Polishing dust removal system, mechanical arm and pipe pile end face polishing robot

Abstract

The application provides a polishing and dust removal system, a mechanical arm and a pipe pile end face polishing robot, relates to the technical field of pipe pile polishing systems and comprises a work area, a polishing assembly and an isolation assembly. The polishing and dust removal space is isolated from the external environment by a polishing device, inner and outer pipe pile closure plates and a closed enclosure. The inner and outer pipe pile closure plates are provided with bidirectional air pumps for controlling the expansion and contraction of the closed air bag film. The dust removal assembly comprises a dust removal pipeline, an air inlet device and a dust removal filter device. The dust removal pipeline is composed of an air inlet pipe and an air outlet pipe. The application designs an isolation assembly for the structure of the pipe pile to isolate the polishing and dust removal space from the external environment, solves the problem of dust diffusion in the entire work space, effectively transports the dust generated in the polishing process to the outside through the pipeline, effectively reduces the dust failure rate of the equipment and ensures the physical health of the operators in the work environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe pile polishing systems, in particular to a polishing and dust removal system, a mechanical arm and a pipe pile end face polishing robot. BACKGROUND

[0002] In the prior art, a self-circulation dust removal cabinet for polishing and dust removal with publication number CN211220065U is disclosed, which comprises a polishing table, a bag-type dust collector located below the polishing table, a fan located at one end of the bag-type dust collector, and a pressure equalization chamber located at the air outlet end of the fan. A plurality of filter holes are provided on the polishing table. The number of bag-type dust collectors is at least one. The fan can form a negative pressure below the polishing table to allow dust to enter. The pressure equalization chamber is connected to the air outlet of the fan through a air pipe. The pressure equalization chamber is located above the polishing table. During use of the device, when the workpiece is polished on the polishing table, the generated dust can be effectively filtered, and the dust removal effect is good. At the same time, the existence of the fan and the pressure equalization chamber can form a self-circulation system, so that the bag-type dust collector can cyclically adsorb dust, thereby ensuring the dust removal effect.

[0003] However, the above-mentioned device still has the following obvious defects during use: the above-mentioned device filters dust by providing a dust removal component in the entire working area. However, this dust filtering method has a large dust removal working space, which increases the dust diffusion space. At the same time, the large space is not conducive to the rapid circulation of gas in the space, thereby limiting the dust filtering effect and still being difficult to ensure the air cleanliness of the entire working environment, especially in a large-area working area for polishing pipe piles. Since multiple pipe piles need to be hoisted in the same working area, the polishing component needs to move in a large working area. Therefore, the above-mentioned dust removal method is difficult to ensure the cleanliness of the inside and outside of the pipe pile and the working environment. SUMMARY

[0004] The present application aims to provide a polishing and dust removal system, a mechanical arm and a pipe pile end face polishing robot to solve the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A polishing and dust removal system comprises:

[0007] A working area for installing and carrying a polishing component, a dust removal component and a pipe pile moving platform;

[0008] The polishing assembly is composed of a linear translation bearing table, a heavy load sliding table, a six-axis mechanical arm body and a polishing device. The polishing device is installed at the end of the execution arm of the six-axis mechanical arm body. The six-axis mechanical arm body is fixedly installed on the heavy load sliding table. The heavy load sliding table is installed on the linear translation bearing table in a translational sliding manner.

[0009] The isolation assembly includes an inner pipe pile sealing plate, an outer pipe pile sealing plate and an enclosed cover. The inner pipe pile sealing plate and the outer pipe pile sealing plate are both provided with an air bag groove on the side facing the pipe pile. An enclosed air bag film is arranged in the air bag groove. The enclosed air bag film is inflated by pumping air into the air bag groove and abuts against the inner and outer sides of the pipe pile. The outer pipe pile sealing plate is fixedly connected with the enclosed cover. The enclosed cover and the inner pipe pile sealing plate are both movably installed on the polishing device. A polishing and dust removal space isolated from the external environment is formed by the polishing device, the inner pipe pile sealing plate, the outer pipe pile sealing plate and the enclosed cover. A bidirectional air pump for controlling the inflation and contraction of the enclosed air bag film is arranged in the inner pipe pile sealing plate and the outer pipe pile sealing plate.

[0010] The dust removal assembly includes a dust removal pipeline, an air inlet device and a dust removal filter device. The dust removal pipeline is composed of an air inlet pipe and an air outlet pipe. The air inlet pipe and the air outlet pipe are respectively communicated with the air inlet device and the dust removal filter device arranged on the two sides of the polishing assembly. The other ends of the air inlet pipe and the air outlet pipe are both communicated with the enclosed cover, so as to send the dust formed in the enclosed cover into the dust removal filter device.

[0011] Preferably, a group of independent polishing and dust removal assemblies are arranged on the two sides of the pipe pile moving platform in a translational sliding direction. Not less than one group of pipe pile moving platforms are arranged in the working area. The multiple groups of pipe pile moving platforms are arranged in a linear manner.

[0012] Preferably, not less than two groups of pipe pile hoisting seats are uniformly arranged on the pipe pile moving platform in an interval manner. The pipe pile is carried by the pipe pile hoisting seat. Multiple groups of RGV moving wheels are arranged on the bottom of the pipe pile moving platform.

[0013] Preferably, a bearing mounting seat is fixedly installed at the end of the execution arm of the six-axis mechanical arm body. A main rotating connection shaft is rotatably inserted into the bearing mounting seat. A triangular connecting frame is fixedly installed on the side of the main rotating connection shaft away from the six-axis mechanical arm body. An angle grinder is installed on the triangular connecting frame. A clamping polishing driving mechanism is arranged at the outer side connecting end of the triangular connecting frame. The pipe pile is clamped by the clamping polishing driving mechanism and the triangular connecting frame is driven to rotate around the axis.

[0014] Preferably, the enclosed cover is movably installed on the main rotating connection shaft through a bearing. The inner pipe pile sealing plate is movably installed on the end of the triangular connecting frame away from the six-axis mechanical arm body through a rotating shaft.

[0015] Preferably, the air inlet pipe and the air outlet pipe are fixedly installed on the sliding frame, the sliding frame is fixedly installed on one side of the heavy load sliding table, a channel is formed in the sliding frame and communicates with the air inlet pipe and the air outlet pipe, through holes are formed in the two sides of the closed enclosure and extend through the inside and outside, and the channel and the through holes are communicated through the steel corrugated pipe.

[0016] Preferably, the air inlet pipe is inserted into the air inlet channel at both ends, the air outlet pipe is inserted into the air outlet channel at both ends, the air inlet channel communicates with the air inlet device, and the air outlet channel communicates with the dust removal and filtration device.

[0017] Preferably, a protective cover is further installed on the outside of the polishing assembly.

[0018] A mechanical arm adopts the polishing and dust removal system.

[0019] A pipe pile end face polishing robot adopts the polishing and dust removal system.

[0020] Compared with the prior art, the polishing and dust removal system has the following beneficial effects:

[0021] The polishing and dust removal system is designed according to the structure of the pipe pile, and a separation assembly capable of separating the polishing and dust removal space from the external environment is provided, which maximally reduces the volume of the polishing and dust removal space, thereby solving the problem of dust diffusion in the entire working space, and the flow speed of the gas in the polishing and dust removal space is significantly increased, so that the dust generated in the polishing process is effectively transported outwards through the pipeline, the dust diffusion is maximally prevented, the dust failure rate of the equipment is effectively reduced, and the physical health of the operators in the working environment is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a schematic view of the overall state of the protective cover after being cut;

[0023] Figure 2 It is an overall structure explosion schematic view of the polishing and dust removal system;

[0024] Figure 3 It is an overall structure schematic view of the polishing assembly and the separation assembly;

[0025] Figure 4 It is an overall explosion structure schematic view of the polishing assembly and the separation assembly;

[0026] Figure 5 It is a schematic view of the polishing assembly and the separation assembly in a partially cut state;

[0027] Figure 6 It is a schematic view of the dust removal assembly in a cut state.

[0028] In the figure: 1 working area, 2 linear translation bearing table, 3 heavy load sliding table, 4 six-axis mechanical arm body, 5 inner pipe pile closing plate, 6 outer pipe pile closing plate, 7 enclosed closing cover, 8 pipe pile, 9 air bag groove, 10 pipe pile moving platform, 11 closed air bag film, 12 air inlet equipment, 13 dust removal filter equipment, 14 air inlet pipe, 15 air outlet pipe, 16 pipe pile hoisting seat, 17 bearing mounting seat, 18 main rotating connecting shaft, 19 triangular connecting frame, 20 angle grinder, 21 sliding frame, 22 channel, 23 through hole, 24 steel corrugated pipe, 25 air inlet channel, 26 air outlet channel, 27 protective cover, 28 organ dust cover. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] Please refer to Figures 1-6 The present application provides a technical solution:

[0031] Embodiment one:

[0032] A polishing and dust removal system, comprising:

[0033] The working area 1 is used for installation and bearing of the polishing assembly, the dust removal assembly and the pipe pile moving platform 10.

[0034] The polishing assembly is composed of a linear translation bearing table 2, a heavy load sliding table 3, a six-axis mechanical arm body 4 and a polishing device. The polishing device is installed at the end of the execution arm of the six-axis mechanical arm body 4. The six-axis mechanical arm body 4 is fixedly installed on the heavy load sliding table 3. The heavy load sliding table 3 is installed in a translational sliding manner on the linear translation bearing table 2.

[0035] The isolation assembly includes an inner pipe pile closing plate 5, an outer pipe pile closing plate 6 and an enclosed closing cover 7. The inner pipe pile closing plate 5 and the outer pipe pile closing plate 6 are both provided with an air bag groove 9 on the side facing the pipe pile 8. A closed air bag film 11 is arranged in the air bag groove 9. The closed air bag film 11 is inflated by pumping air into the air bag groove 9, and abuts against the inner and outer sides of the pipe pile 8. The outer pipe pile closing plate 6 is fixedly connected with the enclosed closing cover 7. The enclosed closing cover 7 and the inner pipe pile closing plate 5 are both movably installed on the polishing device. An isolated polishing and dust removal space is formed by the polishing device, the inner pipe pile closing plate 5, the outer pipe pile closing plate 6 and the enclosed closing cover 7. A bidirectional air pump for controlling the inflation or contraction of the closed air bag film 11 is arranged in the inner pipe pile closing plate 5 and the outer pipe pile closing plate 6.

[0036] The dust removal assembly includes a dust removal duct, an air inlet device 12, and a dust removal filter device 13. The dust removal duct consists of an air inlet pipe 14 and an air outlet pipe 15. One end of the air inlet pipe 14 and the air outlet pipe 15 are respectively connected to the air inlet device 12 and the dust removal filter device 13 set on both sides of the grinding assembly. The other end of the air inlet pipe 14 and the air outlet pipe 15 are both connected to the enclosed cover 7, thereby sending the dust formed inside the enclosed cover 7 into the dust removal filter device 13.

[0037] In this embodiment, the work area 1 is used for the installation and support of the grinding assembly, dust removal assembly, and pipe pile moving platform 10. The grinding assembly consists of a linear translational support platform 2, a heavy-duty slide 3, a six-axis robotic arm body 4, and a grinding device. The grinding device is installed at one end of the robotic arm's execution arm. The base of the six-axis robotic arm body 4 is fixedly installed on the heavy-duty slide 3. The translational sliding of the heavy-duty slide 3 on the linear translational support platform 2 drives the six-axis robotic arm body 4 and its connecting structure to translate and slide. Refer to the appendix of the specification. Figure 1On both sides of the pipe pile moving platform 10 in the translational sliding direction, there is a set of independent grinding and dust removal components. A set of pipe pile moving platforms 10 is set within the working area 1. Two sets of pipe pile lifting seats 16 are evenly spaced on the pipe pile moving platform 10, which support the pipe piles 8. Multiple sets of RGV moving wheels are installed at the bottom of the pipe pile moving platform 10. The RGV moving wheels move within the track grooves opened in the working area 1, thereby moving the pipe piles 8. The heavy-duty slide table 3, through translational sliding, moves the six-axis robotic arm body 4 to different grinding positions of the pipe piles 8, thus achieving the desired grinding effect. The end face of the pipe pile 8 is ground. Since dust is generated during grinding, an isolation component is also installed on the grinding assembly. This isolation component includes an inner pipe pile sealing plate 5, an outer pipe pile sealing plate 6, and a surrounding enclosure 7. Both the inner and outer pipe pile sealing plates 5 and 6 have airbag grooves 9 facing the pipe pile 8. A sealing airbag membrane 11 is installed inside the airbag groove 9. Air is pumped into the airbag groove 9 to inflate the sealing airbag membrane 11. This process is achieved by bidirectional air pumps installed in the inner and outer pipe pile sealing plates 5 and 6. When the six-axis robotic arm body 4 reaches the grinding... After positioning, the bidirectional air pump supplies air to the airbag groove 9 from the external environment. The increased air pressure in the airbag groove 9 of the inner pipe pile sealing plate 5 and the outer pipe pile sealing plate 6 pushes the sealing airbag membrane 11 to expand. This causes the sealing airbag membrane 11 to abut against the inner and outer circumferential surfaces of the pipe pile 8. Thus, the grinding device, the inner pipe pile sealing plate 5, the outer pipe pile sealing plate 6, and the enclosing cover 7 enclose a grinding and dust removal space isolated from the external environment. This configuration minimizes the volume of the grinding and dust removal space, thereby solving the problem of dust diffusion throughout the working space. Furthermore, the enclosing cover 7 is also connected to... One end of the air inlet pipe 14 and the air outlet pipe 15 are connected, and the other end of the air inlet pipe 14 and the air outlet pipe 15 are connected to the air intake device 12 and the dust removal and filtration device 13 through pipes. The air intake device 12 supplies gas to the grinding and dust removal space, and the dust removal and filtration device 13 extracts the gas from the grinding and dust removal space. Because the space is small, it can ensure that the airflow forms a large flow velocity inside, so as to better transfer dust. The isolation component is a targeted design for grinding the pipe pile 8, which can effectively ensure the cleanliness of the internal and external environment of the pipe pile 8 during the grinding process.

[0038] Example 2:

[0039] A bearing mounting base 17 is fixedly installed at the execution arm end of the six-axis robotic arm body 4. A main rotary connecting shaft 18 is inserted into the bearing mounting base 17 in a fixed-axis rotatable manner. A triangular connecting frame 19 is fixedly installed on the side of the main rotary connecting shaft 18 away from the six-axis robotic arm body 4. An angle grinder 20 is installed on the triangular connecting frame 19. A clamping and grinding drive mechanism is provided at the outer connecting end joint of the triangular connecting frame 19. The clamping and grinding drive mechanism clamps the pipe pile 8 and drives the triangular connecting frame 19 to perform fixed-axis rotational movement.

[0040] The enclosure 7 is movably mounted on the main rotating connecting shaft 18 via bearings, and the inner pipe pile sealing plate 5 is movably mounted on the triangular connecting frame 19 at the end away from the six-axis robotic arm body 4 via a rotating shaft.

[0041] In this embodiment, the installation method of the enclosing cover 7 and the inner pipe pile sealing plate 5 is further disclosed, as well as the specific structure of the grinding assembly. The grinding device includes a main rotating connecting shaft 18. A triangular connecting frame 19 is fixedly installed on the side of the main rotating connecting shaft 18 away from the six-axis robotic arm body 4. An angle grinder 20 is installed on the triangular connecting frame 19. The end face of the angle grinder 20 away from the six-axis robotic arm body 4 abuts against the end face of the pipe pile 8. The angle grinder 20 is driven to rotate by the fixed-axis rotation of the triangular connecting frame 19, thereby grinding the entire pipe pile 8 during the rotation. The enclosing cover 7 and the inner pipe pile sealing plate 5 are movably installed on the grinding device. Since the two remain stationary during the rotation of the triangular connecting frame 19, a grinding and dust removal space isolated from the outside is formed by the sealing airbag film 11 set on the outer edge of the two.

[0042] Example 3:

[0043] Both the air inlet pipe 14 and the air outlet pipe 15 are fixedly installed on the slide 21. The slide 21 is fixedly installed on one side of the heavy-duty slide table 3. The slide 21 has a channel 22 that communicates with the air inlet pipe 14 and the air outlet pipe 15. The two sides of the enclosure cover 7 are respectively provided with through holes 23 that pass through inside and outside. The channel 22 and the through holes 23 are connected by a steel corrugated pipe 24.

[0044] The air inlet pipe 14 is inserted into the air inlet channel 25 at both ends, and the air outlet pipe 15 is inserted into the air outlet channel 26 at both ends. The air inlet channel 25 is connected to the air inlet equipment 12, and the air outlet channel 26 is connected to the dust removal and filtration equipment 13.

[0045] In this embodiment, both the inlet pipe 14 and the outlet pipe 15 are fixedly installed on the slide 21, which is fixedly installed on one side of the heavy-duty slide table 3. Therefore, during the translational sliding process of the heavy-duty slide table 3, the slide 21 maintains synchronous movement. The inlet pipe 14 and the outlet pipe 15 are fixedly installed below the slide 21. The inlet pipe 14 and the outlet pipe 15 are connected to the enclosed cover 7 through a steel corrugated pipe 24. Therefore, the inlet pipe 14 introduces the gas into the grinding and dust removal space. After the gas circulates in the grinding and dust removal space, it enters the outlet pipe 15. The particulate matter generated during the grinding process is carried out. The exhaust duct 15 is connected to the dust removal and filtration device 13, so the gas mixed with dust is filtered in the dust removal and filtration device 13, thereby intercepting the dust and ultimately achieving the purpose of dust removal. Since the inlet duct 14 and the outlet duct 15 are fixedly connected to the slide 21, in order to ensure that the inlet duct 14 and the outlet duct 15 can function normally during the sliding of the slide 21, the inlet duct 14 and the outlet duct 15 are inserted into the inlet channel 25 and the outlet channel 26, respectively, as shown in the attached instruction manual. Figure 6 During the translational sliding process of the air inlet pipe 14 and the air outlet pipe 15, the air inlet pipe 14 is always inside the air inlet channel 25. Similarly, the air outlet pipe 15 is always inside the air outlet channel 26. The air inlet channel 25 is connected to the air inlet device 12, and the air outlet channel 26 is connected to the dust removal and filtration device 13, thereby ensuring that the dust removal component can play an effective role when the grinding component is in different positions.

[0046] Example 4:

[0047] A protective cover 27 is also installed on the outside of the grinding assembly, and a accordion dust cover 28 is also covered on the outside of the linear translation support platform 2.

[0048] In this embodiment, the protective cover 27 and the accordion dust cover 28 are used to further protect the grinding components and the components inside the linear translation support platform 2. This structure is a conventional setting and will not be described in detail here.

[0049] A robotic arm that employs the grinding and dust removal system of the claim above.

[0050] A pipe pile end face grinding robot, which adopts the above-mentioned grinding and dust removal system.

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

Claims

1. A grinding dust removal system, characterized in that, include: The work area is used for the installation and support of grinding components, dust removal components and pipe pile moving platform; A grinding assembly, comprising a linear translational support platform, a heavy-duty slide table, a six-axis robotic arm body, and a grinding device, wherein the grinding device is installed at the end of the execution arm of the six-axis robotic arm body, the six-axis robotic arm body is fixedly installed on the heavy-duty slide table, and the heavy-duty slide table is slidably mounted on the linear translational support platform. An isolation assembly includes an inner pipe pile sealing plate, an outer pipe pile sealing plate, and an enclosing enclosure. Both the inner and outer pipe pile sealing plates have airbag grooves facing the pipe pile. A sealing airbag membrane is installed within each airbag groove. Pumping air into the airbag groove causes the sealing airbag membrane to expand and abut against the inner and outer sides of the pipe pile. The outer pipe pile sealing plate is fixedly connected to the enclosing enclosure. Both the enclosing enclosure and the inner pipe pile sealing plate are movably mounted on a grinding device. The grinding device, the inner pipe pile sealing plate, the outer pipe pile sealing plate, and the enclosing enclosure together form a grinding and dust removal space isolated from the external environment. Both the inner and outer pipe pile sealing plates are equipped with bidirectional air pumps to control the expansion or contraction of the sealing airbag membrane. The dust removal assembly includes a dust removal pipe, an air inlet device, and a dust removal filter device. The dust removal pipe consists of an air inlet pipe and an air outlet pipe. One end of the air inlet pipe and the air outlet pipe are respectively connected to the air inlet device and the dust removal filter device arranged on both sides of the grinding assembly. The other end of the air inlet pipe and the air outlet pipe are both connected to an enclosed cover, thereby sending the dust formed inside the enclosed cover into the dust removal filter device. Both the air inlet pipe and the air outlet pipe are fixedly installed on the slide frame. The slide frame is fixedly installed on one side of the heavy-duty slide table. The slide frame has a channel that communicates with the air inlet pipe and the air outlet pipe. The two sides of the enclosed cover have through holes that penetrate from the inside out. The channel and the through holes are connected by a steel corrugated pipe. The air inlet pipe is inserted into the air inlet channel at both ends, and the air outlet pipe is inserted into the air outlet channel at both ends. The air inlet channel is connected to the air inlet equipment, and the air outlet channel is connected to the dust removal and filtration equipment.

2. The grinding dust removal system according to claim 1, characterized in that: Each side of the pipe pile moving platform is equipped with a set of independent grinding and dust removal components. The working area is equipped with no less than one set of pipe pile moving platforms, and multiple sets of pipe pile moving platforms are arranged linearly.

3. A grinding dust removal system according to claim 1 or 2, characterized in that: The pipe pile moving platform is evenly spaced with no fewer than two sets of pipe pile hoisting seats, which support the pipe piles. The bottom of the pipe pile moving platform is equipped with multiple sets of RGV moving wheels.

4. The grinding dust removal system according to claim 3, characterized in that: The execution arm end of the six-axis robotic arm body is fixedly installed with a bearing mounting seat. A main rotary connecting shaft is inserted into the bearing mounting seat in a fixed-axis rotatable manner. A triangular connecting frame is fixedly installed on the side of the main rotary connecting shaft away from the six-axis robotic arm body. An angle grinder is installed on the triangular connecting frame. A clamping and grinding drive mechanism is provided at the outer connecting end joint of the triangular connecting frame. The clamping and grinding drive mechanism clamps the pipe pile and drives the triangular connecting frame to perform fixed-axis rotational movement.

5. A grinding dust removal system according to claim 4, characterized in that: The enclosure is movably mounted on the main rotating connecting shaft via bearings, and the inner pipe pile sealing plate is movably mounted on the triangular connecting frame at the end away from the six-axis robotic arm body via a rotating shaft.

6. A grinding dust removal system according to claim 5, characterized in that: The grinding assembly is also equipped with a protective cover on the outside, and the linear translation support platform is also covered with a accordion dust cover.

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