Automatic trimming device for steel pipe flash and working method thereof

Abstract

The application discloses a kind of steel pipe flash automatic grinding device and its working method, the steel pipe flash automatic grinding device includes main manipulator, mounting seat, left polishing mechanism, right polishing mechanism, detection mechanism, rotary support mechanism and control system;Wherein, the rotary support mechanism is used to place steel pipe and drive the rotation of the steel pipe, the detection mechanism is used to scan and obtain the outer wall profile of the part of steel pipe with the detection mechanism in the process of steel pipe rotation and real-time acquisition of the position information of flash on the outer wall of steel pipe, the control system is connected with detection mechanism and rotary support mechanism respectively, the control system is used to control the rotary support mechanism action to drive the steel pipe to rotate to make the flash on steel pipe be in grinding position according to the position information of obtained flash.The application can grind and remove the flash on the outer wall of steel pipe, can improve the efficiency of flash grinding, can reduce the labor intensity of worker, reduce labor cost.

Description

Technical Field

[0001] This invention relates to an automatic grinding device for steel pipe burrs and its working method. Background Technology

[0002] Currently, when flaring the ends of steel pipes, it is usually necessary to use an upper and lower die to clamp the steel pipe and use a punch to push it into the pipe to flare it. For example, the flaring mold disclosed in Chinese Patent No. CN209077621U includes an upper die, a lower die, and a punch. In actual production, it has been found that excess material overflows at the parting line of the upper and lower dies during the flaring process, resulting in thin, sheet-like protrusions on the outer wall of the steel pipe. These protrusions are called flash. The presence of flash not only affects the appearance quality of the steel pipe, making the outer wall rough and uneven, but also affects subsequent processing. Therefore, it is necessary to grind and remove the flash from the outer wall of the steel pipe. However, some companies still rely on workers to manually use grinding machines to remove the flash from the outer wall of the steel pipe. Manually using grinding machines to remove flash is not only inefficient but also increases the labor intensity of workers and increases labor costs. 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 burr grinding device for steel pipes. It can grind and remove burrs on the outer wall of steel pipes, improve the efficiency of burr grinding, reduce the labor intensity of workers, and reduce labor costs.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an automatic steel pipe burr grinding device, comprising a main manipulator, a mounting base, a left grinding mechanism, a right grinding mechanism, a detection mechanism, a rotating support mechanism, and a control system;

[0005] The rotating 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 burrs on the outer wall of the steel pipe in real time.

[0007] The control system is connected to the detection mechanism and the rotating support mechanism respectively. The control system is used to control the rotating support mechanism to drive the steel pipe to rotate so that the burr on the steel pipe is in the grinding position according to the obtained burr position information.

[0008] Both the left and right grinding mechanisms are connected to the mounting base;

[0009] The mounting base is connected to the main manipulator, which is used to move the mounting base and thus move the left and right grinding mechanisms so as to grind the burrs on the outer wall of the steel pipe on the rotating support mechanism, where the burrs are already in the grinding position.

[0010] Further, a specific structure of the detection mechanism is provided, the detection mechanism including a connecting frame, a lifting frame, a lifting drive mechanism, and a line laser camera;

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

[0012] The lifting frame is slidably connected to the connecting frame in the vertical direction;

[0013] The lifting drive mechanism is connected to the connecting frame and 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 a 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, thereby obtaining the position information of the burrs on the outer wall of the steel pipe in real time.

[0015] Furthermore, the rotating support mechanism includes at least two support components arranged sequentially at intervals along the length of the steel pipe;

[0016] The support assembly 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 rotatably connected to the support frame, and the steel pipe is used to support the left support wheel and the right support wheel;

[0018] The support drive mechanism is connected to the support frame and is connected to the left support wheel and the right support wheel respectively, 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 rotating base, a left swinging base, a left grinding assembly, a left swinging drive assembly, and a left rotating drive assembly;

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

[0021] The left rotating 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 rotating seat and has a left plate changing position and a left working position during rotation;

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

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

[0025] The left rotation drive assembly is connected to the left base and connected to the left rotation seat. The left rotation drive assembly is used to drive the left rotation 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 to form an angle with the steel pipe. The left rotation drive assembly is also used to drive the left rotation seat to rotate to the left initial position.

[0026] The right grinding mechanism includes a right base, a right rotating base, a right swinging base, a right grinding assembly, a right swinging drive assembly, and a right rotating drive assembly;

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

[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 rotary seat and has a right plate-changing position and a right working position during rotation;

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

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

[0032] The right rotation drive assembly is connected to the right base and connected to the right rotation seat. The right rotation drive assembly is used to drive the right rotation 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 to form an angle with the steel pipe. The right rotation drive assembly is also used to drive the right rotation seat to rotate to the right initial position.

[0033] Furthermore, the automatic steel pipe burr grinding device also includes an adjustment mechanism;

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

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

[0036] The lead screw is rotatably connected to the mounting base, and the lead screw has a left threaded portion and a right threaded portion, the left threaded portion and the right threaded portion having opposite directions of rotation;

[0037] The left slider is connected to the left base and engages with the left threaded portion; the right slider is connected to the right base and engages with the right threaded portion.

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

[0039] Furthermore, the left grinding assembly includes a left force-controlled cylinder, a left grinding base, and a left grinding motor, with a grinding disc 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 seat is connected to the left force control cylinder;

[0042] The left force-controlled cylinder is connected to the left swing seat 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, with a grinding disc 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 seat is connected to the right force control cylinder;

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

[0047] Furthermore, the automatic steel pipe burr grinding device also includes a grinding disc replacement mechanism;

[0048] The left and right grinding motors are respectively provided with positioning bosses that protrude radially outward. Locking nuts are respectively connected to the left and right grinding motors. The locking nuts are used to be threaded onto the corresponding motor shafts to press and fix the grinding discs sleeved on the corresponding motor shafts onto the corresponding positioning bosses.

[0049] The grinding disc replacement mechanism includes a base, a movable seat, a walking drive mechanism, a first upright, a second upright, a material support mechanism, a disc replacement platform, a material pressing mechanism, a disassembly and assembly mechanism, and a transport mechanism.

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

[0051] The walking drive mechanism is connected to the movable seat and is used to drive the movable seat to slide on the base. The movable seat has a first plate-changing position and a second plate-changing position during the sliding process on the base.

[0052] The first upright is connected to the movable base, and the first upright is used to stack and sleeve grinding discs;

[0053] The second upright is connected to the movable base, and the second upright is used to stack and sleeve grinding discs;

[0054] The material support mechanism is connected to the movable seat. The material support mechanism is used to support the grinding disc sleeved on the first upright and drive the grinding disc sleeved on the first upright to move upward into place.

[0055] The changing platform is connected to the movable seat. The changing platform has a through hole. When the left swing seat rotates to the left changing position and the movable seat slides to the first changing position, the main manipulator drives the mounting seat to move, thereby moving the grinding disc on the motor shaft of the left grinding motor to be placed on the changing platform and causing the locking nut on the motor shaft of the left grinding motor to extend into the through hole. When the right swing seat rotates to the right changing position and the movable seat slides to the second changing position, the main manipulator drives the mounting seat to move, thereby moving the grinding disc on the motor shaft of the right grinding motor to be placed on the changing platform and causing the locking nut on the motor shaft of the right grinding motor to extend into the through hole.

[0056] The pressing mechanism is connected to the movable seat. The pressing mechanism is used to press and fix the grinding disc placed on the changing disc platform and to press and fix the positioning boss that abuts against the grinding disc on the changing disc platform.

[0057] The disassembly and assembly mechanism is connected to the movable seat. The disassembly and assembly mechanism is used to remove the locking nut that extends into the through hole from the motor shaft when the pressing mechanism presses and fixes the positioning boss and the grinding disc on the changing platform, and to tighten and install the removed locking nut on the motor shaft.

[0058] The conveying mechanism is used to convey the grinding disc on the changing platform to the second upright and to the uppermost grinding disc on the first upright when the pressing mechanism releases the grinding disc and the positioning boss on the changing platform and the grinding disc on the changing platform is separated from the motor shaft.

[0059] Furthermore, the material support mechanism includes a material support frame, a material support block, a material support drive mechanism, and a sensor;

[0060] The material support frame is connected to the movable base;

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

[0062] The material support drive mechanism is connected to the material support block and is used to drive the material support block to move upward, thereby driving the grinding disc sleeved on the first upright to move upward.

[0063] The sensor is connected to the control system. The sensor is attached to the upper end of the material support frame and is used to send a first signal to the control system when the uppermost grinding disc sleeved on the first upright is not detected, and to send a second signal to the control system when the uppermost grinding disc sleeved on the first upright is detected.

[0064] The control system is connected to the material support drive mechanism and is used to control the material support drive mechanism to move upward when a first signal is received, and to control the material support drive mechanism to stop moving when a second signal is received.

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

[0066] The middle part of the pressure bar is hinged to the plate changing platform;

[0067] One end of the pressure rod has a first pressure part for pressing the grinding disc, a second pressure 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 movable 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 robot and grippers;

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

[0071] The handling robot is connected to the moving base and is used to drive the gripper to move and thus handle the grinding disc.

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

[0073] The sliding seat is slidably connected to the movable seat in the vertical direction;

[0074] The rotary motor is connected to the sliding seat and 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 movable seat, and the pre-tightening cylinder is connected to the sliding seat and is used to drive the sliding seat to rise, thereby driving the screwing head to move upward to engage with the locking nut that extends into the through hole. The screwing motor is used to drive the screwing head to rotate, thereby driving the locking nut to rotate.

[0077] The present invention also provides a method for operating the automatic steel pipe burr grinding device as described above, the method comprising the following steps:

[0078] S1: The main robotic arm drives the mounting base to move, thereby moving the connecting frame, the lifting frame and the line laser camera together into position, so that the line laser camera is aligned with the part of the steel pipe with the burr in the front-back direction;

[0079] S2: The lifting drive mechanism drives the lifting frame to move downwards, thereby moving the line laser camera downwards to position so that the line laser camera is aligned with the steel pipe in the height direction. During the process of the rotating support mechanism driving the steel pipe to rotate, the line laser camera emits laser to scan the outer wall of the steel pipe, thereby obtaining the outer wall contour of the steel pipe and obtaining the position information of the burrs on the outer wall of the steel pipe in real time.

[0080] S3: The control system controls the rotating support mechanism to rotate the steel pipe according to the position information of the flash so that the flash on the steel pipe rotates to the grinding position and then stops. Then the lifting drive mechanism drives the lifting frame to rise and thus drives the line laser camera to rise.

[0081] S4: The main robotic arm drives the left and right grinding mechanisms on the mounting base to move so as to 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, when the steel pipe is transported onto the rotating support mechanism, the rotating support mechanism drives the steel pipe to rotate. Then, the detection mechanism scans and acquires the outer wall contour of the portion of the steel pipe facing the detection mechanism during the rotation, and acquires the position information of the burrs on the outer wall of the steel pipe in real time. Then, the control system controls the rotating support mechanism to rotate the steel pipe according to the position information of the burrs, thereby bringing the burrs on the steel pipe into 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 and at the same height. Then, the main manipulator drives the left and right grinding mechanisms on the mounting base to move so that the burrs on the outer wall of the steel pipe can be removed by grinding through the left and right grinding mechanisms. This avoids workers manually using a grinding machine to grind the burrs, greatly improves the efficiency of burr grinding, greatly reduces the labor intensity of workers, and reduces labor costs. Attached Figure Description

[0083] Figure 1 This is a schematic diagram of the automatic steel pipe burr grinding device of the present invention;

[0084] Figure 2 This is a schematic diagram of the detection mechanism and the rotating support mechanism of the present invention;

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

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

[0087] Figure 5 This is a schematic diagram of the main manipulator, left grinding mechanism, right grinding mechanism and grinding disc replacement mechanism of the present invention;

[0088] Figure 6 This is a schematic diagram of the grinding disc replacement mechanism of the present invention. Figure 1 ;

[0089] Figure 7 This is a schematic diagram of the grinding disc replacement mechanism of the present invention. Figure 2 ;

[0090] Figure 8 This is a schematic diagram of the pressing mechanism and disassembly mechanism of the present invention;

[0091] Figure 9This is a schematic diagram of the disassembly and assembly mechanism of the present invention;

[0092] In the diagram: 1. Main robotic arm; 2. Mounting base; 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. Rotary motor; 17. Drive gear; 18. First driven gear; 19. Second driven gear; 20. Left base. ; 21. Left rotary seat; 22. Left swing seat; 23. Grinding disc; 24. Right base; 25. Right rotary seat; 26. Right swing seat; 27. Left gear; 28. Left rack; 29. ​​Left drive cylinder; 30. Right gear; 31. Right rack; 32. Right drive cylinder; 33. Left geared motor; 34. Right geared motor; 35. Lead screw; 36. Adjustment drive assembly; 37. Left force control cylinder; 38. Left grinding seat; 39. Left grinding motor; 4 0. Right force-controlled 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. Travel drive mechanism; 49. First upright; 50. Second upright; 51. Material support mechanism; 52. Disc changing platform; 53. Pressing mechanism; 54. Disassembly and assembly mechanism; 55. Transport mechanism; 56. Through hole; 57. Material support frame; 58. Material support block; 59. Upper 60. Pulley; 61. Lower pulley; 62. Synchronous belt; 63. Material support motor; 64. Pressure bar; 65. Pressure cylinder; 66. First pressure section; 67. Second pressure section; 68. Opening slot; 69. Handling robot; 70. Gripper; 71. Twisting head; 72. Sliding seat; 73. Pre-tightening cylinder; 74. First protrusion; 75. Second protrusion; 76. Slot; 77. Base plate; 78. Frame; 79. Column. Detailed Implementation

[0093] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0094] Example 1

[0095] like Figures 1-5 As shown, an automatic steel pipe burr grinding device includes a main manipulator 1, a mounting base 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 burrs 7 on the outer wall of one end of the steel pipe 6 that are 180° apart.

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

[0098] The control system is connected to the detection mechanism 5 and the rotating support mechanism respectively. The control system is used to control the rotating support mechanism to drive the steel pipe 6 to rotate so that the burrs on the steel pipe 6 are in the grinding position. In this embodiment, the burrs on the steel pipe 6 are in the grinding position, which means that the two burrs 7 on the outer wall of the steel pipe 6 are located on the left and right sides of the steel pipe 6 respectively and are at the same height.

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

[0100] 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, thereby driving the left grinding mechanism 3 and the right grinding mechanism 4 to move so as to grind the burr 7 on the outer wall of the steel pipe 6 on the rotating support mechanism, where the burr is already in the grinding position.

[0101] Specifically, after the steel pipe 6 is transported onto the rotating support mechanism, the rotating support mechanism drives the steel pipe 6 to rotate. Then, the detection mechanism 5 scans and acquires the outer wall contour of the portion of the steel pipe 6 facing the detection mechanism 5 during the rotation of the steel pipe 6, and acquires the position information of the burrs 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the rotating support mechanism to rotate the steel pipe 6 according to the position information of the burrs 7, so that the burrs on the steel pipe 6 are in the grinding position. At this time, the two burrs 7 on the outer wall of the steel pipe 6 are located on the left and right sides of the steel pipe 6 respectively and are at the same height. 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 that the burrs 7 on the outer wall of the steel pipe 6 can be removed by grinding through the left grinding mechanism 3 and the right grinding mechanism 4. This avoids the need for workers to manually use a grinding machine to grind the burrs 7, greatly improves the efficiency of burr grinding, greatly reduces the labor intensity of workers, and reduces labor costs. In this embodiment, the main manipulator 1 can be a two-axis truss manipulator. The main manipulator 1 is used to drive the mounting base 2 to move in the front-back direction and the up-down direction. The steel pipe 6 on the rotating support mechanism extends in the front-back direction. In this embodiment, the part of the steel pipe 6 that faces the detection mechanism 5 is the end of the steel pipe 6 with the burr 7.

[0102] like Figure 1 , 2 As 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 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 light to scan the steel pipe 6 during its rotation to obtain the outer wall contour of the portion of the steel pipe 6 facing the line laser camera 11, thereby obtaining the position information of the burr 7 on the outer wall of the steel pipe 6 in real time. Specifically, firstly, the main manipulator 1 moves the mounting base 2, thereby moving the connecting frame 8, the lifting frame 9, and the line laser camera 11 together into position so that the line laser camera 11 is aligned with the portion of the steel pipe 6 with the burr 7 in the front-back direction. Then, the lifting drive mechanism 10 drives the lifting frame 9 to descend, thereby moving the line laser camera 11 to descend into position so that the line laser camera 11 is aligned with the steel pipe 6 in the height direction. Then, during the rotation of the steel pipe 6 driven by the rotating support mechanism, the line laser camera 11 emits laser light to scan the outer wall of the steel pipe 6 to obtain the outer wall contour of the steel pipe 6, thereby obtaining the position information of the burr 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the rotating support mechanism to rotate the steel pipe 6 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, thereby driving the line laser camera 11 to rise. 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. 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 existing technologies well known to those skilled in the art, and will not be described in detail in this embodiment. More specifically, there are two line laser cameras 11, both of which are connected to the lifting frame 9. When the lifting drive mechanism 10 drives the lifting frame 9 to move downward into position, the end of the steel pipe 6 with the burr 7 is located between the two line laser cameras 11. The two line laser cameras 11 emit lasers to scan the outer wall of the steel pipe 6 respectively. The lifting frame 9 can be slidably connected to the connecting frame 8 in the vertical direction via a linear bearing.

[0107] like Figure 1 , 2 As shown, the rotating support mechanism may include at least two support components 12 arranged sequentially at intervals along the length of the steel pipe 6;

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

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

[0110] The support drive mechanism is connected to the support frame 13 and is connected to the left support wheel 14 and the right support wheel 15 respectively, and is used to drive the left support wheel 14 and the right support wheel 15 to rotate, thereby driving the steel pipe 6 to rotate. Specifically, the support drive mechanism includes a rotary motor 16, a drive 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, and the second driven gear 19 is connected to the right support wheel 15. The drive 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 drive 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. More specifically, the control system is used to control the rotary motor 16 in the rotary support mechanism to operate according to the obtained position information of the flash 7, thereby driving the steel pipe 6 to rotate into position 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, the PLC controller is connected to the rotary motor 16 and is used to control the rotary motor 16 to rotate, thereby driving the steel pipe 6 to rotate into position.

[0111] like Figures 1-5 As shown, the left grinding mechanism 3 may include a left base 20, a left rotating base 21, a left swinging base 22, a left grinding assembly, a left swinging drive assembly, and a left rotating drive assembly;

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

[0113] 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;

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

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

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

[0117] The left rotation drive assembly is connected to the left base 20 and connected to the left rotation seat 21. The left rotation drive assembly is used to drive the left rotation 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 rotate to form an angle with the steel pipe 6. The left rotation drive assembly is also used to drive the left rotation seat 21 to rotate to the left initial position.

[0118] The right grinding mechanism 4 may include a right base 24, a right rotating base 25, a right swinging base 26, a right grinding assembly, a right swinging drive assembly, and a right rotating drive assembly;

[0119] The right base 24 is connected to the mounting base 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 plate changing position and a right working position during rotation;

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

[0123] The right swing drive assembly is connected to the right rotary seat 25 and connected to the right swing seat 26. The right swing drive assembly is used to drive the right swing seat 26 to rotate to the right changing position, thereby driving the grinding disc 23 in the right grinding assembly to rotate to face downward. The right swing drive 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 connected to the right rotation seat 25. The right rotation drive assembly is used to drive the right rotation 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 rotation seat 25 to rotate to the right initial position.

[0125] like Figure 4 As shown, the left rotating seat 21 is rotatably connected to the left base 20 with a rotating shaft arranged vertically; the right rotating seat 25 is rotatably connected to the right base 24 with a rotating shaft arranged vertically; the left swing seat 22 is rotatably connected to the left rotating seat 21 with a rotating shaft arranged horizontally; and the right swing seat 26 is rotatably connected to the right rotating seat 25 with a rotating shaft arranged horizontally. Figure 4 As shown, when the left rotary 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 to the right; when the right rotary 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 to the left.

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

[0127] The left rotary 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 disposed on the left base 20 and meshes with the left gear 27. The left drive cylinder 29 is connected to the left base 20 and connected to the left rack 28. The left drive 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 rotary drive assembly includes a right gear 30, a right rack 31, and a right drive cylinder 32;

[0130] The right gear 30 is connected to the right rotating seat 25. The right rack 31 is slidably disposed on the right base 24 and meshes with the right gear 30. The right drive cylinder 32 is connected to the right base 24 and connected to the right rack 31. The right drive 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, thereby causing the right rotating seat 25 to rotate to the right initial position or to the right grinding position.

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

[0132] like Figure 3 , 4 As shown, the automatic steel pipe burr grinding device may also include an adjustment mechanism;

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

[0134] The adjustment mechanism includes a lead screw 35, a left slider, a right slider, and an adjustment drive assembly 36;

[0135] The lead screw 35 is rotatably connected to the mounting base 2. The lead screw 35 has a left threaded portion and a right threaded portion, and the left threaded portion and the right threaded portion have opposite directions of rotation.

[0136] The left slider is connected to the left base 20 and is engaged with the left threaded part; the right slider is connected to the right base 24 and is engaged with the right threaded part.

[0137] The adjustment drive assembly 36 is connected to the mounting base 2 and to the lead screw 35, and is used to drive the lead screw 35 to rotate, thereby causing 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 cause the left slider and the right slider to move towards or away from each other, thereby causing the left base 20 and the right base 24 to move towards or away from each other, thus accommodating the grinding of steel pipes 6 of different diameters. In this embodiment, the adjustment drive assembly 36 includes an adjustment motor, which is connected to the lead screw 35 through a bevel gear pair.

[0138] like Figures 2-4 As 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 thrust. The thrust 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, thereby driving 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 cylinder. The left grinding seat 38 is connected to the slide 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 base 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 thrust, and the thrust output by the right force control cylinder 40 will be transmitted sequentially to the right grinding seat 41 and the right grinding motor 42, thereby driving 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 cylinder, the right grinding seat 41 is connected to the slide 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 outline of the outer wall of the steel pipe 6, it can also obtain the height information of the flash 7. The control system can also control the thrust output of the left force control cylinder 37 and the right force control cylinder 40 according to the height information of the flash 7, thereby controlling the grinding pressure of the grinding disc 23 on the left grinding motor 39 and the grinding disc 23 on the right grinding motor 42, so as to meet the grinding effect of flash 7 of different heights; specifically, when the height of the flash 7 is larger, the grinding pressure required is larger, and when the height of the flash 7 is smaller, the grinding pressure required is smaller; wherein, the height of the flash 7 is the distance between the top of the flash 7 and the root of the flash 7 in the radial direction of the steel pipe 6.

[0147] like Figures 5-9 As shown, the automatic steel pipe burr grinding device may further include a grinding disc replacement mechanism 43;

[0148] The left grinding motor 39 and the right grinding motor 42 are respectively provided with radially outward protruding positioning bosses 44. Locking nuts 45 are respectively connected to the left grinding motor 39 and the right grinding motor 42. The locking nuts 45 are used to thread onto the corresponding motor shaft to press and fix the grinding disc 23 sleeved on the corresponding motor shaft onto the corresponding positioning boss 44. Specifically, the grinding disc 23 is provided with a center hole, so that the center hole on the grinding disc 23 is sleeved on the motor shaft, and then the locking nut 45 is screwed onto 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 locking nut 45 can press and fix the grinding disc 23 onto the positioning boss 44, thereby enabling the grinding disc 23 to be installed and fixed on the motor shaft.

[0149] The grinding disc replacement mechanism 43 may include a base 46, a movable seat 47, a walking drive mechanism 48, a first upright 49, a second upright 50, a material support mechanism 51, a disc replacement platform 52, a material pressing mechanism 53, a disassembly and assembly mechanism 54, and a transport mechanism 55.

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

[0151] The walking drive mechanism 48 is connected to the movable seat 47 and is used to drive the movable seat 47 to slide on the base 46. The movable seat 47 has a first plate-changing position and a second plate-changing position during the sliding process on the base 46.

[0152] The first upright 49 is connected to the movable base 47, and the first upright 49 is used to stack and sleeve the grinding disc 23;

[0153] The second upright 50 is connected to the movable base 47, and the second upright 50 is used to stack and sleeve the grinding disc 23;

[0154] The material support mechanism 51 is connected to the movable seat 47. The material support mechanism 51 is used to support the grinding disc 23 sleeved on the first upright 49 and drive the grinding disc 23 sleeved on the first upright 49 to move upward into place.

[0155] The changing platform 52 is connected to the movable seat 47. The changing platform 52 is provided with a through hole 56. When the left swing seat 22 rotates to the left changing position and the movable seat 47 slides to the first changing 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 be placed on the changing platform 52 and causing the locking nut 45 on the motor shaft of the left grinding motor 39 to extend into the through hole 56. When the right swing seat 26 rotates to the right changing position and the movable seat 47 slides to the second changing 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 be placed on the changing platform 52 and causing the locking nut 45 on the motor shaft of the right grinding motor 42 to extend into the through hole 56.

[0156] The pressing mechanism 53 is connected to the movable seat 47. The pressing mechanism 53 is used to press and fix the grinding disc 23 placed on the disc changing platform 52 and to press and fix the positioning boss 44 that abuts against the grinding disc 23 on the disc changing platform 52.

[0157] The disassembly and assembly mechanism 54 is connected to the movable seat 47. The disassembly and assembly mechanism 54 is used to remove the locking nut 45 that extends into the through hole 56 from the motor shaft when the pressing mechanism 53 presses and fixes the positioning boss 44 and the grinding disc 23 on the changing platform 52, and is also used to tighten and install the removed locking nut 45 on the motor shaft.

[0158] The conveying mechanism 55 is used to move the grinding disc 23 on the changing platform 52 to the second upright 50 when the pressing mechanism 53 releases the grinding disc 23 on the changing platform 52 and the positioning boss 44 and the grinding disc 23 on the changing platform 52 is separated from the motor shaft, and to move the uppermost grinding disc 23 on the first upright 49 to the changing platform 52.

[0159] Specifically, when it is necessary to replace the grinding disc 23 on the motor shaft of the right grinding motor 42, firstly, the right rotating seat 25 is rotated to the right initial position, and the right swing seat 26 is rotated to the right disc-changing position. At this time, the grinding disc 23 on the motor shaft of the right grinding motor 42 faces downward. The walking drive mechanism 48 drives the moving seat 47 to slide to the second disc-changing position. Figure 5As shown. Then, the main robot 1 drives the mounting base 2 to move, thereby moving the grinding disc 23 on the motor shaft of the right grinding motor 42 to be placed on the disc changing platform 52, and causing the locking nut 45 on the motor shaft of the right grinding motor 42 to 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 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 right grinding motor 42. Pressing and fixing the positioning boss 44 on the motor shaft can prevent the motor shaft from rotating. Then, the locking nut 45, which extends into the through hole 56, is removed from the motor shaft of the right grinding motor 42 by the disassembly and assembly mechanism 54. 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 right grinding motor 42. Then, the main robot 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 grinding disc 23 on the disc changing platform 52. Then, the conveying mechanism 55 conveys the grinding disc 23 on the disc changing platform 52 to the second upright 50 and conveys the uppermost new grinding disc 23, which is sleeved on the first upright 49, to the disc changing platform 52. Then, the main robotic arm 1 lowers the mounting base 2, which in turn lowers the right grinding motor 42 so that the motor shaft of the right grinding motor 42 is inserted into the new grinding disc 23 on the disc changing platform 52. The pressing mechanism 53 then presses and fixes the new grinding disc 23 placed on the disc changing platform 52 and the positioning boss 44 on the motor shaft of the right grinding motor 42. Then, the previously removed locking nut 45 is tightened and installed on the motor shaft of the right grinding motor 42 through the disassembly and assembly mechanism 54 to lock the new grinding disc 23 onto the motor shaft of the right grinding motor 42. 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 right grinding motor 42. Then, the main robotic arm 1 raises the mounting base 2, which in turn raises the right grinding motor 42 after the grinding disc 23 has been replaced. Finally, the right swing seat 26 rotates 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, firstly rotate the left rotating seat 21 to the left initial position, and rotate the left swing seat 22 to the left disc replacement position. At this time, the grinding disc 23 on the motor shaft of the left grinding motor 39 faces downward, and the walking drive mechanism 48 drives the moving seat 47 to slide to the first disc replacement position. Then, the main manipulator 1 drives the mounting base 2 to move, thereby moving the grinding disc 23 on the motor shaft of the left grinding motor 39 to be placed on the disc changing platform 52, and causing the locking nut 45 on the motor shaft of the left grinding motor 39 to 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 locking nut 45, which extends into the through hole 56, is removed from the motor shaft of the left grinding motor 39 by the disassembly and assembly mechanism 54. 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 robot 1 drives the mounting base 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 conveying mechanism 55 conveys the grinding disc 23 on the disc changing platform 52 to the second upright 50 and conveys the uppermost new grinding disc 23 on the first upright 49 to the disc changing platform 52. Then, the main robotic arm 1 lowers the mounting base 2, which in turn lowers the left grinding motor 39 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. The pressing mechanism 53 then presses and fixes the new grinding disc 23 placed on the disc changing platform 52 and the positioning boss 44 on the motor shaft of the left grinding motor 39. Then, the previously removed locking nut 45 is tightened and installed on the motor shaft of the left grinding motor 39 through the disassembly and assembly mechanism 54 to lock the new grinding disc 23 onto 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 robotic arm 1 raises the mounting base 2, which in turn raises the left grinding motor 39 after the grinding disc 23 has been replaced. Finally, the left swing seat 22 rotates 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 movable 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 movable seat 47 to slide on the base 46. In this embodiment, the movable seat 47 is slidably connected to the base 46 in the left-right direction. Figure 5 The movable seat 47 is located at the second plate-changing position, and the positioning boss 44 has a hexagonal structure.

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

[0163] The material support frame 57 is connected to the movable base 47;

[0164] The material support block 58 is slidably connected to the material support frame 57 in the up-down direction. The material support block 58 is used to support the grinding disc 23 sleeved on the first upright 49.

[0165] The material support drive mechanism is connected to the material support block 58 and is used to drive the material support block 58 to move upward, thereby driving the grinding disc 23 sleeved on the first upright 49 to move upward.

[0166] The sensor is connected to the control system. The sensor is attached to the upper end of the material support frame 57 and is used to send a first signal to the control system when the uppermost grinding disc 23 sleeved on the first upright 49 is not detected, and to send a second signal to the control system when the uppermost grinding disc 23 sleeved on the first upright 49 is detected.

[0167] The control system is connected to the material support drive mechanism and is used to control the material support drive mechanism to move upward when a first signal is received, and to control the material support drive mechanism to stop moving when a second signal is received.

[0168] Specifically, a new polishing disc 23 is stacked and sleeved on the first upright 49. The material support block 58 supports the lowermost polishing disc 23 on the first upright 49. When the sensor cannot detect the uppermost polishing disc 23 on the first upright 49, it sends a first signal to the control system. At this time, the control system controls the material support drive mechanism to move the material support block 58 upward, thereby moving the polishing disc 23 on the first upright 49 upward until the sensor can detect the uppermost polishing disc 23 on the first upright 49. At this time, the sensor sends a second signal to the control system, and the control system controls the material support drive mechanism to stop moving, thus ensuring that the uppermost polishing disc 23 on the first upright 49 always remains at the set height position. In this embodiment, the sensor can be a proximity switch.

[0169] More specifically, the material-supporting drive mechanism includes an upper pulley 59, a lower pulley 60, a synchronous belt 61, and a material-supporting motor 62. The upper pulley 59 and the lower pulley 60 are rotatably connected to the material-supporting frame 57, respectively. The synchronous belt 61 is connected to the upper pulley 59 and the lower pulley 60, and is also connected to the material-supporting block 58. The material-supporting motor 62 is connected to the lower pulley 60 and is used to drive the lower pulley 60 to rotate, thereby driving the synchronous belt 61 to move, and thus 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 movable base 47.

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

[0171] The middle part of the pressure rod 63 is hinged to the plate changing platform 52;

[0172] The pressure rod 63 has a first pressure part 65 for pressing the grinding disc 23, a second pressure part 66 for pressing the positioning boss 44, and an opening groove 67 for avoiding the motor shaft at one end.

[0173] One end of the pressing cylinder 64 is hinged to the movable seat 47, and the other end of the pressing cylinder 64 is hinged to the other end of the pressing rod 63. Specifically, the pressing cylinder 64 is used to drive the pressing rod 63 to rotate during the extension and retraction process, thereby causing the pressing rod 63 to press or release the grinding disc 23 on the disc changing platform 52 and the positioning boss 44 on the motor shaft.

[0174] The handling mechanism 55 may include a handling robot 68 and a gripper 69;

[0175] The gripper 69 is connected to the handling robot 68 and is used to grip and release the grinding disc 23;

[0176] The handling robot 68 is connected to the movable base 47 and is used to drive the gripper 69 to move and thus handle the polishing disc 23. Specifically, the gripper 69 can be a three-finger electric gripper. The three fingers of the three-finger electric gripper can be inserted into the central hole of the polishing disc 23. Then, the three fingers of the three-finger electric gripper open outward and abut against the inner wall of the central hole to grasp the polishing disc 23.

[0177] like Figure 6 , 8 As shown in Figures 9 and 1, the disassembly and assembly mechanism 54 may include a rotary motor 70, a rotary head 71, a sliding seat 72, and a pre-tightening cylinder 73.

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

[0179] The rotary motor 70 is connected to the sliding seat 72 and 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 movable seat 47. The pre-tightening cylinder 73 is connected to the sliding seat 72 and is used to drive the sliding seat 72 to rise, thereby driving the screwing head 71 to move upward to engage with the locking nut 45 that extends into the through hole 56. The screwing motor 70 is used to drive the screwing head 71 to rotate, thereby driving the locking nut 45 to rotate.

[0182] Specifically, the step of removing the locking nut 45, which extends into the through hole 56, from the motor shaft via the disassembly and assembly mechanism 54 is as follows: the pre-tightening cylinder 73 drives the sliding seat 72 to rise, thereby driving the rotary motor 70 and the rotary head 71 to rise, thereby moving the rotary head 71 upward to engage with the locking nut 45 extending into the through hole 56. Then, the rotary motor 70 drives the rotary head 71 to rotate, thereby driving the locking nut 45 to rotate, thereby removing the locking nut 45 from the motor shaft. The removed locking nut 45 is then supported on the rotary head 71.

[0183] More specifically, the step of tightening the previously removed locking nut 45 onto the motor shaft using the disassembly and assembly mechanism 54 is as follows: the pre-tightening cylinder 73 drives the sliding seat 72 to rise, thereby driving the screwing motor 70, the screwing head 71, and the locking nut 45 supported on the screwing head 71 to rise, thereby causing the locking nut 45 supported on the screwing head 71 to move upward to engage with the motor shaft extending into the through hole 56. Then, the screwing motor 70 drives the screwing head 71 to rotate, thereby driving the locking nut 45 to rotate, thereby tightening the locking nut 45 back onto the motor shaft, and thus locking and fixing the new grinding disc 23 onto the motor shaft.

[0184] In this embodiment, the locking nut 45 is provided with a plurality of first protrusions 74 that are evenly distributed circumferentially and protrude downwards, and the screwing head 71 is provided with a plurality of second protrusions 75 that are evenly distributed circumferentially and protrude upwards. A groove 76 is provided between adjacent second protrusions 75. When the screwing head 71 is raised to engage with the locking nut 45, the first protrusions 74 are engaged in the groove 76. Then the screwing motor 70 drives the screwing head 71 to rotate, thereby driving the first protrusions 74 to rotate through the second protrusions 75, and thus driving the locking nut 45 to rotate.

[0185] In this embodiment, the movable seat 47 includes a base plate 77, a frame 78, and a column 79. The base plate 77 is slidably connected to the base 46. The walking drive mechanism 48 is connected to the base plate 77 and drives it to slide on the base 46. The frame 78 and the column 79 are respectively connected to the base plate 77. The sliding seat 72 is slidably connected to the frame 78 in the vertical direction. The handling robot 68 is connected to the column 79. In this embodiment, both the rotary motor 16 and the material-supporting motor 62 can be servo motors.

[0186] Example 2

[0187] A method for operating an automatic steel pipe burr grinding device as described in Embodiment 1, the method comprising the following steps:

[0188] S1: The main robot arm 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 burr 7 in the front-back direction;

[0189] S2: The lifting drive mechanism 10 drives the lifting frame 9 to descend and move, thereby driving the line laser camera 11 to descend and move into place so that the line laser camera 11 is aligned with the steel pipe 6 in the height direction. During the process of the rotating 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 burr 7 on the outer wall of the steel pipe 6 in real time.

[0190] S3: The control system controls the rotating support mechanism to rotate the steel pipe 6 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, thereby driving the line laser camera 11 to rise.

[0191] S4: The main robotic arm 1 drives the left grinding mechanism 3 and the right grinding mechanism 4 on the mounting base 2 to move so as to remove the burrs 7 on the outer wall of the steel pipe 6 by grinding through the left grinding mechanism 3 and the right grinding mechanism 4.

[0192] In summary, after the steel pipe 6 is transported onto the rotating support mechanism, the rotating support mechanism drives the steel pipe 6 to rotate. Then, the detection mechanism 5 scans and acquires the outer wall contour of the portion of the steel pipe 6 facing the detection mechanism 5 during the rotation of the steel pipe 6, and acquires the position information of the burrs 7 on the outer wall of the steel pipe 6 in real time. Then, the control system controls the rotating support mechanism to rotate the steel pipe 6 according to the position information of the burrs 7, thereby bringing the burrs on the steel pipe 6 into the grinding position. At this time, the two burrs 7 on the outer wall of the steel pipe 6 are located on the left and right sides of the steel pipe 6 respectively and are at the same height. 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 that the burrs 7 on the outer wall of the steel pipe 6 can be removed by grinding through the left grinding mechanism 3 and the right grinding mechanism 4. This avoids the need for workers to manually use a grinding machine to grind the burrs 7, greatly improves the efficiency of burr grinding, greatly reduces the labor intensity of workers, and reduces labor costs.

[0193] The specific embodiments described above further illustrate the technical problems, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic steel pipe burr grinding device, 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 rotating support mechanism, and a control system; The rotating support mechanism is used to place the 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 obtain the position information of the flash (7) on the outer wall of the steel pipe (6) in real time. The control system is connected to the detection mechanism (5) and the rotating support mechanism respectively. The control system is used to control the rotating support mechanism to drive the steel pipe (6) to rotate so that the burr on the steel pipe (6) is in the grinding position according to the obtained position information of the burr (7). 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, thereby driving 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 rotating support mechanism through the left grinding mechanism (3) and the right grinding mechanism (4). 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 drive assembly, and a left rotating drive assembly; The left base (20) is connected to the mounting base (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 swing seat (22) is rotatably connected to the left rotating seat (21) and has a left plate changing position and a left working position during rotation; The left grinding assembly is connected to the left swing seat (22), and the left grinding assembly has a grinding disc (23). The left swing drive assembly is connected to the left rotating seat (21) and connected to the left swing seat (22). The left swing drive assembly is used to drive the left swing seat (22) to rotate to the left changing position, thereby driving the grinding disc (23) in the left grinding assembly to rotate to face downward. The left swing drive assembly is also used to drive the left swing seat (22) to rotate to the left working position. The left rotation drive assembly is connected to the left base (20) and connected to the left rotation seat (21). The left rotation drive assembly is used to drive the left rotation 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 rotate to form an angle with the steel pipe (6). The left rotation drive assembly is also used to drive the left rotation seat (21) to rotate to the left initial position. The right grinding mechanism (4) includes a right base (24), a right rotating base (25), a right swing base (26), a right grinding assembly, a right swing drive assembly, and a right rotating drive assembly; The right base (24) is connected to the mounting base (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 swing seat (26) is rotatably connected to the right rotating seat (25) and has a right changing position and a right working position during rotation; The right grinding assembly is connected to the right swing seat (26), and the right grinding assembly has a grinding disc (23). The right swing drive assembly is connected to the right rotary seat (25) and connected to the right swing seat (26). The right swing drive assembly is used to drive the right swing seat (26) to rotate to the right changing position, thereby driving the grinding disc (23) in the right grinding assembly to rotate to face downward. The right swing drive assembly is also used to drive the right swing seat (26) to rotate to the right working position. The right rotation drive assembly is connected to the right base (24) and connected to the right rotation seat (25). The right rotation drive assembly is used to drive the right rotation 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 rotation seat (25) to rotate to the right initial position. The left grinding motor (39) in the left grinding assembly and the right grinding motor (42) in the right grinding assembly are respectively provided with positioning bosses (44) that protrude radially outward. 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 to be threaded onto the corresponding motor shafts to press and fix the grinding disc (23) sleeved on the corresponding motor shaft onto the corresponding positioning boss (44).

2. The automatic steel pipe burr grinding device 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 vertical direction; The lifting drive mechanism (10) is connected to the connecting frame (8) and 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 thus obtain the position information of the burr (7) on the outer wall of the steel pipe (6) in real time.

3. The automatic steel pipe burr grinding device according to claim 1, characterized in that, The rotating support mechanism includes at least two support components (12) arranged sequentially at intervals along the length of the steel pipe (6). The support assembly (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 rotatably connected to the support frame (13), and the steel pipe (6) is used to support the left support wheel (14) and the right support wheel (15); The support drive mechanism is connected to the support frame (13) and is connected to the left support wheel (14) and the right support wheel (15) respectively, and is used to drive the left support wheel (14) and the right support wheel (15) to rotate, thereby driving the steel pipe (6) to rotate.

4. The automatic steel pipe burr grinding device according to claim 1, characterized in that, It also includes adjustment mechanisms; The left base (20) and the right base (24) are both slidably connected to the mounting base (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 base (2). The lead screw (35) has a left thread and a right thread, and the left thread and the right thread have opposite directions of rotation. The left slider is connected to the left base (20) and is engaged with the left threaded part; the right slider is connected to the right base (24) and is engaged with the right threaded part. The adjustment drive assembly (36) is connected to the mounting base (2) and connected to the lead screw (35) to drive the lead screw (35) to rotate, thereby causing the left base (20) and the right base (24) to move towards or away from each other.

5. The automatic steel pipe burr grinding device according to claim 1, characterized in that, The left grinding assembly includes 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). 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), and 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).

6. The automatic steel pipe burr grinding device according to claim 5, characterized in that, It also includes a grinding wheel replacement mechanism (43); The grinding disc replacement mechanism (43) includes a base (46), a movable seat (47), a walking drive mechanism (48), a first upright (49), a second upright (50), a material support mechanism (51), a disc replacement platform (52), a material pressing mechanism (53), a disassembly and assembly mechanism (54), and a transport mechanism (55). The movable seat (47) is slidably connected to the base (46); The walking drive mechanism (48) is connected to the movable seat (47) and is used to drive the movable seat (47) to slide on the base (46). The movable seat (47) has a first plate changing position and a second plate changing position during the sliding process on the base (46). The first upright (49) is connected to the movable seat (47), and the first upright (49) is used to stack and attach the grinding disc (23). The second upright (50) is connected to the movable seat (47), and the second upright (50) is used to stack and attach grinding discs (23). The material support mechanism (51) is connected to the movable seat (47). The material support mechanism (51) is used to support the grinding disc (23) sleeved on the first upright (49) and drive the grinding disc (23) sleeved on the first upright (49) to move upward into place. The changing platform (52) is connected to the movable seat (47). The changing platform (52) has a through hole (56). When the left swing seat (22) rotates to the left changing position and the movable seat (47) slides to the first changing position, 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 onto the changing platform (52) and causing the motor shaft of the left grinding motor (39) to move. The locking nut (45) on the right side extends into the through hole (56). When the right swing seat (26) rotates to the right changing plate position and the moving seat (47) slides to the second changing plate position, the main manipulator (1) drives the mounting seat (2) to move, thereby driving the grinding plate (23) on the motor shaft of the right grinding motor (42) to move onto the changing plate platform (52) and causing the locking nut (45) on the motor shaft of the right grinding motor (42) to extend into the through hole (56). The pressing mechanism (53) is connected to the movable seat (47). The pressing mechanism (53) is used to press and fix the grinding disc (23) placed on the changing platform (52) and to press and fix the positioning boss (44) that abuts against the grinding disc (23) on the changing platform (52). The disassembly and assembly mechanism (54) is connected to the movable seat (47). The disassembly and assembly mechanism (54) is used to remove the locking nut (45) that extends into the through hole (56) from the motor shaft when the pressing mechanism (53) presses and fixes the positioning boss (44) and the grinding disc (23) on the changing platform (52), and to tighten and install the removed locking nut (45) onto the motor shaft. The conveying mechanism (55) is used to convey the grinding disc (23) on the changing platform (52) to the second upright (50) when the pressing mechanism (53) releases the grinding disc (23) on the changing platform (52) and the positioning boss (44) and the grinding disc (23) on the changing platform (52) is separated from the motor shaft, and to convey the uppermost grinding disc (23) on the first upright (49) to the changing platform (52).

7. The automatic steel pipe burr grinding device according to claim 6, characterized in that, The material support mechanism (51) includes a material support frame (57), a material support block (58), a material support drive mechanism, and a sensor; The material support frame (57) is connected to the movable base (47); The material support block (58) is slidably connected to the material support frame (57) in the up-down direction. The material support block (58) is used to support the grinding disc (23) sleeved on the first upright (49). The material support drive mechanism is connected to the material support block (58) and is used to drive the material support block (58) to move upward, thereby driving the grinding disc (23) sleeved on the first upright (49) to move upward; The sensor is connected to the control system. The sensor is attached to the upper end of the material rack (57) and is used to send a first signal to the control system when the uppermost grinding disc (23) sleeved on the first upright (49) is not detected, and to send a second signal to the control system when the uppermost grinding disc (23) sleeved on the first upright (49) is detected. The control system is connected to the material support drive mechanism and is used to control the material support drive mechanism to move upward when a first signal is received, and to control the material support drive mechanism to stop moving when a second signal is received.

8. The automatic steel pipe burr grinding device according to claim 6, characterized in that, in, The pressing mechanism (53) includes a pressing rod (63) and a pressing cylinder (64); The middle part of the pressure bar (63) is hinged to the plate changing platform (52); The pressure bar (63) has a first pressure part (65) for pressing the grinding disc (23), a second pressure part (66) for pressing the positioning boss (44) and an opening groove (67) for avoiding the motor shaft at one end. One end of the pressing cylinder (64) is hinged to the movable seat (47), and the other end of the pressing cylinder (64) is hinged to the other end of the pressing rod (63); The handling mechanism (55) includes a handling robot (68) and a gripper (69). The gripper (69) is attached to the handling robot (68) and is used to grip and release the grinding disc (23). The handling robot (68) is connected to the movable seat (47) and is used to drive the gripper (69) to move and thus handle the grinding disc (23). The disassembly and assembly mechanism (54) includes a screw motor (70), a screw head (71), a sliding seat (72), and a pre-tightening cylinder (73). The sliding seat (72) is slidably connected to the movable seat (47) in the vertical direction; The rotary motor (70) is connected to the sliding seat (72) and 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 movable seat (47). The pre-tightening cylinder (73) is connected to the sliding seat (72) and is used to drive the sliding seat (72) to rise, thereby driving the screwing head (71) to move upward to engage with the locking nut (45) that extends into the through hole (56). The screwing motor (70) is used to drive the screwing head (71) to rotate, thereby driving the locking nut (45) to rotate.

9. A method for operating the automatic steel pipe burr grinding device as described in claim 2, characterized in that, The steps of the method include: S1: 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 burr (7) in the front-back direction; S2: The lifting drive mechanism (10) drives the lifting frame (9) to move downward, thereby driving the line laser camera (11) to move downward and into position so that the line laser camera (11) is aligned with the steel pipe (6) in the height direction. During the rotation of the steel pipe (6) driven by the rotating support mechanism, the line laser camera (11) emits laser to scan the outer wall of the steel pipe (6) and obtains the outer wall contour of the steel pipe (6) and obtains the position information of the burr (7) on the outer wall of the steel pipe (6) in real time. S3: The control system controls the rotating 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 and thus drives 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 base (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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