers can be reduced, and the labor cost can be reduced.

Description

Technical Field

[0001] The present invention relates to an automatic chamfer grinding device for steel pipes and its working method. Background Art

[0002] Currently, when flaring the end of a steel pipe, an upper die and a lower die are usually used to clamp the steel pipe, and a punch is used to press into the steel pipe to flare the steel pipe. For example, the flaring die disclosed in the Chinese patent with the publication number CN209077621U includes an upper die, a lower die, and a punch. It is found in the actual production process that during the flaring process, excess material overflows at the mold clamping line of the upper die and the lower die, which will cause a flaky protrusion to form on the outer wall of the steel pipe. This protrusion is the chamfer. The existence of the chamfer not only affects the appearance quality of the steel pipe, making the outer wall of the steel pipe uneven and rough, but also affects the subsequent processing of the steel pipe. Therefore, it is necessary to grind and remove the chamfer on the outer wall of the steel pipe. However, at present, some enterprises still rely on workers to manually use a grinding machine to grind and remove the chamfer on the outer wall of the steel pipe. Manually using a grinding machine to grind the chamfer not only has low efficiency, but also increases the labor intensity of workers and increases the labor cost. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide an automatic chamfer grinding device for steel pipes, which can grind and remove the chamfer on the outer wall of the steel pipe, improve the efficiency of chamfer grinding, reduce the labor intensity of workers, and reduce the labor cost.

[0004] To solve the above technical problem, the technical solution of the present invention is: an automatic chamfer grinding device for steel pipes, including a main manipulator, a mounting seat, a left grinding mechanism, a right grinding mechanism, a detection mechanism, a rotary support mechanism, and a control system;

[0005] The rotary support mechanism is used to place the steel pipe and drive the steel pipe to rotate;

[0006] The detection mechanism is used to scan and obtain the outer wall contour of the part of the steel pipe facing the detection mechanism during the rotation of the steel pipe and to obtain the position information of the chamfer on the outer wall of the steel pipe in real time;

[0007] The control system is respectively connected to the detection mechanism and the rotary support mechanism, and the control system is used to control the action of the rotary support mechanism according to the obtained position information of the chamfer to drive the steel pipe to rotate until the chamfer on the steel pipe is in the grinding position;

[0008] The left grinding mechanism and the right grinding mechanism are both connected to the mounting seat;

[0009] The mounting base is connected to the main robot arm, and the main robot arm is used to drive the mounting base to move, thereby driving the left grinding mechanism and the right grinding mechanism to move, so as to grind the burrs on the outer wall of the steel pipe where the burrs are already in the grinding position on the rotary support mechanism by the left grinding mechanism and the right grinding mechanism.

[0010] Furthermore, a specific structure of the detection mechanism is provided. The detection mechanism includes a connecting frame, a lifting frame, a lifting drive mechanism and a line laser camera;

[0011] The connecting frame is connected to the mounting base;

[0012] The lifting frame is slidably connected to the connecting frame in the up and down direction;

[0013] The lifting drive mechanism is connected to the connecting frame and is connected to the lifting frame and is used to drive the lifting frame to move up and down;

[0014] The line laser camera is connected to the lifting frame and is used to emit laser to scan the steel pipe during the rotation of the steel pipe to obtain the outer wall contour of the part of the steel pipe facing the line laser camera, so as to obtain the position information of the burrs on the outer wall of the steel pipe in real time.

[0015] Furthermore, the rotary support mechanism includes at least two support components arranged at intervals in sequence along the length direction of the steel pipe;

[0016] The support component includes a support frame, a left support wheel, a right support wheel and a support drive mechanism;

[0017] The left support wheel and the right support wheel are respectively rotatably connected to the support frame, and the steel pipe is used to be carried on the left support wheel and the right support wheel;

[0018] The support drive mechanism is connected to the support frame and is respectively connected to the left support wheel and the right support wheel and is used to drive the left support wheel and the right support wheel to rotate, thereby driving the steel pipe to rotate.

[0019] Furthermore, the left grinding mechanism includes a left base, a left rotary seat, a left swing seat, a left grinding component, a left swing drive component and a left rotary drive component;

[0020] The left base is connected to the mounting base;

[0021] The left rotary seat is rotatably connected to the left base and has a left initial position and a left grinding position during rotation;

[0022] The left swing seat is rotatably connected to the left rotary seat and has a left film-changing position and a left working position during rotation;

[0023] The left grinding assembly is connected to the left swing seat, and a grinding disc is provided in the left grinding assembly;

[0024] The left swing driving assembly is connected to the left rotating seat and is connected to the left swing seat. The left swing driving assembly is used to drive the left swing seat to rotate to the left blade-changing position, thereby driving the grinding disc in the left grinding assembly to rotate downward. The left swing driving assembly is also used to drive the left swing seat to rotate to the left working position;

[0025] The left rotation driving assembly is connected to the left base and is connected to the left rotating seat. The left rotation driving assembly is used to drive the left rotating seat to rotate to the left grinding position when the left swing seat is in the left working position, so as to drive the grinding disc in the left grinding assembly to rotate at an angle with the steel pipe. The left rotation driving assembly is also used to drive the left rotating seat to rotate to the left initial position;

[0026] The right grinding mechanism includes a right base, a right rotating seat, a right swing seat, a right grinding assembly, a right swing driving assembly and a right rotation driving assembly;

[0027] The right base is connected to the mounting seat;

[0028] The right rotating seat is rotatably connected to the right base and has a right initial position and a right grinding position during rotation;

[0029] The right swing seat is rotatably connected to the right rotating seat and has a right blade-changing position and a right working position during rotation;

[0030] The right grinding assembly is connected to the right swing seat, and a grinding disc is provided in the right grinding assembly;

[0031] The right swing driving assembly is connected to the right rotating seat and is connected to the right swing seat. The right swing driving assembly is used to drive the right swing seat to rotate to the right blade-changing position, thereby driving the grinding disc in the right grinding assembly to rotate downward. The right swing driving assembly is also used to drive the right swing seat to rotate to the right working position;

[0032] The right rotation driving assembly is connected to the right base and is connected to the right rotating seat. The right rotation driving assembly is used to drive the right rotating seat to rotate to the right grinding position when the right swing seat is in the right working position, so as to drive the grinding disc in the right grinding assembly to rotate at an angle with the steel pipe. The right rotation driving assembly is also used to drive the right rotating seat to rotate to the right initial position.

[0033] Furthermore, the automatic burr trimming device for the steel pipe further includes an adjusting mechanism;

[0034] Both the left base and the right base are slidably connected to the mounting base in the left - right direction;

[0035] The adjusting mechanism includes a lead screw, a left slider, a right slider, and an adjusting drive assembly;

[0036] The lead screw is rotatably connected to the mounting base. The lead screw has a left - hand thread portion and a right - hand thread portion, and the helix directions of the left - hand thread portion and the right - hand thread portion are opposite;

[0037] The left slider is connected to the left base and is in mating connection with the left - hand thread portion, and the right slider is connected to the right base and is in mating connection with the right - hand thread portion;

[0038] The adjusting drive assembly is connected to the mounting base and is connected to the lead screw and is used to drive the lead screw to rotate, thereby driving the left base and the right base to move towards or away from each other.

[0039] Further, the left grinding assembly includes a left force - controlled cylinder, a left grinding base, and a left grinding motor. A grinding disc is connected to the motor shaft of the left grinding motor;

[0040] The left grinding motor is connected to the left grinding base and is used to drive the grinding disc to rotate;

[0041] The left grinding base is connected to the left force - controlled cylinder;

[0042] The left force - controlled cylinder is connected to the left swing base and is used to drive the grinding disc on the left grinding motor to press against the steel pipe;

[0043] The right grinding assembly includes a right force - controlled cylinder, a right grinding base, and a right grinding motor. A grinding disc is connected to the motor shaft of the right grinding motor;

[0044] The right grinding motor is connected to the right grinding base and is used to drive the grinding disc to rotate;

[0045] The right grinding base is connected to the right force - controlled cylinder;

[0046] The right force - controlled cylinder is connected to the right swing base and is used to drive the grinding disc on the right grinding motor to press against the steel pipe.

[0047] Further, the automatic burr trimming device for the steel pipe further includes a grinding disc replacement mechanism;

[0048] Wherein, positioning bosses protruding radially outward are respectively provided on the motor shafts of the left grinding motor and the right grinding motor. Locking nuts are respectively connected to the motor shafts of the left grinding motor and the right grinding motor. The locking nuts are used for being threadedly connected to the corresponding motor shafts to press and fix the grinding discs sleeved on the corresponding motor shafts on the corresponding positioning bosses;

[0049] The grinding disc replacement mechanism includes a base, a moving seat, a traveling driving mechanism, a first vertical rod, a second vertical rod, a material supporting mechanism, a disc replacement platform, a material pressing mechanism, a disassembly and assembly mechanism, and a handling mechanism;

[0050] The moving seat is slidably connected to the base;

[0051] The traveling driving mechanism is connected to the moving seat and is used for driving the moving seat to slide on the base. The moving seat has a first disc replacement position and a second disc replacement position during the sliding process on the base;

[0052] The first vertical rod is connected to the moving seat, and the first vertical rod is used for stacking and sleeving grinding discs;

[0053] The second vertical rod is connected to the moving seat, and the second vertical rod is used for stacking and sleeving grinding discs;

[0054] The material supporting mechanism is connected to the moving seat. The material supporting mechanism is used for supporting the grinding discs sleeved on the first vertical rod and driving the grinding discs sleeved on the first vertical rod to move upward in place;

[0055] The disc replacement platform is connected to the moving seat. A through hole is provided in the disc replacement platform. When the left swing seat rotates to the left disc replacement position and the moving seat slides to the first disc replacement position, the main manipulator is used to drive the mounting seat to move, and then drive the grinding disc on the motor shaft of the left grinding motor to move to be placed on the disc replacement platform and make the locking nut on the motor shaft of the left grinding motor extend into the through hole. When the right swing seat rotates to the right disc replacement position and the moving seat slides to the second disc replacement position, the main manipulator is used to drive the mounting seat to move, and then drive the grinding disc on the motor shaft of the right grinding motor to move to be placed on the disc replacement platform and make the locking nut on the motor shaft of the right grinding motor extend into the through hole;

[0056] The material pressing mechanism is connected to the moving seat. The material pressing mechanism is used for pressing and fixing the grinding discs placed on the disc replacement platform and for pressing and fixing the positioning bosses abutted against the grinding discs on the disc replacement platform;

[0057] The disassembly and assembly mechanism is connected to the moving seat, and is used to remove the locking nut extending into the through hole from the motor shaft when the pressing mechanism presses and fixes the positioning boss and the grinding sheet on the sheet changing platform, and to screw the removed locking nut onto the motor shaft;

[0058] The handling mechanism is used to transport the grinding sheet on the sheet changing platform to be sleeved on the second vertical rod and to transport the uppermost grinding sheet sleeved on the first vertical rod to the sheet changing platform when the pressing mechanism releases the grinding sheet on the sheet changing platform and the positioning boss and the grinding sheet on the sheet changing platform is separated from the motor shaft.

[0059] Further, the sheet supporting mechanism includes a sheet support frame, a sheet support block, a sheet support driving mechanism and a sensor;

[0060] The sheet support frame is connected to the moving seat;

[0061] The sheet support block is slidably connected to the sheet support frame in the vertical direction, and the sheet support block is used to support the grinding sheet sleeved on the first vertical rod;

[0062] The sheet support driving mechanism is connected to the sheet support block and is used to drive the sheet support block to move upward, thereby driving the grinding sheet sleeved on the first vertical rod to move upward;

[0063] The sensor is connected to the control system, and is connected to the upper end of the sheet support frame and is used to send a first signal to the control system when the uppermost grinding sheet sleeved on the first vertical rod is not detected, and to send a second signal to the control system when the uppermost grinding sheet sleeved on the first vertical rod is detected;

[0064] The control system is connected to the sheet support driving mechanism and is used to control the sheet support driving mechanism to act to drive the sheet support block to move upward when receiving the first signal, and to control the sheet support driving mechanism to stop acting when receiving the second signal.

[0065] Further, the pressing mechanism includes a pressing rod and a pressing cylinder;

[0066] The middle part of the pressing rod is hinged to the sheet changing platform;

[0067] One end of the pressing rod has a first pressing part for pressing the grinding sheet, a second pressing part for pressing the positioning boss, and an opening groove for avoiding the motor shaft;

[0068] One end of the pressing cylinder is hinged to the moving seat, and the other end of the pressing cylinder is hinged to the other end of the pressing rod;

[0069] The handling mechanism includes a handling manipulator and a jaw;

[0070] The jaw is connected to the handling manipulator and is used to grasp and release the grinding disc;

[0071] The handling manipulator is connected to the moving seat and is used to drive the jaw to move so as to transport the grinding disc.

[0072] Furthermore, the disassembly and assembly mechanism includes a screwing motor, a screwing head, a sliding seat and a pre-tightening cylinder;

[0073] The sliding seat is slidably connected to the moving seat in the up-and-down direction;

[0074] The screwing motor is connected to the sliding seat and is located below the through hole;

[0075] The screwing head is connected to the motor shaft of the screwing motor;

[0076] The pre-tightening cylinder is connected to the moving seat. The pre-tightening cylinder is connected to the sliding seat and is used to drive the sliding seat to rise upward so as to drive the screwing head to move upward to be in mating connection with the locking nut extending into the through hole. The screwing motor is used to drive the screwing head to rotate so as to drive the locking nut to rotate.

[0077] The present invention also provides a working method of the automatic burr trimming device for steel pipes as described above. The steps of the method include:

[0078] S1: The main manipulator drives the mounting seat to move so as to drive the connecting frame, the lifting frame and the line laser camera to move into place together, so that the line laser camera is aligned with the part of the steel pipe with burrs in the front-back direction;

[0079] S2: The lifting drive mechanism drives the lifting frame to move downward so as to drive the line laser camera to move downward into place so that the line laser camera is aligned with the steel pipe in the height direction. During the process of the rotary support mechanism driving the steel pipe to rotate, the line laser camera emits laser to scan the outer wall of the steel pipe so as to obtain the outer wall contour of the steel pipe and then obtain the position information of the burrs on the outer wall of the steel pipe in real time;

[0080] S3: The control system controls the rotary support mechanism to drive the steel pipe to rotate according to the position information of the burrs until the burrs on the steel pipe rotate to the grinding position and then stops. Then the lifting drive mechanism drives the lifting frame to rise upward so as to drive the line laser camera to rise upward;

[0081] S4: The main manipulator drives the left and right grinding mechanisms on the mounting base to move so as to grind and remove the burrs on the outer wall of the steel pipe through the left and right grinding mechanisms.

[0082] After adopting the above technical solution, after the steel pipe is transported to the rotary support mechanism, the rotary support mechanism will drive the steel pipe to rotate. Then, during the rotation of the steel pipe, the detection mechanism will scan and obtain the outer wall contour of the part of the steel pipe facing the detection mechanism and real-time obtain the position information of the burrs on the outer wall of the steel pipe. Then, the control system controls the action of the rotary support mechanism according to the position information of the burrs to drive the steel pipe to rotate, so that the burrs on the steel pipe are in the grinding position. At this time, the two burrs on the outer wall of the steel pipe are located on the left and right sides of the steel pipe respectively and at the same height. Then, the main manipulator drives the left and right grinding mechanisms on the mounting base to move so as to grind and remove the burrs on the outer wall of the steel pipe through the left and right grinding mechanisms, avoiding manual grinding of burrs by workers with a grinding machine, greatly improving the efficiency of burr grinding, greatly reducing the labor intensity of workers, and reducing the labor cost. Brief Description of the Drawings

[0083] Figure 1 It is a schematic structural diagram of the automatic burr grinding device for steel pipes of the present invention;

[0084] Figure 2 It is a schematic structural diagram of the detection mechanism and the rotary support mechanism of the present invention;

[0085] Figure 3 It is a schematic structural diagram of the left and right grinding mechanisms of the present invention Figure 1 ;

[0086] Figure 4 It is a schematic structural diagram of the left and right grinding mechanisms of the present invention Figure 2 ;

[0087] Figure 5 It is a schematic structural diagram of the main manipulator, the left and right grinding mechanisms, the grinding wheel replacement mechanism of the present invention;

[0088] Figure 6 It is a schematic structural diagram of the grinding wheel replacement mechanism of the present invention Figure 1 ;

[0089] Figure 7 It is a schematic structural diagram of the grinding wheel replacement mechanism of the present invention Figure 2 ;

[0090] Figure 8 It is a schematic structural diagram of the pressure feeding mechanism and the disassembly and assembly mechanism of the present invention;

[0091] Figure 9Schematic structural diagram of the disassembly and assembly mechanism of the present invention;

[0092] In the figure: 1, main manipulator; 2, mounting seat; 3, left grinding mechanism; 4, right grinding mechanism; 5, detection mechanism; 6, steel pipe; 7, flash; 8, connecting frame; 9, lifting frame; 10, lifting drive mechanism; 11, line laser camera; 12, support assembly; 13, support frame; 14, left support wheel; 15, right support wheel; 16, rotating motor; 17, driving gear; 18, first driven gear; 19, second driven gear; 20, left base; 21, left rotating seat; 22, left swinging seat; 23, grinding disc; 24, right base; 25, right rotating seat; 26, right swinging seat; 27, left gear; 28, left rack; 29, left driving cylinder; 30, right gear; 31, right rack; 32, right driving cylinder; 33, left reduction motor; 34, right reduction motor; 35, lead screw; 36, adjustment drive assembly; 37, left force control cylinder; 38, left grinding seat; 39, left grinding motor; 40, right force control cylinder; 41, right grinding seat; 42, right grinding motor; 43, grinding disc replacement mechanism; 44, positioning boss; 45, locking nut; 46, base; 47, moving seat; 48, traveling drive mechanism; 49, first vertical rod; 50, second vertical rod; 51, material supporting mechanism; 52, disc changing platform; 53, material pressing mechanism; 54, disassembly and assembly mechanism; 55, handling mechanism; 56, through hole; 57, material supporting frame; 58, material supporting block; 59, upper belt pulley; 60, lower belt pulley; 61, synchronous belt; 62, material supporting motor; 63, material pressing rod; 64, material pressing cylinder; 65, first material pressing part; 66, second material pressing part; 67, opening groove; 68, handling manipulator; 69, clamping jaw; 70, screwing motor; 71, screwing head; 72, sliding seat; 73, pre-tightening cylinder; 74, first convex part; 75, second convex part; 76, clamping groove; 77, bottom plate part; 78, vertical frame part; 79, column part. Detailed implementation manners

[0093] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to specific embodiments in conjunction with the drawings.

[0094] Embodiment 1

[0095] As Figures 1 - 5 shown, an automatic flash trimming device for steel pipes includes a main manipulator 1, a mounting seat 2, a left grinding mechanism 3, a right grinding mechanism 4, a detection mechanism 5, a rotating support mechanism and a control system;

[0096] The rotating support mechanism is used to place the steel pipe 6 and drive the steel pipe 6 to rotate. There are two flashes 7 spaced 180° on the outer wall of one end of the steel pipe 6;

[0097] The detection mechanism 5 is used to scan and obtain the outer wall contour of the part of the steel pipe 6 facing the detection mechanism 5 during the rotation of the steel pipe 6 and to obtain the position information of the flash 7 on the outer wall of the steel pipe 6 in real time;

[0098] The control system is respectively connected to the detection mechanism 5 and the rotary support mechanism. The control system is used to control the action of the rotary support mechanism according to the obtained position information of the flash 7 to drive the steel pipe 6 to rotate until the flash on the steel pipe 6 is in the grinding position; in this embodiment, the flash on the steel pipe 6 being in the grinding position means that the two flashes 7 on the outer wall of the steel pipe 6 are respectively located on the left and right sides of the steel pipe 6 and at the same height;

[0099] The left grinding mechanism 3 and the right grinding mechanism 4 are both connected to the mounting seat 2;

[0100] The mounting seat 2 is connected to the main manipulator 1. The main manipulator 1 is used to drive the movement of the mounting seat 2 and thus drive the movement of the left grinding mechanism 3 and the right grinding mechanism 4 so as to grind the flash 7 on the outer wall of the steel pipe 6 on the rotary support mechanism where the flash is already in the grinding position through the left grinding mechanism 3 and the right grinding mechanism 4.

[0101] Specifically, after the steel pipe 6 is transported to the rotary support mechanism, the rotary support mechanism will drive the steel pipe 6 to rotate. Then, the detection mechanism 5 will scan and obtain the outer wall contour of the part of the steel pipe 6 facing the detection mechanism 5 during the rotation of the steel pipe 6 and obtain the position information of the flash 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the action of the rotary support mechanism according to the position information of the flash 7 to drive the rotation of the steel pipe 6 so that the flash on the steel pipe 6 is in the grinding position. At this time, the two flashes 7 on the outer wall of the steel pipe 6 are respectively located on the left and right sides of the steel pipe 6 and at the same height. Then, the main manipulator 1 drives the left grinding mechanism 3 and the right grinding mechanism 4 on the mounting seat 2 to move so as to grind and remove the flash 7 on the outer wall of the steel pipe 6 through the left grinding mechanism 3 and the right grinding mechanism 4, avoiding the workers manually using a grinding machine to grind the flash 7, greatly improving the grinding efficiency of the flash 7, greatly reducing the labor intensity of the workers, and reducing the labor cost. In this embodiment, the main manipulator 1 can be a two-axis truss manipulator. The main manipulator 1 is used to drive the mounting seat 2 to move in the front-back direction and the up-down direction. The steel pipe 6 on the rotary support mechanism extends in the front-back direction. And in this embodiment, the part of the steel pipe 6 described above facing the detection mechanism 5 is the end of the steel pipe 6 with the flash 7.

[0102] As Figure 1 、 2 shown, the detection mechanism 5 may include a connecting frame 8, a lifting frame 9, a lifting drive mechanism 10 and a line laser camera 11;

[0103] The connecting frame 8 is connected to the mounting base 2;

[0104] The lifting frame 9 is slidably connected to the connecting frame 8 in the vertical direction;

[0105] The lifting drive mechanism 10 is connected to the connecting frame 8 and is connected to the lifting frame 9 and is used to drive the lifting frame 9 to move up and down;

[0106] The line laser camera 11 is connected to the lifting frame 9 and is used to emit laser to scan the steel pipe 6 during the rotation of the steel pipe 6 to obtain the outer wall contour of the part of the steel pipe 6 facing the line laser camera 11, so as to obtain the position information of the flash 7 on the outer wall of the steel pipe 6 in real time. Specifically, first, the main manipulator 1 drives the mounting base 2 to move, thereby driving the connecting frame 8, the lifting frame 9 and the line laser camera 11 to move into place together, so that the line laser camera 11 is aligned with the part of the steel pipe 6 with the flash 7 in the front-rear direction. Then, the lifting drive mechanism 10 drives the lifting frame 9 to move downward, thereby driving the line laser camera 11 to move downward into place so that the line laser camera 11 is aligned with the steel pipe 6 in the height direction. Then, during the process of the rotary support mechanism driving the steel pipe 6 to rotate, the line laser camera 11 emits laser to scan the outer wall of the steel pipe 6, thereby obtaining the outer wall contour of the steel pipe 6 and obtaining the position information of the flash 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the rotary support mechanism to drive the steel pipe 6 to rotate according to the position information of the flash 7 so that the flash on the steel pipe 6 is in the grinding position. Then, the lifting drive mechanism 10 drives the lifting frame 9 to rise upward, thereby driving the line laser camera 11 to rise upward. Then, the main manipulator 1 drives the left grinding mechanism 3 and the right grinding mechanism 4 on the mounting base 2 to move so as to grind and remove the flash 7 on the outer wall of the steel pipe 6 through the left grinding mechanism 3 and the right grinding mechanism 4. Among them, the lifting drive mechanism 10 is a lifting cylinder. The cylinder body of the lifting cylinder is connected to the connecting frame 8, and the piston rod of the lifting cylinder is connected to the lifting frame 9. The line laser camera 11 is also called a 3D line laser camera. The specific structure and working principle of the line laser camera 11 are well-known prior arts to those skilled in the art and will not be specifically described in this embodiment. Further specifically, there are two line laser cameras 11, and both of the two line laser cameras 11 are connected to the lifting frame 9. When the lifting drive mechanism 10 drives the lifting frame 9 to move downward into place, the end of the steel pipe 6 with the flash 7 is located between the two line laser cameras 11. The two line laser cameras 11 respectively emit laser to scan the outer wall of the steel pipe 6. The lifting frame 9 can be slidably connected to the connecting frame 8 in the vertical direction through linear bearings.

[0107] AsFigure 1 , 2 As shown, the rotary support mechanism may include at least two support components 12 arranged at intervals in sequence along the length direction of the steel pipe 6;

[0108] The support component 12 includes a support frame 13, a left support wheel 14, a right support wheel 15 and a support driving mechanism;

[0109] The left support wheel 14 and the right support wheel 15 are respectively rotatably connected to the support frame 13, and the steel pipe 6 is used to be carried on the left support wheel 14 and the right support wheel 15;

[0110] The support driving mechanism is connected to the support frame 13 and is respectively connected to the left support wheel 14 and the right support wheel 15 and is used to drive the left support wheel 14 and the right support wheel 15 to rotate so as to drive the steel pipe 6 to rotate. Specifically, the support driving mechanism includes a rotary motor 16, a driving gear 17, a first driven gear 18 and a second driven gear 19. The first driven gear 18 is connected to the left support wheel 14, the second driven gear 19 is connected to the right support wheel 15, the driving gear 17 is connected to the rotary motor 16 and meshes with the first driven gear 18 and the second driven gear 19 respectively. The rotary motor 16 is connected to the support frame 13 and is used to drive the driving gear 17 to rotate, thereby driving the first driven gear 18 and the second driven gear 19 to rotate, thereby driving the left support wheel 14 and the right support wheel 15 to rotate, thereby driving the steel pipe 6 to rotate. Further specifically, the control system is used to control the action of the rotary motor 16 in the rotary support mechanism according to the obtained position information of the flash 7 so as to drive the steel pipe 6 to rotate in place so that the two flashes 7 on the outer wall of the steel pipe 6 are respectively located on the left and right sides of the steel pipe 6; wherein, the control system includes a PLC controller, and the PLC controller is connected to the rotary motor 16 and is used to control the rotary motor 16 to rotate so as to drive the steel pipe 6 to rotate in place.

[0111] As Figures 1 - 5 shown, the left grinding mechanism 3 may include a left base 20, a left rotary seat 21, a left swing seat 22, a left grinding assembly, a left swing driving assembly and a left rotary driving assembly;

[0112] The left base 20 is connected to the mounting seat 2;

[0113] The left rotary seat 21 is rotatably connected to the left base 20 and has a left initial position and a left grinding position during rotation;

[0114] The left swing seat 22 is rotatably connected to the left rotary seat 21 and has a left blade changing position and a left working position during rotation;

[0115] The left grinding assembly is connected to the left swing seat 22, and a grinding disc 23 is provided in the left grinding assembly;

[0116] The left swing driving assembly is connected to the left rotating seat 21 and is connected to the left swing seat 22. The left swing driving assembly is used to drive the left swing seat 22 to rotate to the left blade-changing position, thereby driving the grinding disc 23 in the left grinding assembly to rotate downward. The left swing driving assembly is also used to drive the left swing seat 22 to rotate to the left working position;

[0117] The left rotation driving assembly is connected to the left base 20 and is connected to the left rotating seat 21. The left rotation driving assembly is used to drive the left rotating seat 21 to rotate to the left grinding position when the left swing seat 22 is in the left working position, so as to drive the grinding disc 23 in the left grinding assembly to form an angle with the steel pipe 6. The left rotation driving assembly is also used to drive the left rotating seat 21 to rotate to the left initial position;

[0118] The right grinding mechanism 4 may include a right base 24, a right rotating seat 25, a right swing seat 26, a right grinding assembly, a right swing driving assembly, and a right rotation driving assembly;

[0119] The right base 24 is connected to the mounting seat 2;

[0120] The right rotating seat 25 is rotatably connected to the right base 24 and has a right initial position and a right grinding position during rotation;

[0121] The right swing seat 26 is rotatably connected to the right rotating seat 25 and has a right blade-changing position and a right working position during rotation;

[0122] The right grinding assembly is connected to the right swing seat 26, and a grinding disc 23 is provided in the right grinding assembly;

[0123] The right swing driving assembly is connected to the right rotating seat 25 and is connected to the right swing seat 26. The right swing driving assembly is used to drive the right swing seat 26 to rotate to the right blade-changing position, thereby driving the grinding disc 23 in the right grinding assembly to rotate downward. The right swing driving assembly is also used to drive the right swing seat 26 to rotate to the right working position;

[0124] The right rotation drive assembly is connected to the right base 24 and is connected to the right rotating seat 25. The right rotation drive assembly is used to drive the right rotating seat 25 to rotate to the right grinding position when the right swing seat 26 is in the right working position, so as to drive the grinding disc 23 in the right grinding assembly to rotate to form an angle with the steel pipe 6. The right rotation drive assembly is also used to drive the right rotating seat 25 to rotate to the right initial position.

[0125] As Figure 4 shown, the rotation axis of the left rotating seat 21 rotatably connected to the left base 20 is arranged in the vertical direction, the rotation axis of the right rotating seat 25 rotatably connected to the right base 24 is arranged in the vertical direction, the rotation axis of the left swing seat 22 rotatably connected to the left rotating seat 21 is arranged in the horizontal direction, and the rotation axis of the right swing seat 26 rotatably connected to the right rotating seat 25 is arranged in the horizontal direction. As Figure 4 shown, when the left rotating seat 21 is in the left initial position and the left swing seat 22 is in the left working position, the grinding disc 23 in the left grinding assembly faces rightward. When the right rotating seat 25 is in the right initial position and the right swing seat 26 is in the right working position, the grinding disc 23 in the right grinding assembly faces leftward.

[0126] Specifically, the main manipulator 1 can drive the mounting seat 2 to move, and then drive the left grinding mechanism 3 and the right grinding mechanism 4 to move, so as to grind the burrs 7 on the outer wall of the steel pipe 6 on the rotary support mechanism through the left grinding mechanism 3 and the right grinding mechanism 4. When the left grinding mechanism 3 grinds the burrs 7 on the steel pipe 6, the left rotating seat 21 is in the left grinding position and the left swing seat 22 is in the left working position. At this time, as Figure 3 shown, the grinding disc 23 in the left grinding assembly forms an angle with the steel pipe 6. The grinding disc 23 in the left grinding assembly is driven to rotate at high speed and can grind the burrs 7 on the outer wall of the steel pipe 6. When the right grinding mechanism 4 grinds the burrs 7 on the steel pipe 6, the right rotating seat 25 is in the right grinding position and the right swing seat 26 is in the right working position. At this time, as Figure 3 shown, the grinding disc 23 in the right grinding assembly forms an angle with the steel pipe 6. The grinding disc 23 in the right grinding assembly is driven to rotate at high speed and can grind the burrs 7 on the outer wall of the steel pipe 6.

[0127] The left rotation drive assembly includes a left gear 27, a left rack 28 and a left drive cylinder 29;

[0128] The left gear 27 is connected to the left rotating seat 21. The left rack 28 is slidably arranged on the left base 20 and meshes with the left gear 27. The left driving cylinder 29 is connected to the left base 20 and is connected to the left rack 28. The left driving cylinder 29 is used to drive the left rack 28 to move, thereby driving the left gear 27 and the left rotating seat 21 to rotate, so that the left rotating seat 21 can rotate to the left initial position or rotate to the left grinding position.

[0129] The right rotation driving assembly includes a right gear 30, a right rack 31 and a right driving cylinder 32.

[0130] The right gear 30 is connected to the right rotating seat 25. The right rack 31 is slidably arranged on the right base 24 and meshes with the right gear 30. The right driving cylinder 32 is connected to the right base 24 and is connected to the right rack 31. The right driving cylinder 32 is used to drive the right rack 31 to move, thereby driving the right gear 30 and the right rotating seat 25 to rotate, so that the right rotating seat 25 can rotate to the right initial position or rotate to the right grinding position.

[0131] Specifically, the left swing driving assembly can be a left reduction motor 33. The left reduction motor 33 is connected to the left rotating seat 21 and is connected to the left swing seat 22. The left reduction motor 33 is used to drive the left swing seat 22 to rotate to the left film changing position and is used to drive the left swing seat 22 to rotate to the left working position. The right swing driving assembly can be a right reduction motor 34. The right reduction motor 34 is connected to the right rotating seat 25 and is connected to the right swing seat 26. The right reduction motor 34 is used to drive the right swing seat 26 to rotate to the right film changing position and is used to drive the right swing seat 26 to rotate to the right working position.

[0132] As Figure 3 、 4 shown, the steel pipe flash automatic grinding device may further include an adjusting mechanism.

[0133] Both the left base 20 and the right base 24 are slidably connected to the mounting seat 2 in the left - right direction.

[0134] The adjusting mechanism includes a lead screw 35, a left slider, a right slider and an adjusting driving assembly 36.

[0135] The lead screw 35 is rotatably connected to the mounting seat 2. The lead screw 35 has a left - hand thread portion and a right - hand thread portion, and the helix directions of the left - hand thread portion and the right - hand thread portion are opposite.

[0136] The left slider is connected to the left base 20 and is in mating connection with the left threaded portion, and the right slider is connected to the right base 24 and is in mating connection with the right threaded portion;

[0137] The adjustment driving assembly 36 is connected to the mounting seat 2 and is connected to the lead screw 35 and is used to drive the lead screw 35 to rotate so as to drive the left base 20 and the right base 24 to move towards or away from each other; specifically, when the lead screw 35 rotates, it will drive the left slider and the right slider to move towards or away from each other, and thus can drive the left base 20 and the right base 24 to move towards or away from each other, and thus can adapt to the grinding of steel pipes 6 with different diameters. In this embodiment, the adjustment driving assembly 36 includes an adjustment motor, and the adjustment motor is connected to the lead screw 35 through a bevel gear pair.

[0138] As Figures 2 - 4 shown, the left grinding assembly may include a left force control cylinder 37, a left grinding seat 38 and a left grinding motor 39, and a grinding disc 23 is connected to the motor shaft of the left grinding motor 39;

[0139] The left grinding motor 39 is connected to the left grinding seat 38 and is used to drive the grinding disc 23 to rotate;

[0140] The left grinding seat 38 is connected to the left force control cylinder 37;

[0141] The left force control cylinder 37 is connected to the left swing seat 22 and is used to drive the grinding disc 23 on the left grinding motor 39 to press against the steel pipe 6; specifically, the left force control cylinder 37 is used to output a thrust force, and the thrust force output by the left force control cylinder 37 will be transmitted to the left grinding seat 38 and the left grinding motor 39 in sequence, and thus can drive the grinding disc 23 on the left grinding motor 39 to press against the steel pipe 6. The left force control cylinder 37 can be a slide table cylinder, the left grinding seat 38 is connected to the slide table in the left force control cylinder 37, and the cylinder body of the left force control cylinder 37 is connected to the left swing seat 22.

[0142] The right grinding assembly may include a right force control cylinder 40, a right grinding seat 41 and a right grinding motor 42, and a grinding disc 23 is connected to the motor shaft of the right grinding motor 42;

[0143] The right grinding motor 42 is connected to the right grinding seat 41 and is used to drive the grinding disc 23 to rotate;

[0144] The right grinding seat 41 is connected to the right force control cylinder 40;

[0145] The right force control cylinder 40 is connected to the right swing seat 26 and is used to drive the grinding disc 23 on the right grinding motor 42 to press against the steel pipe 6; specifically, the right force control cylinder 40 is used to output a thrust force, and the thrust force output by the right force control cylinder 40 will be sequentially transmitted to the right grinding seat 41 and the right grinding motor 42, so as to drive the grinding disc 23 on the right grinding motor 42 to press against the steel pipe 6. The right force control cylinder 40 can be a slide table cylinder. The right grinding seat 41 is connected to the slide table in the right force control cylinder 40, and the cylinder body of the right force control cylinder 40 is connected to the right swing seat 26.

[0146] In this embodiment, after the line laser camera 11 scans the outer wall of the steel pipe 6 and obtains the outer wall contour of the steel pipe 6, it can also obtain the height information of the flash 7. The control system can also control the magnitude of the thrust forces output by the left force control cylinder 37 and the right force control cylinder 40 according to the height information of the flash 7, so as to control the grinding pressures of the grinding disc 23 on the left grinding motor 39 and the grinding disc 23 on the right grinding motor 42, thereby meeting the grinding effects of flashes 7 with different heights; specifically, when the height of the flash 7 is greater, a greater grinding pressure is required, and when the height of the flash 7 is smaller, a smaller grinding pressure is required; wherein, the height of the flash 7 is the distance between the top and the root of the flash 7 in the radial direction of the steel pipe 6.

[0147] As Figures 5 - 9 shown, the automatic flash trimming device for the steel pipe can also include a grinding disc replacement mechanism 43;

[0148] Wherein, positioning bosses 44 protruding radially outward are respectively provided on the motor shafts of the left grinding motor 39 and the right grinding motor 42. Locking nuts 45 are respectively connected to the motor shafts of the left grinding motor 39 and the right grinding motor 42. The locking nuts 45 are used for threaded connection on the corresponding motor shafts to press and fix the grinding disc 23 sleeved on the corresponding motor shafts on the corresponding positioning bosses 44; specifically, a central hole is provided on the grinding disc 23, so that the central hole on the grinding disc 23 is sleeved on the motor shaft, and then the locking nut 45 is tightened on the motor shaft. The positioning boss 44 abuts against one end of the grinding disc 23, and the locking nut 45 abuts against the other end of the grinding disc 23. The grinding disc 23 can be pressed and fixed on the positioning boss 44 through the locking nut 45, so as to install and fix the grinding disc 23 on the motor shaft.

[0149] The grinding disc replacement mechanism 43 can include a base 46, a moving seat 47, a traveling drive mechanism 48, a first vertical rod 49, a second vertical rod 50, a material supporting mechanism 51, a disc changing platform 52, a material pressing mechanism 53, a disassembly and assembly mechanism 54, and a handling mechanism 55;

[0150] The moving seat 47 is slidably connected to the base 46;

[0151] The traveling drive mechanism 48 is connected to the moving seat 47 and is used to drive the moving seat 47 to slide on the base 46. During the sliding process of the moving seat 47 on the base 46, there are a first film-changing position and a second film-changing position;

[0152] The first vertical rod 49 is connected to the moving seat 47, and abrasive discs 23 are stacked and sleeved on the first vertical rod 49;

[0153] The second vertical rod 50 is connected to the moving seat 47, and abrasive discs 23 are stacked and sleeved on the second vertical rod 50;

[0154] The material supporting mechanism 51 is connected to the moving seat 47. The material supporting mechanism 51 is used to support the abrasive disc 23 sleeved on the first vertical rod 49 and drive the abrasive disc 23 sleeved on the first vertical rod 49 to move upward in place;

[0155] The film-changing platform 52 is connected to the moving seat 47. A through hole 56 is provided in the film-changing platform 52. When the left swing seat 22 rotates to the left film-changing position and the moving seat 47 slides to the first film-changing position, the main manipulator 1 is used to drive the mounting seat 2 to move, thereby driving the abrasive disc 23 on the motor shaft of the left grinding motor 39 to move to be placed on the film-changing platform 52 and making the locking nut 45 on the motor shaft of the left grinding motor 39 extend into the through hole 56. When the right swing seat 26 rotates to the right film-changing position and the moving seat 47 slides to the second film-changing position, the main manipulator 1 is used to drive the mounting seat 2 to move, thereby driving the abrasive disc 23 on the motor shaft of the right grinding motor 42 to move to be placed on the film-changing platform 52 and making the locking nut 45 on the motor shaft of the right grinding motor 42 extend into the through hole 56;

[0156] The pressure-applying mechanism 53 is connected to the moving seat 47. The pressure-applying mechanism 53 is used to press and fix the abrasive disc 23 placed on the film-changing platform 52 and to press and fix the positioning boss 44 that abuts against the abrasive disc 23 on the film-changing platform 52;

[0157] The disassembly and assembly mechanism 54 is connected to the moving seat 47. The disassembly and assembly mechanism 54 is used to remove the locking nut 45 extending into the through hole 56 from the motor shaft when the pressure-applying mechanism 53 presses and fixes the positioning boss 44 and the abrasive disc 23 on the film-changing platform 52, and is used to screw the removed locking nut 45 tightly onto the motor shaft;

[0158] The handling mechanism 55 is used to move the grinding disc 23 on the film-changing platform 52 to be sleeved on the second vertical rod 50 and move the uppermost grinding disc 23 sleeved on the first vertical rod 49 to the film-changing platform 52 when the pressing mechanism 53 releases the grinding disc 23 and the positioning boss 44 on the film-changing platform 52 and the grinding disc 23 on the film-changing platform 52 is separated from the motor shaft.

[0159] Specifically, when it is necessary to replace the grinding disc 23 on the motor shaft of the right grinding motor 42, first rotate the right rotating seat 25 to the right initial position and rotate the right swing seat 26 to the right film-changing position. At this time, the grinding disc 23 on the motor shaft of the right grinding motor 42 faces downward, and the walking drive mechanism 48 drives the moving seat 47 to slide to the second film-changing position. At this time, as Figure 5As shown. Then the main manipulator 1 drives the mounting base 2 to move, thereby driving the abrasive disc 23 on the motor shaft of the right grinding motor 42 to move to the replacement platform 52 and making the locking nut 45 on the motor shaft of the right grinding motor 42 extend into the through hole 56. At this time, the positioning boss 44 on the motor shaft of the right grinding motor 42 abuts against the abrasive disc 23 on the replacement platform 52. The pressing mechanism 53 presses and fixes the abrasive disc 23 placed on the replacement platform 52 and at the same time presses and fixes the positioning boss 44 on the motor shaft of the right grinding motor 42. Pressing and fixing the positioning boss 44 on the motor shaft can prevent the motor shaft from rotating. Then, the disassembly and assembly mechanism 54 removes the locking nut 45 extending into the through hole 56 from the motor shaft of the right grinding motor 42. The removed locking nut 45 is carried on the disassembly and assembly mechanism 54. Then, the pressing mechanism 53 releases the abrasive disc 23 on the replacement platform 52 and the positioning boss 44 on the motor shaft of the right grinding motor 42. Then, the main manipulator 1 drives the mounting base 2 to rise, thereby driving the right grinding motor 42 to rise so that the motor shaft of the right grinding motor 42 is pulled out and separated from the abrasive disc 23 on the replacement platform 52. Then, the handling mechanism 55 transports the abrasive disc 23 on the replacement platform 52 to be sleeved on the second vertical rod 50 and transports the uppermost new abrasive disc 23 sleeved on the first vertical rod 49 to the replacement platform 52. Then, the main manipulator 1 drives the mounting base 2 to descend, thereby driving the right grinding motor 42 to descend so that the motor shaft of the right grinding motor 42 is inserted into the new abrasive disc 23 on the replacement platform 52. Then, the pressing mechanism 53 presses and fixes the new abrasive disc 23 placed on the replacement platform 52 and presses and fixes the positioning boss 44 on the motor shaft of the right grinding motor 42. Then, the previously removed locking nut 45 is screwed and installed on the motor shaft of the right grinding motor 42 through the disassembly and assembly mechanism 54 to lock and fix the new abrasive disc 23 on the motor shaft of the right grinding motor 42. Then, the pressing mechanism 53 releases the abrasive disc 23 on the replacement platform 52 and the positioning boss 44 on the motor shaft of the right grinding motor 42. Then, the main manipulator 1 drives the mounting base 2 to rise, thereby driving the right grinding motor 42 with the replaced abrasive disc 23 to rise. Then, the right swing seat 26 is rotated to the right working position.

[0160] More specifically, when it is necessary to replace the grinding disc 23 on the motor shaft of the left grinding motor 39, first rotate the left rotating seat 21 to the left initial position and rotate the left swing seat 22 to the left disc-changing position. At this time, the grinding disc 23 on the motor shaft of the left grinding motor 39 faces downward, and the traveling drive mechanism 48 drives the moving seat 47 to slide to the first disc-changing position. Then the main manipulator 1 drives the mounting seat 2 to move, thereby driving the grinding disc 23 on the motor shaft of the left grinding motor 39 to move to the grinding disc placed on the disc-changing platform 52, and making the locking nut 45 on the motor shaft of the left grinding motor 39 extend into the through hole 56. At this time, the positioning boss 44 on the motor shaft of the left grinding motor 39 abuts against the grinding disc 23 on the disc-changing platform 52. The pressing mechanism 53 presses and fixes the grinding disc 23 placed on the disc-changing platform 52 and at the same time presses and fixes the positioning boss 44 on the motor shaft of the left grinding motor 39. Pressing and fixing the positioning boss 44 on the motor shaft can prevent the motor shaft from rotating. Then, the disassembly and assembly mechanism 54 removes the locking nut 45 extending into the through hole 56 from the motor shaft of the left grinding motor 39. The removed locking nut 45 is carried on the disassembly and assembly mechanism 54. Then the pressing mechanism 53 releases the grinding disc 23 on the disc-changing platform 52 and the positioning boss 44 on the motor shaft of the left grinding motor 39. Then the main manipulator 1 drives the mounting seat 2 to rise, thereby driving the left grinding motor 39 to rise so that the motor shaft of the left grinding motor 39 is pulled out and separated from the grinding disc 23 on the disc-changing platform 52. Then the handling mechanism 55 transports the grinding disc 23 on the disc-changing platform 52 to be sleeved on the second vertical rod 50 and transports the uppermost new grinding disc 23 sleeved on the first vertical rod 49 to the disc-changing platform 52. Then the main manipulator 1 drives the mounting seat 2 to descend, thereby driving the left grinding motor 39 to descend so that the motor shaft of the left grinding motor 39 is inserted into the new grinding disc 23 on the disc-changing platform 52. Then the pressing mechanism 53 presses and fixes the new grinding disc 23 placed on the disc-changing platform 52 and presses and fixes the positioning boss 44 on the motor shaft of the left grinding motor 39. Then, the disassembly and assembly mechanism 54 screws the previously removed locking nut 45 onto the motor shaft of the left grinding motor 39 to lock and fix the new grinding disc 23 on the motor shaft of the left grinding motor 39. Then the pressing mechanism 53 releases the grinding disc 23 on the disc-changing platform 52 and the positioning boss 44 on the motor shaft of the left grinding motor 39. Then the main manipulator 1 drives the mounting seat 2 to rise, thereby driving the left grinding motor 39 with the replaced grinding disc 23 to rise. Then rotate the left swing seat 22 to the left working position.

[0161] Specifically, the walking drive mechanism 48 includes a walking motor, a walking gear, and a walking rack. The walking rack is connected to the base 46, the walking motor is connected to the moving seat 47, and the walking gear is connected to the walking motor and meshes with the walking rack. When the walking motor drives the walking gear to rotate, it can drive the moving seat 47 to slide on the base 46. In this embodiment, the moving seat 47 is slidably connected to the base 46 in the left-right direction. In Figure 5 when the moving seat 47 is located at the second film-changing position, the positioning boss 44 is a hexagonal structure.

[0162] As Figure 7 shown, the stock supporting mechanism 51 may include a stock supporting frame 57, a stock supporting block 58, a stock supporting drive mechanism, and a sensor;

[0163] The stock supporting frame 57 is connected to the moving seat 47;

[0164] The stock supporting block 58 is slidably connected to the stock supporting frame 57 in the up-down direction, and the stock supporting block 58 is used to support the grinding disc 23 sleeved on the first vertical rod 49;

[0165] The stock supporting drive mechanism is connected to the stock supporting block 58 and is used to drive the stock supporting block 58 to move upward, thereby driving the grinding disc 23 sleeved on the first vertical rod 49 to move upward;

[0166] The sensor is connected to the control system. The sensor is connected to the upper end of the stock supporting frame 57 and is used to send a first signal to the control system when the uppermost grinding disc 23 sleeved on the first vertical rod 49 is not detected, and to send a second signal to the control system when the uppermost grinding disc 23 sleeved on the first vertical rod 49 is detected;

[0167] The control system is connected to the stock supporting drive mechanism and is used to control the stock supporting drive mechanism to actuate to drive the stock supporting block 58 to move upward when receiving the first signal, and to control the stock supporting drive mechanism to stop acting when receiving the second signal.

[0168] Specifically, a new grinding disc 23 is stacked and sleeved on the first vertical rod 49, and the material supporting block 58 supports the lowermost grinding disc 23 on the first vertical rod 49. When the sensor fails to detect the uppermost grinding disc 23 on the first vertical rod 49, it will send a first signal to the control system. At this time, the control system will control the material supporting driving mechanism to act to drive the material supporting block 58 to move upward, thereby driving the grinding discs 23 on the first vertical rod 49 to move upward until the sensor can detect the uppermost grinding disc 23 on the first vertical rod 49. At this time, the sensor will send a second signal to the control system, and then the control system will control the material supporting driving mechanism to stop acting, so that the uppermost grinding disc 23 on the first vertical rod 49 can always stay at the set height position. In this embodiment, the sensor can be a proximity switch.

[0169] More specifically, the material supporting driving mechanism includes an upper belt pulley 59, a lower belt pulley 60, a synchronous belt 61, and a material supporting motor 62. The upper belt pulley 59 and the lower belt pulley 60 are respectively rotatably connected to the material supporting frame 57. The synchronous belt 61 is connected between the upper belt pulley 59 and the lower belt pulley 60, and the synchronous belt 61 is also connected to the material supporting block 58. The material supporting motor 62 is connected to the lower belt pulley 60 and is used to drive the lower belt pulley 60 to rotate, thereby driving the synchronous belt 61 to act and driving the material supporting block 58 to move upward or downward. In this embodiment, the PLC controller in the control system is connected to the material supporting motor 62, and the material supporting motor 62 can be connected to the moving seat 47.

[0170] As Figures 6 - 8 shown, the material pressing mechanism 53 can include a material pressing rod 63 and a material pressing cylinder 64;

[0171] The middle part of the material pressing rod 63 is hinged to the disc changing platform 52;

[0172] One end of the material pressing rod 63 is provided with a first material pressing part 65 for pressing the grinding disc 23, a second material pressing part 66 for pressing the positioning boss 44, and an opening groove 67 for avoiding the motor shaft;

[0173] One end of the material pressing cylinder 64 is hinged to the moving seat 47, and the other end of the material pressing cylinder 64 is hinged to the other end of the material pressing rod 63. Specifically, the material pressing cylinder 64 is used to drive the material pressing rod 63 to rotate during the telescopic process, so that the material pressing rod 63 presses or releases the grinding disc 23 on the disc changing platform 52 and the positioning boss 44 on the motor shaft.

[0174] The handling mechanism 55 can include a handling manipulator 68 and a jaw 69;

[0175] The gripper 69 is connected to the handling manipulator 68 and is used for grasping and releasing the grinding disc 23;

[0176] The handling manipulator 68 is connected to the moving seat 47 and is used for driving the gripper 69 to move so as to carry the grinding disc 23; Specifically, the gripper 69 can be a three-finger electric gripper, and the three fingers in the three-finger electric gripper can extend into the central hole in the grinding disc 23, and then the three fingers in the three-finger electric gripper open outward and abut against the inner wall of the central hole to grasp the grinding disc 23.

[0177] As Figure 6 、 8 、shown in 9, the disassembly and assembly mechanism 54 can include a screwing motor 70, a screwing head 71, a sliding seat 72 and a pre-tightening cylinder 73;

[0178] The sliding seat 72 is slidably connected to the moving seat 47 in the vertical direction;

[0179] The screwing motor 70 is connected to the sliding seat 72 and is located below the through hole 56;

[0180] The screwing head 71 is connected to the motor shaft of the screwing motor 70;

[0181] The pre-tightening cylinder 73 is connected to the moving seat 47, and the pre-tightening cylinder 73 is connected to the sliding seat 72 and is used for driving the sliding seat 72 to rise upward so as to drive the screwing head 71 to move upward to be in fit connection with the locking nut 45 extending into the through hole 56, and the screwing motor 70 is used for driving the screwing head 71 to rotate so as to drive the locking nut 45 to rotate.

[0182] Specifically, the steps of removing the locking nut 45 extending into the through hole 56 from the motor shaft by the disassembly and assembly mechanism 54 are as follows: The pre-tightening cylinder 73 drives the sliding seat 72 to rise upward, thereby driving the screwing motor 70 and the screwing head 71 to rise upward, so that the screwing head 71 moves upward to be in fit connection with the locking nut 45 extending into the through hole 56, and then the screwing motor 70 drives the screwing head 71 to rotate to drive the locking nut 45 to rotate, thereby removing the locking nut 45 from the motor shaft, and the removed locking nut 45 is carried on the screwing head 71.

[0183] To be more specific, the steps of tightening and installing the previously removed locking nut 45 on the motor shaft through the disassembly and assembly mechanism 54 are as follows: the pre-tightening cylinder 73 drives the sliding seat 72 to rise upward, thereby driving the screwing motor 70, the screwing head 71 and the locking nut 45 carried on the screwing head 71 to rise upward, thereby causing the locking nut 45 carried on the screwing head 71 to move upward to dock with the motor shaft extending into the through hole 56, and then the screwing motor 70 drives the screwing head 71 to rotate, thereby driving the locking nut 45 to rotate, thereby re-tightening the locking nut 45 and installing it on the motor shaft, thereby locking and fixing the new grinding disc 23 on the motor shaft.

[0184] In this embodiment, the locking nut 45 is provided with a plurality of first protrusions 74 that are evenly distributed along the circumference and protrude downward, and the screwing head 71 is provided with a plurality of second protrusions 75 that are evenly distributed along the circumference and protrude upward, and a slot 76 is provided between adjacent second protrusions 75. When the screwing head 71 is raised to be matched with the locking nut 45, the first protrusion 74 is inserted into the slot 76, and then the screwing motor 70 drives the screwing head 71 to rotate and then drives the first protrusion 74 to rotate through the second protrusion 75, thereby driving the locking nut 45 to rotate.

[0185] In this embodiment, the movable seat 47 includes a bottom plate portion 77, a stand portion 78 and a column portion 79; wherein the bottom plate portion 77 is slidably connected to the base 46, the travel drive mechanism 48 is connected to the bottom plate portion 77 and is used to drive the bottom plate portion 77 to slide on the base 46, the stand portion 78 and the column portion 79 are respectively connected to the bottom plate portion 77, the sliding seat 72 is slidably connected to the stand portion 78 in the up-down direction, and the handling manipulator 68 is connected to the column portion 79. In this embodiment, the rotating motor 16 and the supporting motor 62 can both be servo motors.

[0186] Embodiment 2

[0187] A working method of the automatic flash grinding device for steel pipe as described in the first embodiment, the method steps include:

[0188] S1: The main manipulator 1 drives the mounting seat 2 to move, and then drives the connecting frame 8, the lifting frame 9 and the line laser camera 11 to move into position, so that the line laser camera 11 is aligned with the portion with the flash 7 on the steel pipe 6 in the front-back direction;

[0189] S2: The lifting drive mechanism 10 drives the lifting frame 9 to move downward, thereby driving the line laser camera 11 to move downward to a position where the line laser camera 11 is aligned with the steel pipe 6 in the height direction. During the process of the rotary support mechanism driving the steel pipe 6 to rotate, the line laser camera 11 emits laser to scan the outer wall of the steel pipe 6, thereby obtaining the outer wall contour of the steel pipe 6 and obtaining the position information of the flash 7 on the outer wall of the steel pipe 6 in real time;

[0190] S3: The control system controls the rotary support mechanism to drive the steel pipe 6 to rotate according to the position information of the flash 7, so that the flash on the steel pipe 6 rotates to the grinding position. Then, the lifting drive mechanism 10 drives the lifting frame 9 to rise upward, thereby driving the line laser camera 11 to rise upward;

[0191] S4: The main manipulator 1 drives the left grinding mechanism 3 and the right grinding mechanism 4 on the mounting seat 2 to move, so as to grind and remove the flash 7 on the outer wall of the steel pipe 6 through the left grinding mechanism 3 and the right grinding mechanism 4.

[0192] In summary, after the steel pipe 6 is transported to the rotary support mechanism, the rotary support mechanism will drive the steel pipe 6 to rotate. Then, the detection mechanism 5 will scan and obtain the outer wall contour of the part of the steel pipe 6 facing the detection mechanism 5 during the rotation of the steel pipe 6 and obtain the position information of the flash 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the rotary support mechanism to act according to the position information of the flash 7 to drive the steel pipe 6 to rotate, so that the flash on the steel pipe 6 is in the grinding position. At this time, the two flashes 7 on the outer wall of the steel pipe 6 are respectively located on the left and right sides of the steel pipe 6 and at the same height. Then, the main manipulator 1 drives the left grinding mechanism 3 and the right grinding mechanism 4 on the mounting seat 2 to move, so as to grind and remove the flash 7 on the outer wall of the steel pipe 6 through the left grinding mechanism 3 and the right grinding mechanism 4, avoiding manual grinding of the flash 7 by workers with a grinding machine, greatly improving the grinding efficiency of the flash 7, greatly reducing the labor intensity of workers, and reducing the labor cost.

[0193] In the specific embodiments described above, the technical problems solved, technical solutions and beneficial effects of the present invention are further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic burr grinding device for steel pipes, characterized in that, It includes a main manipulator (1), a mounting base (2), a left grinding mechanism (3), a right grinding mechanism (4), a detection mechanism (5), a rotary support mechanism, and a control system; The rotary support mechanism is used to place a steel pipe (6) and drive the steel pipe (6) to rotate; The detection mechanism (5) is used to scan and obtain the outer wall contour of the part of the steel pipe (6) facing the detection mechanism (5) during the rotation of the steel pipe (6) and to obtain the position information of the flash (7) on the outer wall of the steel pipe (6) in real time; The control system is respectively connected to the detection mechanism (5) and the rotary support mechanism. The control system is used to control the action of the rotary support mechanism according to the obtained position information of the flash (7) to drive the steel pipe (6) to rotate until the flash on the steel pipe (6) is in the grinding position; The left grinding mechanism (3) and the right grinding mechanism (4) are both connected to the mounting base (2); The mounting base (2) is connected to the main manipulator (1). The main manipulator (1) is used to drive the mounting base (2) to move, and then drive the left grinding mechanism (3) and the right grinding mechanism (4) to move so as to grind the flash (7) on the outer wall of the steel pipe (6) on the rotary support mechanism where the flash is in the grinding position by the left grinding mechanism (3) and the right grinding mechanism (4).

2. The automatic burr grinding device for steel pipes according to claim 1, characterized in that, The detection mechanism (5) includes a connecting frame (8), a lifting frame (9), a lifting drive mechanism (10), and a line laser camera (11); The connecting frame (8) is connected to the mounting base (2); The lifting frame (9) is slidably connected to the connecting frame (8) in the up and down direction; The lifting drive mechanism (10) is connected to the connecting frame (8) and is connected to the lifting frame (9) and is used to drive the lifting frame (9) to move up and down; The line laser camera (11) is connected to the lifting frame (9) and is used to emit laser to scan the steel pipe (6) during the rotation of the steel pipe (6) to obtain the outer wall contour of the part of the steel pipe (6) facing the line laser camera (11), and then obtain the position information of the flash (7) on the outer wall of the steel pipe (6) in real time.

3. The automatic burr grinding device for steel pipes according to claim 1, characterized in that, The rotary support mechanism includes at least two support components (12) arranged at intervals in sequence along the length direction of the steel pipe (6); The support component (12) includes a support frame (13), a left support wheel (14), a right support wheel (15), and a support drive mechanism; The left support wheel (14) and the right support wheel (15) are respectively rotatably connected to the support frame (13), and the steel pipe (6) is used to be carried on the left support wheel (14) and the right support wheel (15); The support drive mechanism is connected to the support frame (13) and is respectively connected to the left support wheel (14) and the right support wheel (15) and is used to drive the left support wheel (14) and the right support wheel (15) to rotate, and then drive the steel pipe (6) to rotate.

4. The automatic flash grinding device for steel pipes according to claim 1, wherein, The left grinding mechanism (3) includes a left base (20), a left rotating seat (21), a left swinging seat (22), a left grinding assembly, a left swinging driving assembly, and a left rotating driving assembly; The left base (20) is connected to the mounting seat (2); The left rotating seat (21) is rotatably connected to the left base (20) and has a left initial position and a left grinding position during rotation; The left swinging seat (22) is rotatably connected to the left rotating seat (21) and has a left blade-changing position and a left working position during rotation; The left grinding assembly is connected to the left swinging seat (22), and a grinding blade (23) is provided in the left grinding assembly; The left swinging driving assembly is connected to the left rotating seat (21) and is connected to the left swinging seat (22). The left swinging driving assembly is used to drive the left swinging seat (22) to rotate to the left blade-changing position, thereby driving the grinding blade (23) in the left grinding assembly to rotate downward. The left swinging driving assembly is also used to drive the left swinging seat (22) to rotate to the left working position; The left rotating driving assembly is connected to the left base (20) and is connected to the left rotating seat (21). The left rotating driving assembly is used to drive the left rotating seat (21) to rotate to the left grinding position when the left swinging seat (22) is in the left working position, so as to drive the grinding blade (23) in the left grinding assembly to rotate at an angle with the steel pipe (6). The left rotating driving assembly is also used to drive the left rotating seat (21) to rotate to the left initial position; The right grinding mechanism (4) includes a right base (24), a right rotating seat (25), a right swinging seat (26), a right grinding assembly, a right swinging driving assembly, and a right rotating driving assembly; The right base (24) is connected to the mounting seat (2); The right rotating seat (25) is rotatably connected to the right base (24) and has a right initial position and a right grinding position during rotation; The right swinging seat (26) is rotatably connected to the right rotating seat (25) and has a right blade-changing position and a right working position during rotation; The right grinding assembly is connected to the right swinging seat (26), and a grinding blade (23) is provided in the right grinding assembly; The right swinging driving assembly is connected to the right rotating seat (25) and is connected to the right swinging seat (26). The right swinging driving assembly is used to drive the right swinging seat (26) to rotate to the right blade-changing position, thereby driving the grinding blade (23) in the right grinding assembly to rotate downward. The right swinging driving assembly is also used to drive the right swinging seat (26) to rotate to the right working position; The right rotation drive assembly is connected to the right base (24) and is connected to the right rotating seat (25). The right rotation drive assembly is used to drive the right rotating seat (25) to rotate to the right grinding position when the right swing seat (26) is in the right working position, so as to drive the grinding disc (23) in the right grinding assembly to rotate to form an angle with the steel pipe (6). The right rotation drive assembly is also used to drive the right rotating seat (25) to rotate to the right initial position.

5. The automatic burr grinding device for steel pipes according to claim 4, characterized in that, It further includes an adjustment mechanism; Both the left base (20) and the right base (24) are slidably connected to the mounting seat (2) in the left-right direction; The adjustment mechanism includes a lead screw (35), a left slider, a right slider and an adjustment drive assembly (36); The lead screw (35) is rotatably connected to the mounting seat (2). The lead screw (35) has a left thread portion and a right thread portion, and the rotation directions of the left thread portion and the right thread portion are opposite; The left slider is connected to the left base (20) and is in mating connection with the left thread portion. The right slider is connected to the right base (24) and is in mating connection with the right thread portion; The adjustment drive assembly (36) is connected to the mounting seat (2) and is connected to the lead screw (35) and is used to drive the lead screw (35) to rotate, thereby driving the left base (20) and the right base (24) to move towards or away from each other.

6. The automatic burr trimming device for steel pipes according to claim 4, wherein The left grinding assembly includes a left force control cylinder (37), a left grinding seat (38) and a left grinding motor (39). A grinding disc (23) is connected to the motor shaft of the left grinding motor (39); The left grinding motor (39) is connected to the left grinding seat (38) and is used to drive the grinding disc (23) to rotate; The left grinding seat (38) is connected to the left force control cylinder (37); The left force control cylinder (37) is connected to the left swing seat (22) and is used to drive the grinding disc (23) on the left grinding motor (39) to press against the steel pipe (6); The right grinding assembly includes a right force control cylinder (40), a right grinding seat (41) and a right grinding motor (42). A grinding disc (23) is connected to the motor shaft of the right grinding motor (42); The right grinding motor (42) is connected to the right grinding seat (41) and is used to drive the grinding disc (23) to rotate; The right grinding seat (41) is connected to the right force control cylinder (40); The right force control cylinder (40) is connected to the right swing seat (26) and is used to drive the grinding disc (23) on the right grinding motor (42) to press against the steel pipe (6).

7. The automatic deburring device for steel pipes according to claim 6, characterized in that, It further includes a grinding disc replacement mechanism (43); Wherein, positioning bosses (44) protruding radially outward are respectively provided on the motor shafts of the left grinding motor (39) and the right grinding motor (42). Locking nuts (45) are respectively connected to the motor shafts of the left grinding motor (39) and the right grinding motor (42). The locking nuts (45) are used for being threadedly connected to the corresponding motor shafts to press and fix the grinding discs (23) sleeved on the corresponding motor shafts onto the corresponding positioning bosses (44). The grinding disc replacement mechanism (43) includes a base (46), a moving seat (47), a traveling drive mechanism (48), a first vertical rod (49), a second vertical rod (50), a material supporting mechanism (51), a disc replacement platform (52), a material pressing mechanism (53), a disassembly and assembly mechanism (54), and a handling mechanism (55). The moving seat (47) is slidably connected to the base (46). The traveling drive mechanism (48) is connected to the moving seat (47) and is used for driving the moving seat (47) to slide on the base (46). The moving seat (47) has a first disc replacement position and a second disc replacement position during the sliding process on the base (46). The first vertical rod (49) is connected to the moving seat (47), and the grinding discs (23) are stacked and sleeved on the first vertical rod (49). The second vertical rod (50) is connected to the moving seat (47), and the grinding discs (23) are stacked and sleeved on the second vertical rod (50). The material supporting mechanism (51) is connected to the moving seat (47). The material supporting mechanism (51) is used for supporting the grinding discs (23) sleeved on the first vertical rod (49) and driving the grinding discs (23) sleeved on the first vertical rod (49) to move upward in place. The disc replacement platform (52) is connected to the moving seat (47). A through hole (56) is provided in the disc replacement platform (52). When the left swing seat (22) rotates to the left disc replacement position and the moving seat (47) slides to the first disc replacement position, the main manipulator (1) is used to drive the mounting seat (2) to move, thereby driving the grinding disc (23) on the motor shaft of the left grinding motor (39) to move to be placed on the disc replacement platform (52) and making the locking nut (45) on the motor shaft of the left grinding motor (39) extend into the through hole (56). When the right swing seat (26) rotates to the right disc replacement position and the moving seat (47) slides to the second disc replacement position, the main manipulator (1) is used to drive the mounting seat (2) to move, thereby driving the grinding disc (23) on the motor shaft of the right grinding motor (42) to move to be placed on the disc replacement platform (52) and making the locking nut (45) on the motor shaft of the right grinding motor (42) extend into the through hole (56). The blanking mechanism (53) is connected to the moving seat (47). The blanking mechanism (53) is used to tightly hold the grinding disc (23) placed on the disc changing platform (52) and to tightly hold the positioning boss (44) that abuts against the grinding disc (23) on the disc changing platform (52); The disassembly and assembly mechanism (54) is connected to the moving seat (47). The disassembly and assembly mechanism (54) is used to remove the lock nut (45) extending into the through hole (56) from the motor shaft when the blanking mechanism (53) tightly holds the positioning boss (44) and the grinding disc (23) on the disc changing platform (52), and to screw the removed lock nut (45) tightly onto the motor shaft; The handling mechanism (55) is used to transport the grinding disc (23) on the disc changing platform (52) to be sleeved on the second vertical rod (50) and to transport the uppermost grinding disc (23) sleeved on the first vertical rod (49) to the disc changing platform (52) when the blanking mechanism (53) releases the grinding disc (23) on the disc changing platform (52) and the positioning boss (44) and the grinding disc (23) on the disc changing platform (52) are separated from the motor shaft.

8. The automatic burr grinding device for steel pipes according to claim 7, characterized in that The material supporting mechanism (51) includes a material supporting frame (57), a material supporting block (58), a material supporting driving mechanism and a sensor; The material supporting frame (57) is connected to the moving seat (47); The material supporting block (58) is slidably connected to the material supporting frame (57) in the vertical direction. The material supporting block (58) is used to support the grinding disc (23) sleeved on the first vertical rod (49); The material supporting driving mechanism is connected to the material supporting block (58) and is used to drive the material supporting block (58) to move upward, thereby driving the grinding disc (23) sleeved on the first vertical rod (49) to move upward; The sensor is connected to the control system. The sensor is connected to the upper end of the material supporting frame (57) and is used to send a first signal to the control system when the uppermost grinding disc (23) sleeved on the first vertical rod (49) is not detected, and to send a second signal to the control system when the uppermost grinding disc (23) sleeved on the first vertical rod (49) is detected; The control system is connected to the material supporting driving mechanism and is used to control the material supporting driving mechanism to act to drive the material supporting block (58) to move upward when receiving the first signal, and to control the material supporting driving mechanism to stop acting when receiving the second signal.

9. The automatic steel pipe flash trimming device according to claim 7, characterized in that Among them, The blanking mechanism (53) includes a blanking rod (63) and a blanking cylinder (64); The middle part of the blanking rod (63) is hinged to the disc changing platform (52); One end of the blanking rod (63) is provided with a first blanking part (65) for pressing the grinding disc (23), a second blanking part (66) for pressing the positioning boss (44), and an opening groove (67) for avoiding the motor shaft; One end of the blanking cylinder (64) is hinged to the moving seat (47), and the other end of the blanking cylinder (64) is hinged to the other end of the blanking rod (63); Among them, the handling mechanism (55) includes a handling manipulator (68) and a jaw (69); The jaw (69) is connected to the handling manipulator (68) and is used to grasp and release the grinding disc (23); The handling manipulator (68) is connected to the moving seat (47) and is used to drive the jaw (69) to move so as to carry the grinding disc (23); Among them, the disassembly and assembly mechanism (54) includes a screwing motor (70), a screwing head (71), a sliding seat (72) and a pre-tightening cylinder (73); The sliding seat (72) is slidably connected to the moving seat (47) in the vertical direction; The screwing motor (70) is connected to the sliding seat (72) and is located below the through hole (56); The screwing head (71) is connected to the motor shaft of the screwing motor (70); The pre-tightening cylinder (73) is connected to the moving seat (47), and the pre-tightening cylinder (73) is connected to the sliding seat (72) and is used to drive the sliding seat (72) to rise, so as to drive the screwing head (71) to move upward to be in mating connection with the lock nut (45) extending into the through hole (56), and the screwing motor (70) is used to drive the screwing head (71) to rotate so as to drive the lock nut (45) to rotate.

10. A working method of the automatic burr grinding device for steel pipes as described in claim 2, characterized in that, The steps of the method include: S1: The main manipulator (1) drives the mounting seat (2) to move, so as to drive the connecting frame (8), the lifting frame (9) and the line laser camera (11) to move in place together, so that the line laser camera (11) is aligned with the part of the steel pipe (6) with burrs (7) in the front-rear direction; S2: The lifting drive mechanism (10) drives the lifting frame (9) to move downward, so as to drive the line laser camera (11) to move downward in place, so that the line laser camera (11) is aligned with the steel pipe (6) in the height direction. During the process of the rotary support mechanism driving the steel pipe (6) to rotate, the line laser camera (11) emits laser to scan the outer wall of the steel pipe (6), so as to obtain the outer wall contour of the steel pipe (6), and then obtain the position information of the burrs (7) on the outer wall of the steel pipe (6) in real time; S3: The control system controls the rotary support mechanism to drive the steel pipe (6) to rotate according to the position information of the burrs (7) until the burrs on the steel pipe (6) rotate to the grinding position and then stop. Then, the lifting drive mechanism (10) drives the lifting frame (9) to rise, so as to drive the line laser camera (11) to rise; S4: The main manipulator (1) drives the left grinding mechanism (3) and the right grinding mechanism (4) on the mounting seat (2) to move, so as to grind and remove the burrs (7) on the outer wall of the steel pipe (6) through the left grinding mechanism (3) and the right grinding mechanism (4).

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