Pipe fitting polishing system and pipe fitting polishing method

Abstract

The invention provides a pipe fitting grinding system and a pipe fitting grinding method. The pipe fitting grinding system comprises a conveying mechanism, a switching mechanism and a grinding mechanism. The conveying mechanisms are located on the two sides of the switching mechanism correspondingly. The conveying mechanism comprises a first conveying mechanism and a second conveying mechanism; the first conveying mechanism is used for receiving the first pipe fittings output by the first station and outputting one first pipe fitting to the switching mechanism; the switching mechanism moves the first pipe fitting to the grinding mechanism or outputs the first pipe fitting to the second conveying mechanism; the grinding mechanism is used for grinding the first pipe fitting on the switching mechanism to obtain a second pipe fitting; the switching mechanism is further used for outputting the second pipe fitting to the second conveying mechanism; the second conveying mechanism is used for outputting the at least one first pipe fitting and / or the at least one second pipe fitting to the second station. The pipe fitting transferring and grinding efficiency is improved, the rhythm of the working procedure of transferring and grinding the pipe fittings on a large scale is accelerated, and the problem that the workshop space is severely occupied is avoided.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and in particular to a pipe grinding system and a pipe grinding method. Background Technology

[0002] The pipe fitting grinding station is a specialized work area in manufacturing where the internal and external surfaces and beveling of pipe fittings are ground. It is a key step in the pipe processing or metalworking process. Its core purpose is to improve the surface quality of pipe fittings through grinding to meet the requirements of subsequent processing or use.

[0003] Current pipe grinding operations are usually done manually or by transporting the pipes to a fixed workstation for grinding. This not only leads to low efficiency in pipe grinding and seriously slows down the production cycle, but also results in a large area required for the pipe grinding process due to the fixed workstations, which seriously encroaches on factory space. Summary of the Invention

[0004] This application provides a pipe grinding system and a pipe grinding method to solve the problems of existing technologies, which not only result in low efficiency of pipe grinding and seriously slow down the production cycle, but also require a large area for the pipe grinding process due to the setting of fixed workstations, which seriously occupies the factory space.

[0005] In a first aspect, this application provides a pipe grinding system, comprising: two conveying mechanisms, a switching mechanism, and a grinding mechanism; the two conveying mechanisms are respectively located on both sides of the switching mechanism; the two conveying mechanisms include a first conveying mechanism and a second conveying mechanism;

[0006] The first conveying mechanism is used to receive the first pipe fitting output from the first workstation and output a first pipe fitting to the switching mechanism;

[0007] The switching mechanism moves the first pipe to the grinding mechanism, or outputs the first pipe to the second conveying mechanism;

[0008] The grinding mechanism is used to grind the first pipe on the switching mechanism to obtain a second pipe;

[0009] The switching mechanism is also used to output the second pipe fitting to the second conveying mechanism;

[0010] The second conveying mechanism is used to output at least one of the first pipe fittings and / or at least one of the second pipe fittings to the second work station.

[0011] In the above scheme, the conveying mechanism includes: a conveyor frame and a transport conveyor;

[0012] The transport conveyor is fixed on the conveyor frame;

[0013] The transport conveyor is used to transport the first pipe fitting and / or the second pipe fitting.

[0014] In the above scheme, the transport conveyor includes: a transport variable frequency motor, a transport drive shaft, a transport driven shaft, at least one transport chain, and multiple transport support bars;

[0015] The transport variable frequency motor is fixed to one end of the conveyor frame;

[0016] The transport drive shaft is rotatably connected to one end of the conveyor frame that has the transport variable frequency motor, and the transport drive shaft is connected to the transport variable frequency motor;

[0017] The driven shaft is rotatably connected to one end of the conveyor frame away from the drive shaft.

[0018] The transport drive shaft has at least one drive sprocket, and the transport driven shaft has at least one driven sprocket;

[0019] One of the transport chains is wound around one of the driving sprockets and one of the driven sprockets, and the bottom of one of the transport support bars is detachably connected to at least one of the transport chains;

[0020] Multiple transport support bars are arranged sequentially along the length of the transport chain, and the transport support bars are used to support the first pipe fitting and / or the second pipe fitting.

[0021] In the above scheme, the transport conveyor also includes: two transport guide plates and at least one transport sensor;

[0022] The two transport guide plates are fixed to the top sides of the conveyor frame, and the length direction of the transport guide plates is parallel to the transport direction of the transport conveyor.

[0023] The transport sensor is fixed on one of the transport guide plates, and the detection rays of the transport sensor pass through both of the transport guide plates to detect whether there is a first pipe or a second pipe on the transport conveyor.

[0024] In the above scheme, the switching mechanism includes: a switching mobile device, a main switching rack, a first switching rack, a first switching conveyor, a second switching rack, and a second switching conveyor;

[0025] The switching mobile device is fixed on the main switching rack;

[0026] The first switching frame is movably connected to the main switching frame, the first switching conveyor is fixed to the first switching frame, the first switching conveyor is used to carry the first pipe fitting, and the switching mobile device is used to move the first switching frame and the first switching conveyor to the grinding mechanism.

[0027] The second switching frame is movably connected to the main switching frame, and the second switching conveyor is fixed on the second switching frame. The second switching conveyor is used to receive the first pipe fitting output by the first conveying mechanism and output the first pipe fitting to the second conveying mechanism.

[0028] In the above scheme, the first switching frame includes: a first frame body, at least one first slider and at least one first slide rail; the first switching conveyor is fixed on the first frame body, the first slider is fixed on the bottom of the first frame body, the first slide rail is fixed on the top of the main switching frame, and at least one first slider is matched with one first slide rail;

[0029] The second switching frame includes: a second frame body, at least one second slider, and at least one second slide rail; the second switching conveyor is fixed on the second frame body, the second slider is fixed on the bottom of the second frame body, the second slide rail is fixed on the top of the main switching frame, and at least one second slider is matched with one second slide rail.

[0030] In the above scheme, the switching mobile device includes: a conveying and switching cylinder; the conveying and switching cylinder is fixed on the main switching frame;

[0031] The first switching conveyor includes: at least one drive roller, at least one driven roller, at least one bearing housing, and at least one clamping mechanism;

[0032] Both ends of one of the drive rollers are rotatably connected to the top of the first switching frame via a bearing housing;

[0033] Both ends of one of the driven rollers are rotatably connected to the top of the first switching frame via a bearing housing;

[0034] The second switching conveyor includes: a switching variable frequency motor, a switching drive shaft, a switching driven shaft, at least one switching chain, and multiple switching support bars;

[0035] The switching variable frequency motor is fixed at one end of the second switching frame;

[0036] The switching drive shaft is rotatably connected to one end of the second switching frame that has the switching variable frequency motor, and the switching drive shaft is connected to the switching variable frequency motor;

[0037] The switching driven shaft is rotatably connected to one end of the second switching frame away from the switching drive shaft;

[0038] The switching drive shaft has at least one drive sprocket, and the switching driven shaft has at least one driven sprocket;

[0039] One of the switching chains is wound around one of the driving sprockets and one of the driven sprockets, and the bottom of one of the switching support bars is detachably connected to at least one of the switching chains;

[0040] Multiple switching support bars are arranged sequentially along the length of the switching chain, and the switching support bars are used to support the first pipe fitting.

[0041] In the above solution, the polishing mechanism includes: at least one polishing robot, a polishing moving device, and a cooling system;

[0042] The grinding robot is used to grind the first pipe to obtain the second pipe.

[0043] The grinding robot is connected to the grinding moving device, and the grinding moving device is used to control the grinding robot to move along the axial direction of the first pipe.

[0044] The cooling system is connected to the polishing robot and is used to cool the polishing robot.

[0045] In the above solution, the grinding robot includes: a robotic arm, a connecting plate, a water-cooled electric spindle, a grinding head, and a camera mechanism;

[0046] The connecting end of the robotic arm is connected to the connecting plate;

[0047] The water-cooled electric spindle is fixed to the connecting plate and connected to the robotic arm;

[0048] The grinding head is connected to the water-cooled electric spindle;

[0049] The robotic arm controls the water-cooled electric spindle to rotate the grinding head, which is used to grind the first pipe to obtain the second pipe.

[0050] The camera mechanism is fixed to the connecting plate and is connected to the robotic arm;

[0051] The camera mechanism is used to photograph the grinding head and the first pipe.

[0052] Secondly, this application provides a pipe fitting grinding method using the above-mentioned pipe fitting grinding system. The pipe fitting grinding method operates in a control device, which is connected to the first conveying mechanism, the second conveying mechanism, the switching mechanism, and the grinding mechanism of the pipe fitting grinding system.

[0053] The pipe fitting grinding method includes:

[0054] S1: The control device identifies the type of the first pipe fitting on the first conveying mechanism based on the first feeding signal sent by the first conveying mechanism; wherein, the first feeding signal is a signal generated when the first conveying mechanism detects the first pipe fitting sent by the first station;

[0055] S2: If the control device determines that the type is a part to be polished, it sends a first conveying command to the first conveying mechanism, a first switching command to the switching mechanism, and a polishing command to the polishing mechanism; wherein, the first conveying command is used to instruct the first conveying mechanism to convey the first pipe to the switching mechanism; the first switching command is used to instruct the switching mechanism to move the first pipe to the polishing mechanism; and the polishing command is used to instruct the polishing mechanism to polish the first pipe to obtain a second pipe.

[0056] S3: The control device sends a first return command to the switching mechanism according to the grinding completion signal sent by the grinding mechanism; wherein, the grinding completion signal indicates that the grinding mechanism has completed grinding the first pipe and obtained the second pipe; the first return command is used to instruct the switching mechanism to output the second pipe to the second conveying mechanism;

[0057] S4: If the control device determines that the type is a standard part, it sends the first conveying command to the first conveying mechanism and the second switching command to the switching mechanism; wherein, the second switching command is used to instruct the switching mechanism to output the first pipe to the second conveying mechanism;

[0058] S5: The control device sends a second output command to the second conveying mechanism according to the second feeding signal sent by the second conveying mechanism; wherein, the second feeding signal is a signal generated by the second conveying mechanism when it detects the first or second pipe sent by the switching mechanism; the second output command is used to instruct the second conveying mechanism to output the first or second pipe to the second station.

[0059] This application provides a pipe grinding system and a pipe grinding method. The system feeds the switching mechanism through a first conveying mechanism. The user can control the switching mechanism as needed. If the user determines that the first pipe needs to be ground, the user controls the switching mechanism to move the first pipe to the grinding mechanism. The grinding mechanism then grinds the first pipe to obtain a second pipe, which is then output to the second conveying mechanism.

[0060] If the user determines that the first pipe fitting does not need to be polished, the control switching mechanism will output the first pipe fitting 4 to the second conveying mechanism.

[0061] Finally, the first and / or second pipe fittings are output to the second station via the second conveying mechanism. The first station is the preceding sub-station of the pipe fitting grinding system, and the second station is the following sub-station of the pipe fitting grinding system.

[0062] Therefore, this application can determine whether to transport the pipe fittings directly to the second workstation or to grind them before outputting them to the second workstation during the transportation process, thus realizing integrated pipe fitting transfer and automatic pipe fitting grinding. This improves the efficiency of pipe fitting transfer and grinding, speeds up the process of large-volume transfer and grinding of pipe fittings, and reduces the floor space occupied by the transfer and grinding process, avoiding the problem of seriously encroaching on factory space. Attached Figure Description

[0063] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0064] Figure 1 This application provides a structural schematic diagram of a pipe grinding system;

[0065] Figure 2 A schematic diagram of the conveying mechanism in a pipe grinding system provided in this application;

[0066] Figure 3 A schematic diagram of the switching mechanism in a pipe grinding system provided in this application;

[0067] Figure 4 This is a schematic diagram of the grinding mechanism in a pipe grinding system provided in this application.

[0068] Figure label:

[0069] 1: Conveying mechanism;

[0070] 2: Switching mechanism;

[0071] 3: Grinding mechanism;

[0072] 1A: First conveying mechanism;

[0073] 1B: Second conveying mechanism;

[0074] 4: First pipe fitting;

[0075] 5: Second fitting;

[0076] 11: Conveyor frame;

[0077] 12: Conveyor;

[0078] 121: Variable frequency motor for transportation;

[0079] 122: Transport drive shaft;

[0080] 123: Transport driven shaft;

[0081] 124: Transportation chain;

[0082] 125: Transport support strip;

[0083] 126: Transport guide plate;

[0084] 127: Transportation sensor;

[0085] 21: Switch mobile devices;

[0086] 22: Main switching rack;

[0087] 23: First switching rack;

[0088] 24: First conveyor switching;

[0089] 25: Second switching rack;

[0090] 26: Second switching conveyor;

[0091] 211: Conveying and switching cylinder;

[0092] 231: First frame structure;

[0093] 232: First slider;

[0094] 233: First slide rail;

[0095] 241: Drive roller;

[0096] 242: Driven roller;

[0097] 243: Bearing housing;

[0098] 244: Clamping mechanism;

[0099] 251: Second frame frame;

[0100] 252: Second slider;

[0101] 253: Second slide rail;

[0102] 261: Switch to variable frequency motor;

[0103] 262: Switch the drive shaft;

[0104] 263: Switch driven axis;

[0105] 264: Switch chain;

[0106] 265: Switch support bar;

[0107] 266: Switch guide plate;

[0108] 267: Switch sensor;

[0109] 2441: Compactor frame;

[0110] 2442: Clamping cylinder;

[0111] 2443: Compactor block;

[0112] 2444: Press the guide rod;

[0113] 31: Polishing robot;

[0114] 32: Grinding moving device;

[0115] 33: Cooling system;

[0116] 311: Robotic arm;

[0117] 312: Connecting plate;

[0118] 313: Water-cooled electric spindle;

[0119] 314: Grinding head;

[0120] 315: Camera mechanism;

[0121] 316: Automatic consumables replacement warehouse;

[0122] 317: Dust removal equipment;

[0123] 321: Ground track;

[0124] 322: Slide;

[0125] 323: Track;

[0126] 331: Cooling machine;

[0127] 332: Cooling regulator;

[0128] 333: Cooling pipe;

[0129] 3151: Camera stand;

[0130] 3152: Camera cylinder;

[0131] 3153: Industrial camera;

[0132] 3154: Dust shield;

[0133] 3155: Hinge.

[0134] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0135] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0136] The technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the current problems are described in detail below with specific examples. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0137] Example 1:

[0138] Please see Figures 1-4 This application provides a pipe grinding system, including: two conveying mechanisms 1, a switching mechanism 2, and a grinding mechanism 3; the two conveying mechanisms 1 are respectively located on both sides of the switching mechanism 2; the two conveying mechanisms 1 include a first conveying mechanism 1A and a second conveying mechanism 1B;

[0139] The first conveying mechanism 1A is used to receive the first pipe fitting 4 output from the first workstation and output one first pipe fitting 4 to the switching mechanism 2;

[0140] The switching mechanism 2 moves the first pipe 4 to the grinding mechanism 3, or outputs the first pipe 4 to the second conveying mechanism 1B;

[0141] The grinding mechanism 3 is used to grind the first pipe 4 on the switching mechanism 2 to obtain a second pipe 5;

[0142] The switching mechanism 2 is also used to output the second pipe fitting 5 to the second conveying mechanism 1B;

[0143] The second conveying mechanism 1B is used to output at least one of the first pipe fittings 4 and / or at least one of the second pipe fittings 5 ​​to the second work station.

[0144] In this example, the switching mechanism 2 is fed by the first conveying mechanism 1A, and the user can control the switching mechanism 2 as needed. If the user determines that the first pipe 4 needs to be polished, the user controls the switching mechanism 2 to move the first pipe 4 to the polishing mechanism 3, and polishes the first pipe 4 to obtain the second pipe 5 through the polishing mechanism 3. Then, the second pipe 5 is output to the second conveying mechanism 1B through the polishing mechanism 3.

[0145] If the user determines that the first pipe fitting 4 does not need to be polished, the control switching mechanism 2 will output the first pipe fitting 4 to the second conveying mechanism 1B.

[0146] Finally, the first pipe fitting 4 and / or the second pipe fitting 5 are output to the second station via the second conveying mechanism 1B. The first station is the preceding sub-station of the pipe fitting grinding system, and the second station is the following sub-station of the pipe fitting grinding system.

[0147] Therefore, this application can determine whether to transport the pipe fittings directly to the second workstation or to grind them before outputting them to the second workstation during the transportation process, thus realizing integrated pipe fitting transfer and automatic pipe fitting grinding. This improves the efficiency of pipe fitting transfer and grinding, speeds up the process of large-volume transfer and grinding of pipe fittings, and reduces the floor space occupied by the transfer and grinding process, avoiding the problem of seriously encroaching on factory space.

[0148] In a preferred embodiment, the conveying mechanism 1 includes: a conveyor frame 11 and a transport conveyor 12;

[0149] The transport conveyor 12 is fixed on the conveyor frame 11;

[0150] The transport conveyor 12 is used to transport the first pipe fitting 4 and / or the second pipe fitting 5.

[0151] In this example, by setting up the conveyor frame 11, the transport conveyor is lifted off the ground, ensuring that the transport conveyor 12 can transport the pipes at a certain height and avoid collision with the ground due to deflection during the transport of the pipes.

[0152] In a preferred embodiment, the conveyor 12 includes: a conveyor variable frequency motor 121, a conveyor drive shaft 122, a conveyor driven shaft 123, at least one conveyor chain 124, and a plurality of conveyor support bars 125;

[0153] The transport variable frequency motor 121 is fixed to one end of the conveyor frame 11;

[0154] The transport drive shaft 122 is rotatably connected to one end of the conveyor frame 11 that has the transport variable frequency motor 121, and the transport drive shaft 122 is connected to the transport variable frequency motor 121;

[0155] The driven shaft 123 is rotatably connected to one end of the conveyor frame 11 away from the drive shaft 122.

[0156] The transport drive shaft 122 has at least one drive sprocket, and the transport driven shaft 123 has at least one driven sprocket;

[0157] One of the transport chains 124 is wound around one of the driving sprockets and one of the driven sprockets, and the bottom of one transport support bar 125 is detachably connected to at least one of the transport chains 124;

[0158] The plurality of transport support bars 125 are arranged sequentially along the length of the transport chain 124, and the transport support bars 125 are used to support the first pipe fitting 4 and / or the second pipe fitting 5.

[0159] In this example, a transport variable frequency motor 121 is set to provide power to multiple transport support bars 125, which are used to support the first pipe fitting 4 and / or the second pipe fitting 5.

[0160] By incorporating at least one driving sprocket, at least one driven sprocket, and at least one transport chain 124, the transport support bar 125 achieves extremely high stability during operation. Furthermore, by arranging the transport support bar 125 into a V-shaped structure, the first and second pipe fittings 5 ​​are ensured to be transported stably along the axial direction of the conveyor, thus guaranteeing the stability of the pipe fitting transport.

[0161] In a preferred embodiment, the transport conveyor 12 further includes: two transport guide plates 126 and at least one transport sensor 127;

[0162] The two transport guide plates 126 are fixed to each other on the top sides of the conveyor frame 11, and the length direction of the transport guide plates 126 is parallel to the transport direction of the transport conveyor 12;

[0163] The transport sensor 127 is fixed on one of the transport guide plates 126. The detection rays of the transport sensor 127 pass through the two transport guide plates 126 to detect whether the transport conveyor 12 has a first pipe fitting 4 or a second pipe fitting 5.

[0164] In this example, a transport sensor 127 is used to detect whether the transport conveyor 12 has a first pipe fitting 4 or a second pipe fitting 5, so as to control the start and stop of the transport conveyor 12.

[0165] Furthermore, the transport conveyor 12 includes a plurality of transport sensors 127; the plurality of transport sensors 127 include: at least one arrival transport sensor 127, at least one deceleration transport sensor 127 and at least one stop transport sensor 127;

[0166] The positioning transport sensor 127 is disposed at one end of the transport conveyor 12 that receives the first pipe fitting 4 and / or the second pipe fitting 5. The positioning transport sensor 127 is used to detect whether the first pipe fitting 4 or the second pipe fitting 5 is present on the transport conveyor 12. The positioning transport sensor 127 is used to generate a first feeding signal or a second feeding signal.

[0167] The stop transport sensor 127 is installed at one end of the transport conveyor 12 at the output of the first pipe fitting 4 and / or the second pipe fitting 5. The stop transport sensor 127 is used to generate a transport stop signal when the first pipe fitting 4 or the second pipe fitting 5 is detected. The transport stop signal is used to instruct the transport variable frequency motor 121 to stop running.

[0168] The deceleration transport sensor 127 is disposed between the arrival transport sensor 127 and the stop transport sensor 127. The deceleration transport sensor 127 is used to generate a transport deceleration signal when the first pipe 4 or the second pipe 5 is detected. The transport deceleration signal is used to instruct the transport variable frequency motor 121 to decelerate.

[0169] In a preferred embodiment, the switching mechanism 2 includes: a switching mobile device 21, a main switching rack 22, a first switching rack 23, a first switching conveyor 24, a second switching rack 25, and a second switching conveyor 26;

[0170] The switching mobile device 21 is fixed on the main switching frame 22;

[0171] The first switching frame 23 is movably connected to the main switching frame 22, the first switching conveyor 24 is fixed to the first switching frame 23, the first switching conveyor 24 is used to carry the first pipe fitting 4, and the switching mobile device 21 is used to move the first switching frame 23 and the first switching conveyor to the grinding mechanism 3.

[0172] The second switching frame 25 is movably connected to the main switching frame 22, and the second switching conveyor 26 is fixed on the second switching frame 25. The second switching conveyor 26 is used to receive the first pipe 4 output by the first conveying mechanism 1A and output the first pipe 4 to the second conveying mechanism 1B.

[0173] In this example, by setting the switching mobile device 21, the automatic and rapid switching of the first switching frame 23 and the second switching frame 25 is realized, enabling it to quickly connect to the first conveyor 1A, the second conveyor 1B and the grinding mechanism 3, thereby improving the switching efficiency of the first switching conveyor 24 and the second switching conveyor 26.

[0174] In a preferred embodiment, the first switching frame 23 includes: a first frame body 231, at least one first slider 232, and at least one first slide rail 233; the first switching conveyor 24 is fixed on the first frame body 231, the first slider 232 is fixed on the bottom of the first frame body 231, the first slide rail 233 is fixed on the top of the main switching frame 22, and at least one first slider 232 is matched with one first slide rail 233;

[0175] The second switching frame 25 includes: a second frame body 251, at least one second slider 252, and at least one second slide rail 253; the second switching conveyor 26 is fixed on the second frame body 251, the second slider 252 is fixed on the bottom of the second frame body 251, the second slide rail 253 is fixed on the top of the main switching frame 22, and at least one second slider 252 is matched with one second slide rail 253.

[0176] Optionally, the first switching frame 23 and the second switching frame 25 are parallel to each other, and the first switching conveyor 24 and the second switching conveyor 26 are parallel to each other;

[0177] The switching mobile device 21 is connected to the first switching conveyor 24 and the second switching conveyor 26 respectively, so that the first switching conveyor 24 and the second switching conveyor 26 can move along the axis perpendicular to the two conveying mechanisms 1.

[0178] In a preferred embodiment, the switching mobile device 21 includes: a conveying switching cylinder 211; the conveying switching cylinder 211 is fixed on the main switching frame 22;

[0179] The first switching conveyor 24 includes: at least one drive roller 241, at least one driven roller 242, at least one bearing housing 243, and at least one pressing mechanism 244;

[0180] Both ends of one of the drive rollers 241 are rotatably connected to the top of the first switching frame 23 via a bearing seat 243;

[0181] Both ends of one of the driven rollers 242 are rotatably connected to the top of the first switching frame 23 via a bearing seat 243;

[0182] The second switching conveyor 26 includes: a switching variable frequency motor 261, a switching drive shaft 262, a switching driven shaft 263, at least one switching chain 264, and multiple switching support bars 265;

[0183] The switching variable frequency motor 261 is fixed to one end of the second switching frame 26;

[0184] The switching drive shaft 262 is rotatably connected to one end of the second switching frame 26 that has the switching variable frequency motor 261, and the switching drive shaft 262 is connected to the switching variable frequency motor 261;

[0185] The switching driven shaft 263 is rotatably connected to one end of the second switching frame 26 away from the switching drive shaft 262;

[0186] The switching drive shaft 262 has at least one drive sprocket, and the switching driven shaft 263 has at least one driven sprocket;

[0187] One of the switching chains 264 is wound around one of the driving sprockets and one of the driven sprockets, and the bottom of a switching support bar 265 is detachably connected to at least one of the switching chains 264;

[0188] Multiple switching support bars 265 are arranged sequentially along the length of the switching chain 264, and the switching support bars 265 are used to support the first pipe 4.

[0189] Optionally, at least one of the drive rollers 241 and at least one of the driven rollers 242 are arranged alternately on the first switching frame 23;

[0190] Two or more drive rollers 241 are arranged at both ends of the top of the first switching frame 23, and at least one driven roller 242 is arranged between the drive rollers 241 at both ends of the top of the first switching frame 23.

[0191] Optionally, the drive roller 241 is a V-shaped idler roller, and the driven roller 242 is a V-shaped idler roller, so that when the grinding robot 31 grinds the first pipe 4 on the first switching conveyor 24, the first pipe 4 can be continuously and stably positioned on the center line of the first switching conveyor 24, thus ensuring the stability of the grinding process.

[0192] Specifically, the clamping mechanism 244 includes: a clamping frame 2441, a clamping cylinder 2442, a clamping block 2443, and at least one clamping guide rod 2444;

[0193] The clamping frame 2441 is fixed to the top of the first switching frame;

[0194] The clamping cylinder 2442 is fixed to the top of the clamping frame 2441;

[0195] The clamping block 2443 is located inside the clamping frame 2441, and the piston rod of the clamping cylinder 2442 passes through the clamping frame 2441 and is connected to the clamping block 2443;

[0196] The first tube 4, located on at least one of the drive rollers 241 and at least one of the driven rollers 242, is located inside the clamping frame 2441. The clamping block 2443 presses the first tube 4 with pressure applied by the clamping cylinder 2442, thereby fixing the first tube 4 on at least one of the drive rollers 241 and at least one of the driven rollers 242.

[0197] Optionally, the clamping block 2443 has a V-groove on the side facing the first switching frame. The V-groove is used to cooperate with the V-shaped roller to stably fix the first pipe 4 on the first switching conveyor, ensuring the stability of the grinding process.

[0198] Optionally, the second switching conveyor 26 further includes: two switching guide plates 266 and at least one switching sensor 267;

[0199] The two switching guide plates 266 are fixed to each other on the top sides of the second switching frame 26, and the length direction of the switching guide plates 266 is parallel to the switching direction of the switching conveyor.

[0200] The switching sensor 267 is fixed on one of the switching guide plates 266. The detection rays of the switching sensor 267 pass through the two switching guide plates 266 to detect whether there is a first pipe fitting 4 or a second pipe fitting 5 on the switching conveyor.

[0201] Furthermore, the switching conveying mechanism 1 includes a plurality of switching sensors 267; the plurality of switching sensors 267 include: at least one position switching sensor 267, at least one deceleration switching sensor 267 and at least one stop switching sensor 267;

[0202] The position switching sensor 267 is disposed at one end of the switching conveyor 1 that receives the first pipe fitting 4 and / or the second pipe fitting 5. The position switching sensor 267 is used to detect whether the first pipe fitting 4 or the second pipe fitting 5 is present on the switching conveyor. The position switching sensor 267 is used to generate a first feeding signal or a second feeding signal.

[0203] The stop switching sensor 267 is disposed at one end of the switching conveying mechanism 1 at the output of the first pipe 4 and / or the second pipe 5. The stop switching sensor 267 is used to generate a switching stop signal when the first pipe 4 or the second pipe 5 is detected. The switching stop signal is used to instruct the switching variable frequency motor 261 to stop running.

[0204] The deceleration switching sensor 267 is disposed between the position switching sensor 267 and the stop switching sensor 267. The deceleration switching sensor 267 is used to generate a switching deceleration signal when the first pipe 4 or the second pipe 5 is detected. The switching deceleration signal is used to instruct the switching variable frequency motor 261 to decelerate.

[0205] The switching support bar 265 has a V-shaped structure, which allows the first pipe fitting to move on the axis of the second switching conveyor 26, ensuring the stability of the first pipe fitting's movement.

[0206] In a preferred embodiment, the polishing mechanism 3 includes: at least one polishing robot 31, a polishing moving device 32, and a cooling system 33;

[0207] The polishing robot 31 is used to polish the first pipe 4 to obtain the second pipe 5;

[0208] The polishing robot 31 is connected to the polishing moving device 32, and the polishing moving device 32 is used to control the polishing robot 31 to move along the axial direction of the first pipe 4.

[0209] The cooling system 33 is connected to the polishing robot 31, and the cooling system 33 is used to cool the polishing robot 31.

[0210] In this example, a grinding robot 31 is set up to grind the first pipe 4. A grinding moving device 32 is set up to move the grinding robot 31 along the axial direction of the first pipe 4, so that the grinding robot 31 can grind the first pipe 4 thoroughly.

[0211] The grinding robot 31 is cooled by a cooling system 33, which ensures the continuity of grinding and the service life of the grinding robot 31.

[0212] In a preferred embodiment, the polishing robot 31 includes: a robotic arm 311, a connecting plate 312, a water-cooled electric spindle 313, a polishing head 314, and a camera mechanism 315;

[0213] The connecting end of the robotic arm 311 is connected to the connecting plate 312;

[0214] The water-cooled electric spindle 313 is fixed on the connecting plate 312 and connected to the robot arm 311;

[0215] The grinding head 314 is connected to the water-cooled electric spindle 313;

[0216] The robotic arm 311 controls the water-cooled electric spindle 313 to rotate the grinding head 314, which is used to grind the first pipe 4 to obtain the second pipe 5.

[0217] The camera mechanism 315 is fixed on the connecting plate 312, and the camera mechanism 315 is connected to the robotic arm 311;

[0218] The camera mechanism 315 is used to photograph the grinding head 314 and the first tube 4.

[0219] Specifically, the camera mechanism 315 includes: a camera bracket 3151, a camera cylinder 3152, an industrial camera 3153, a dust cover 3154, and at least one hinge 3155;

[0220] The camera bracket 3151 is fixed on the connecting plate 312, the camera cylinder 3152 is fixed on the camera bracket 3151, the industrial camera 3153 is connected to the camera cylinder 3152, the industrial camera 3153 is used to photograph the grinding head 314 and the first pipe 4, and the camera cylinder 3152 is used to adjust the distance between the industrial camera 3153 and the grinding head 314;

[0221] The dust cover 3154 covers the industrial camera 3153, and the dust cover 3154 is connected to the industrial camera 3153 via the hinge 3155.

[0222] Optionally, the grinding robot 31 is also equipped with an automatic consumables replacement library 316, which contains multiple grinding heads 314. The robotic arm 311 can install and replace grinding heads through the automatic consumables replacement library 316.

[0223] Optionally, the polishing robot 31 is also equipped with a dust removal device 317, which is used to absorb the dust produced by the polishing robot 31.

[0224] Specifically, the grinding moving device 32 includes: a ground rail 321 and at least one slide 322;

[0225] The ground rail 321 has at least one track 323;

[0226] The slide plate 322 is movably connected to the track 323, and the slide plate 322 is used to fix the robot arm 311.

[0227] Specifically, the cooling system 33 includes: a cooler 331, a coolant regulator 332, and a cooling pipe 333;

[0228] The cooler 331 is connected to the cooler regulator 332;

[0229] The cooling regulator 332 is connected to one end of the cooling pipe 333, and the other end of the cooling pipe 333 is connected to the water-cooled electric spindle 313.

[0230] For example, the cooler 331 is used to output coolant to the cooler regulator 332, the cooler regulator 332 is used to adjust the flow rate of the coolant and output the adjusted coolant to the cooler pipe 333, and the cooler pipe 333 is used to provide coolant to the water-cooled electric spindle 313 to cool the water-cooled electric spindle 313.

[0231] In this example, the water-cooled electric spindle 313 is a high-performance mechanical component that directly integrates the electric motor with the spindle and uses a water circulation cooling system 33 for efficient heat dissipation. The motor rotor is directly mounted on the spindle, eliminating traditional transmission devices (such as belts and gears) and achieving "zero transmission," significantly improving transmission efficiency and dynamic response speed. The spindle housing has internal cooling water channels, through which cooling water (usually deionized water or a special coolant) is injected via a circulating water pump to absorb the heat generated during spindle operation and maintain a stable operating temperature. High-precision ceramic bearings or hybrid bearings support the high-speed rotation of the spindle; a sealed structure prevents cooling water leakage and ensures internal cleanliness.

[0232] The 3153 industrial camera is a high-performance image acquisition device designed for industrial automation, machine vision, quality inspection and other scenarios. It can quickly and accurately capture image information of target objects and provide a basis for subsequent analysis, decision-making or control through digital processing.

[0233] Example 2:

[0234] Please see Figures 1-4 This application provides a pipe grinding method using the above-mentioned pipe grinding system. The pipe grinding method operates in a control device, which is connected to the first conveying mechanism 1A, the second conveying mechanism 1B, the switching mechanism 2, and the grinding mechanism 3 of the pipe grinding system.

[0235] The pipe fitting grinding method includes:

[0236] S1: The control device identifies the type of the first pipe fitting 4 on the first conveying mechanism 1A based on the first feeding signal sent by the first conveying mechanism 1A; wherein, the first feeding signal is a signal generated when the first conveying mechanism 1A detects the first pipe fitting 4 sent by the first station;

[0237] In this step, when the transport sensor 127 of the first conveying mechanism 1A detects that the first station is sending the first pipe 4 onto the transport conveyor 12 of the first conveying mechanism 1A, the transport sensor 127 will generate a first feeding signal.

[0238] The control device calls a preset detection device to identify the bevel angle, surface roughness, and flatness of the first pipe fitting 4 on the first conveying mechanism 1A; the surface roughness includes: internal surface roughness and external surface roughness; the flatness includes: internal surface flatness and external surface flatness.

[0239] If the control device determines that the bevel angle of the first pipe fitting 4 is within the standard angle range of the threshold, and determines that the surface roughness of the first pipe fitting 4 is less than the preset roughness threshold, and the flatness of the first pipe fitting 4 is greater than the preset flatness threshold, then the first pipe fitting 4 is determined to be a standard part.

[0240] If the control device determines that the bevel angle of the first pipe fitting 4 is not within the standard angle range of the threshold, it determines that the first pipe fitting difficulty type is a part to be polished, and polishes the bevel of the first pipe fitting 4.

[0241] If the control device determines that the surface roughness of the first pipe component 4 is not less than the roughness threshold, and / or the flatness of the first pipe component 4 is not greater than the flatness threshold, then the type of the first pipe component 4 is determined to be a part to be polished. Specifically, if the internal surface roughness is not less than the roughness threshold, and / or the internal surface flatness is not greater than the flatness threshold, then the internal surface of the first pipe component 4 is polished; if the external surface roughness is not less than the roughness threshold, and / or the external surface flatness is not greater than the flatness threshold, then the external surface of the first pipe component 4 is polished.

[0242] For example, a laser profilometer is used to scan the end of the pipe fitting with a line laser, and the profile of the bevel section (accuracy ±0.05°) is obtained through the principle of triangulation.

[0243] The angle is calculated by projecting a striped grating onto the bevel surface using a structured light 3D camera, reconstructing a 3D point cloud (suitable for complex bevel shapes).

[0244] The instrument is inserted into the pipe using a fiber optic probe-type laser confocal microscope (measurement range Ra 0.01-10μm, resolution 0.001μm) via a pneumatic slide.

[0245] Non-contact measurement can be performed using a portable roughness tester (such as MarSurf PS10) or laser scattering method (speed ≥500mm / s).

[0246] By using a laser tracker in conjunction with a reflective target ball, the flatness error is fitted after measuring the coordinates of multiple points on the inner wall of the pipe fitting (full-diameter measurement, applicable to pipe fittings with a diameter ≤ 2m).

[0247] An inductive micrometer mounted on a high-precision linear guide rail is used to scan the outer surface of the pipe (sampling point density ≥ 10 points / cm²). 2 ).

[0248] Optionally, the user can determine the type of the first pipe fitting 4 based on the label on the first pipe fitting 4. The label is the definition of the type of the first pipe fitting 4 by the workers on the production line according to production needs.

[0249] S2: If the control device determines that the type is a part to be polished, it sends a first conveying command to the first conveying mechanism 1A, a first switching command to the switching mechanism 2, and a polishing command to the polishing mechanism 3; wherein, the first conveying command is used to instruct the first conveying mechanism 1A to convey the first pipe 4 to the switching mechanism 2; the first switching command is used to instruct the switching mechanism 2 to move the first pipe 4 to the polishing mechanism 3; and the polishing command is used to instruct the polishing mechanism 3 to polish the first pipe 4 to obtain the second pipe 5.

[0250] In this step, the first conveying mechanism 1A starts the transport conveyor 12 according to the first conveying command, so that the transport conveyor 12 outputs the first pipe fitting 4 to the switching mechanism 2.

[0251] According to the first switching command, the switching mechanism 2 moves the first switching frame 23 and the first switching conveyor 24 between the first conveying mechanism 1A and the second conveying mechanism 1B through the conveying switching cylinder 211 to receive the first pipe fitting 4 output by the first conveying mechanism 1A.

[0252] When the switching sensor 267 on the first switching conveyor 24 detects that the first pipe 4 has moved onto the first switching conveyor 24, the conveying switching cylinder 211 moves the first switching frame 23 and the first switching conveyor 24 to the grinding mechanism 3.

[0253] According to the grinding command, the grinding mechanism 3 starts the grinding robot 31. The grinding robot 31 rotates the grinding head 314 to grind the first pipe 4. The grinding mechanism 3 also controls at least one grinding robot 31 to move along the axial direction of the first pipe 4 through the grinding moving device 32, so that the grinding head 314 can grind the surface of the first pipe 4 in an all-round way to obtain the second pipe 5.

[0254] Specifically, the pressing mechanism 244 on the first switching conveyor 24 presses the first pipe 4 against at least one drive roller 241 and at least one driven roller 242, so that the first pipe 4 is positioned on the first switching conveyor 24.

[0255] The grinding moving device 32 moves the grinding robot 31 to one end of the first pipe 4. The grinding robot 31 calls the camera mechanism 315 to take a picture of the end of the first pipe 4, and determines the end shape, inner diameter and outer diameter of the first pipe 4 based on the end picture through the camera mechanism 315.

[0256] The grinding moving device 32 moves the grinding robot 31 to the side of the first pipe 4. The grinding robot 31 calls the camera mechanism 315 to take a side photo of the side of the first pipe 4, and determines the length, shape and length value of the first pipe 4 based on the side photo through the camera mechanism 315.

[0257] The camera mechanism 315 sends the end shape, inner diameter, outer diameter, length shape, and length value to the robotic arm 311 of the polishing robot 31;

[0258] The robotic arm 311 determines the grinding head 314 according to the inner diameter and the outer diameter, and installs the grinding head 314 on the robotic arm 311 of the grinding robot 31;

[0259] The robotic arm 311 determines the robot's robotic arm 311 route and grinding movement route based on the end shape, inner diameter, outer diameter, length shape, and length value; the robotic arm 311 sends the grinding movement route to the grinding movement device 32;

[0260] The robotic arm 311 moves according to the path of the robotic arm 311, and the grinding moving device 32 moves according to the grinding moving path, so that the grinding head 314 on the robotic arm 311 grinds one or more of the inner surface, outer surface and bevel of the first pipe 4 to obtain the second pipe 5.

[0261] For example, the first switching conveyor 24 is equipped with at least one drive roller 241 (actively rotating) and at least one driven roller 242 (passively following), and a pressure plate is driven downward by a cylinder or motor. The pressure plate presses the first pipe 4 vertically against the contact surface of the drive roller 241 and the driven roller 242, using friction to fix the axial position of the pipe. The rotation of the drive roller 241 drives the pipe to rotate circumferentially, providing rotational power for subsequent end grinding.

[0262] Mechanical positioning ensures the pipe fitting's centerline aligns with the conveyor axis. It is compatible with pipe fittings of different diameters (by adjusting the pressure plate height or roller spacing).

[0263] Using a high-precision linear module (such as a lead screw guide) or a robotic arm, the grinding robot 31 is moved to a position 50-200mm directly in front of the end of the pipe. An industrial-grade gigabit network camera (e.g., 5 megapixels, 30fps) with a telecentric lens is used to eliminate perspective distortion. Ring light or coaxial light source illumination enhances the contrast of the end edge.

[0264] The end contour is extracted using OpenCV or Halcon algorithms, and the inner / outer diameter is calculated (based on Hough circle transformation). The end shape (e.g., flat, beveled, U-shaped) is identified through template matching or deep learning classification.

[0265] The grinding robot 31 moves to the midpoint of the side of the pipe, and the camera takes a picture perpendicular to the pipe's axis. The distance between the two end faces of the pipe is measured using a binocular vision or laser displacement sensor. The pipe is then checked for bending (by fitting the radius of curvature of the centerline).

[0266] The robotic arm 311 retrieves the corresponding grinding head 314 from the tool library based on the inner / outer diameter parameters (e.g., grinding wheel diameter = inner diameter × 0.8). A pneumatic quick-change device enables automatic clamping of the grinding head 314 (changeover time ≤ 3 seconds). The end shape (determines the bevel grinding trajectory), inner and outer diameters (determine the radial feed rate), and length (axial travel) are all considered.

[0267] Path generation:

[0268] End grinding: The spiral trajectory covers the entire end face, and the involute trajectory is used at the bevel.

[0269] Internal surface: Drive roller 241 rotates the tube, and robot arm 311 moves linearly along the axial direction, cooperating with radial feed.

[0270] External surface: The robot arm 311 revolves around the axis of the pipe fitting, while moving axially to form a spatial spiral trajectory.

[0271] Collision avoidance: Offline simulation verification based on the 3D model of the pipe fitting (generated by point cloud reconstruction).

[0272] 311 Robot Control: 6-axis industrial robots (such as FANUC M-20iA) execute complex spatial trajectories.

[0273] Grinding moving device 32 control: servo motor drives linear module to achieve high-precision axial positioning (repeat positioning accuracy ±0.02mm).

[0274] Synchronization and coordination: Real-time data interaction between the robot 311 and the moving device is achieved through the EtherCAT bus to ensure speed matching (e.g., axial speed = rotational linear speed × feed coefficient).

[0275] Grinding process parameters

[0276] Pressure control: Force sensor feedback adjusts the end pressure of the robot 311 (constant pressure mode, error ±0.5N).

[0277] Speed ​​adjustment: The grinding head speed (500-3000 rpm) can be dynamically adjusted according to the material hardness (such as carbon steel / stainless steel).

[0278] Cooling system 33: Uses mist coolant for high-temperature alloy pipe fittings to prevent thermal deformation.

[0279] S3: The control device sends a first return command to the switching mechanism 2 according to the grinding completion signal sent by the grinding mechanism 3; wherein, the grinding completion signal indicates that the grinding mechanism 3 has completed grinding the first pipe 4 and obtained the second pipe 5; the first return command is used to instruct the switching mechanism 2 to output the second pipe 5 to the second conveying mechanism 1B;

[0280] In this step, after the grinding robot 31 finishes grinding the first pipe 4 and obtains the second pipe 5, the grinding robot 31 sends a grinding completion signal to the control device; when the control device receives the grinding completion signals sent by all the grinding robots 31, the control device sends a first return command to the switching mechanism 2.

[0281] According to the first return command, the switching mechanism 2 controls the conveying switching cylinder 211 to move the first switching frame 23 and the first switching conveyor 24 between the first conveying mechanism 1A and the second conveying mechanism 1B. The switching mechanism 2 is also used to start the first switching conveyor 24 according to the first return command so as to output the second pipe 5 on the first switching conveyor 24 to the second conveying mechanism 1B.

[0282] S4: If the control device determines that the type is a standard part, it sends the first conveying command to the first conveying mechanism 1A and the second switching command to the switching mechanism 2; wherein, the second switching command is used to instruct the switching mechanism 2 to output the first pipe 4 to the second conveying mechanism 1B;

[0283] In this step, the first conveying mechanism 1A starts the transport conveyor 12 according to the first conveying command, so that the transport conveyor 12 outputs the first pipe fitting 4 to the switching mechanism 2.

[0284] According to the second switching command, the switching mechanism 2 moves the second switching frame 25 and the second switching conveyor 26 between the first conveying mechanism 1A and the second conveying mechanism 1B through the conveying switching cylinder 211 to receive the first pipe 4 output by the first conveying mechanism 1A.

[0285] The switching mechanism 2 also starts the second switching conveyor 26 according to the second switching command, so that the second switching conveyor 26 outputs the first pipe fitting 4 to the second conveying mechanism 1B.

[0286] S5: The control device sends a second output command to the second conveying mechanism 1B according to the second feeding signal sent by the second conveying mechanism 1B; wherein, the second feeding signal is a signal generated by the second conveying mechanism 1B when it detects the first pipe 4 or the second pipe 5 sent by the switching mechanism 2; the second output command is used to instruct the second conveying mechanism 1B to output the first pipe 4 or the second pipe 5 to the second workstation.

[0287] In this step, when the transport sensor 127 of the second conveying mechanism 1B detects the first pipe fitting 4 or the second pipe fitting 5 output from the switching station, the second conveying mechanism 1B will send a second feeding signal to the control device, and the control device will send a second output command to the second conveying mechanism 1B. The second conveying mechanism 1B controls the transport conveyor 12 of the second conveying mechanism 1B to start according to the second output command, so that the transport conveyor 12 outputs the first pipe fitting 4 or the second pipe fitting 5 to the second station.

[0288] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0289] Other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The embodiments of this application are intended to cover any variations, uses, or adaptations of the embodiments of this application that follow the general principles of the embodiments of this application and include common knowledge or customary techniques in the art not disclosed in the embodiments of this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the embodiments of this application are indicated by the following claims.

[0290] It should be understood that the embodiments of this application are not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from their scope. The scope of the embodiments of this application is limited only by the appended claims.

Claims

1. A pipe fitting polishing system, characterized by, The utility model relates to a kind of pipe polishing device, including: Two conveying mechanisms, a switching mechanism and a polishing mechanism;Two conveying mechanisms are respectively located on the two sides of the switching mechanism;Two conveying mechanisms include first conveying mechanism and second conveying mechanism; The first conveying mechanism is used to receive the first pipe from the first station, and output a first pipe to the switching mechanism; The switching mechanism moves the first pipe to the polishing mechanism, or outputs the first pipe to the second conveying mechanism; The polishing mechanism is used for polishing the first pipe on the switching mechanism to obtain a second pipe; The switching mechanism is also used to output the second pipe to the second conveying mechanism; The second conveying mechanism is used to output at least one first pipe and / or at least one second pipe to the second station.

2. The pipe polishing system of claim 1, wherein, The conveying mechanism includes a conveying frame and a transport conveyor; The transport conveyor is fixed on the conveying frame; The transport conveyor is used to transport the first pipe and / or the second pipe.

3. The pipe polishing system of claim 2, wherein, The transport conveyor includes a transport variable-frequency motor, a transport driving shaft, a transport driven shaft, at least one transport chain and a plurality of transport support bars; The transport variable-frequency motor is fixed on one end of the conveying frame; The transport driving shaft is rotatably connected to the end of the conveying frame having the transport variable-frequency motor, and the transport driving shaft is connected to the transport variable-frequency motor; The transport driven shaft is rotatably connected to the end of the conveying frame away from the transport driving shaft; The transport driving shaft has at least one driving sprocket, and the transport driven shaft has at least one driven sprocket; One transport chain is wound around one driving sprocket and one driven sprocket, and the bottom of one transport support bar is detachably connected to at least one transport chain; A plurality of transport support bars are arranged in sequence along the length direction of the transport chain, and the transport support bars are used to support the first pipe and / or the second pipe.

4. The pipe polishing system of claim 3, wherein, The transport conveyor further includes two transport guide plates and at least one transport sensor; Two transport guide plates are fixed oppositely on the top of the conveying frame, and the length direction of the transport guide plate is parallel to the transport direction of the transport conveyor; The transport sensor is fixed on one transport guide plate, and the detection ray of the transport sensor passes through two transport guide plates to detect whether there is a first pipe or a second pipe on the transport conveyor.

5. The pipe polishing system of claim 1, wherein, The switching mechanism includes a switching moving device, a main switching frame, a first switching frame, a first switching conveyor, a second switching frame and a second switching conveyor; The switching moving device is fixed on the main switching frame; The first switching frame is movably connected to the main switching frame, the first switching conveyor is fixed on the first switching frame, the first switching conveyor is used to carry the first pipe, and the switching moving device is used to move the first switching frame and the first switching conveyor to the polishing mechanism. The second switching rack is movably connected to the main switching rack, and the second switching conveyor is fixed to the second switching rack and used for receiving the first pipe from the first conveying mechanism and outputting the first pipe to the second conveying mechanism.

6. The pipe polishing system of claim 5, wherein, The first switching rack comprises a first rack body, at least one first sliding block and at least one first sliding rail, the first switching conveyor is fixed to the first rack body, the first sliding block is fixed to the bottom of the first rack body, and the first sliding rail is fixed to the top of the main switching rack, and at least one first sliding block is matched with one first sliding rail. The second switching rack comprises a second rack body, at least one second sliding block and at least one second sliding rail, the second switching conveyor is fixed to the second rack body, the second sliding block is fixed to the bottom of the second rack body, and the second sliding rail is fixed to the top of the main switching rack, and at least one second sliding block is matched with one second sliding rail.

7. The pipe polishing system of claim 5, wherein, The switching moving device comprises a conveying switching cylinder, and the conveying switching cylinder is fixed to the main switching rack. The first switching conveyor comprises at least one driving roller, at least one driven roller, at least one bearing seat and at least one pressing mechanism. Both ends of the driving roller are rotatably connected to the top of the first switching rack through the bearing seat. Both ends of the driven roller are rotatably connected to the top of the first switching rack through the bearing seat. The second switching conveyor comprises a switching variable frequency motor, a switching driving shaft, a switching driven shaft, at least one switching chain and a plurality of switching support bars. The switching variable frequency motor is fixed to one end of the second switching rack. The switching driving shaft is rotatably connected to the end of the second switching rack with the switching variable frequency motor, and the switching driving shaft is connected to the switching variable frequency motor. The switching driven shaft is rotatably connected to the end of the second switching rack away from the switching driving shaft. The switching driving shaft has at least one driving sprocket, and the switching driven shaft has at least one driven sprocket. One switching chain is wound around the driving sprocket and the driven sprocket, and the bottom of one switching support bar is detachably connected to at least one switching chain. The plurality of switching support bars are arranged in sequence along the length direction of the switching chain, and the switching support bar is used for supporting the first pipe.

8. The pipe polishing system of claim 1, wherein, The polishing mechanism comprises at least one polishing robot, a polishing moving device and a cooling system. The polishing robot is used for polishing the first pipe to obtain a second pipe. The polishing robot is connected to the polishing moving device, and the polishing moving device is used for controlling the polishing robot to move along the axis direction of the first pipe. The cooling system is connected to the polishing robot, and the cooling system is used for cooling the polishing robot.

9. The pipe polishing system of claim 8, wherein, The polishing robot comprises a manipulator, a connecting plate, a water-cooled motorized spindle, a polishing head and a camera mechanism; The connecting end of the manipulator is connected with the connecting plate; The water-cooled motorized spindle is fixed on the connecting plate and connected with the manipulator; The polishing head is connected with the water-cooled motorized spindle; The manipulator rotates the polishing head by controlling the water-cooled motorized spindle, and the polishing head is used for polishing the first pipe to obtain a second pipe; The camera mechanism is fixed on the connecting plate and connected with the manipulator; The camera mechanism is used for shooting the polishing head and the first pipe.

10. A method of pipe fitting finishing, characterized by, The pipe polishing system of any one of claims 1-9 is used in the pipe polishing method, and the control device is connected with the first conveying mechanism, the second conveying mechanism, the switching mechanism and the polishing mechanism of the pipe polishing system respectively; The pipe polishing method comprises: S1: The control device identifies the type of the first pipe on the first conveying mechanism according to a first feeding signal sent by the first conveying mechanism; wherein the first feeding signal is a signal generated when the first conveying mechanism detects the first pipe sent by the first station; S2: If the control device determines that the type is a to-be-polished piece, the control device sends a first conveying instruction to the first conveying mechanism, a first switching instruction to the switching mechanism, and a polishing instruction to the polishing mechanism; wherein the first conveying instruction is used to instruct the first conveying mechanism to convey the first pipe to the switching mechanism; the first switching instruction is used to instruct the switching mechanism to move the first pipe to the polishing mechanism; and the polishing instruction is used to instruct the polishing mechanism to polish the first pipe to obtain a second pipe; S3: The control device sends a first homing instruction to the switching mechanism according to a polishing completion signal sent by the polishing mechanism; wherein the polishing completion signal indicates that the polishing mechanism completes polishing of the first pipe and obtains a second pipe; and the first homing instruction is used to instruct the switching mechanism to output the second pipe to the second conveying mechanism; S4: If the control device determines that the type is a standard piece, the control device sends the first conveying instruction to the first conveying mechanism and a second switching instruction to the switching mechanism; wherein the second switching instruction is used to instruct the switching mechanism to output the first pipe to the second conveying mechanism; S5: The control device sends a second output instruction to the second conveying mechanism according to a second feeding signal sent by the second conveying mechanism; wherein the second feeding signal is a signal generated when the second conveying mechanism detects the first pipe or the second pipe sent by the switching mechanism; and the second output instruction is used to instruct the second conveying mechanism to output the first pipe or the second pipe to a second station.

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