Mechanical arm for pipe pile end face polishing machine

Abstract

The present application relates to the technical field of pipe pile polishing device, in particular to a mechanical arm for pipe pile end face polishing machine, including six-axis mechanical arm body, six-axis mechanical arm body is fixedly installed on heavy load sliding table, heavy load sliding table is set up in linear translation bearing table in translation sliding mode, linear translation bearing table also is paved with dustproof organ case, one end of six-axis mechanical arm body is fixedly connected with connecting block, and rotating shaft is movably connected in connecting block, two mounting mechanisms are arranged on both sides of support column respectively, two thick polishing pieces and thin polishing pieces are installed, six-axis mechanical arm body drives support column to move, thick polishing piece first polishes pipe pile end face, then second connecting motor controls support column to rotate, two mounting mechanisms interchange positions, thick polishing piece and thin polishing piece position exchange are completed, then thin polishing piece is used for fine polishing pipe pile end face.

Description

Technical Field

[0001] This invention relates to the field of pipe pile grinding device technology, specifically a robotic arm for a pipe pile end face grinding machine. Background Technology

[0002] In the field of building foundation engineering, pipe piles are widely used due to their high bearing capacity and convenient construction. In order to ensure the splicing quality of pipe piles and the effective transmission of overall vertical bearing capacity, the flatness and verticality of their end faces are subject to strict requirements. Therefore, after the pipe piles are produced, their end faces need to be ground to remove burrs and laitance, and to obtain a flat and clean welding or adhesive surface.

[0003] However, most existing pipe pile grinding devices use a single angle grinder to grind the end face of the pipe pile. Although this method can grind the end face of the pipe pile, the end face ground by only one angle grinder is often relatively rough and has low flatness. It cannot automatically perform coarse grinding of the pipe pile end face and then automatically perform fine grinding of the pipe pile end face to ensure the flatness of the pipe pile end face. Therefore, we have introduced a robotic arm for a pipe pile end face grinding machine. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm for a pipe pile end face grinding machine to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A robotic arm for a pipe pile end face grinding machine includes a six-axis robotic arm body, which is fixedly mounted on a heavy-duty slide table. The heavy-duty slide table is slidably mounted on a linear translational support platform, which is also covered with a dustproof bellows cover. One end of the six-axis robotic arm body is fixedly connected to a connecting block. A rotating shaft is movably connected inside the connecting block. A support column is movably connected to the outside of the rotating shaft. Mounting mechanisms are movably connected to both sides of the support column. Grinding discs are installed in the mounting mechanisms. The mounting mechanisms install the grinding discs and drive them to rotate. Two connecting plates are fixedly connected to one side of the connecting block. A storage box and a limiting plate are fixedly connected to the end of the connecting plate away from the connecting block. A pushing mechanism is provided inside the storage box. A discharge port is provided at the lower end of the storage box and the discharge port is connected to the inside of the storage box. The grinding disc stored in the storage box is pushed into the discharge port by the pushing mechanism. The storage box is equipped with a blocking mechanism on the outside, which blocks the discharge port by opening the blocking mechanism. The upper end of the limiting plate is provided with an arc-shaped limiting groove, and the upper end of the storage box is movably installed with a box cover.

[0006] Preferably, a first connecting motor is fixedly connected to one side of the connecting block, the output end of the first connecting motor is fixedly connected to the rotating shaft, a second connecting motor is fixedly connected inside the rotating shaft, and the output end of the second connecting motor is fixedly connected to the support column.

[0007] Preferably, the mounting mechanism includes a mounting frame, one end of which is movably connected to a T-slot, the T-slot being located on the outside of the support column. A lead screw is screwed into the mounting frame, the lower end of which is movably connected to the T-slot, and the upper end of which passes through the support column and is fixedly connected to the output end of a drive motor. The drive motor is fixedly connected to the upper end of the support column.

[0008] Preferably, the mounting bracket has a positioning plate on its inner side, one end of which has an internal threaded hole. The positioning plate is fixedly connected to the output end of the first motor, which is fixedly connected to the mounting bracket. The end of the positioning plate away from the first motor has a cross-shaped screw rod with external threads on its outer side. One end of the cross-shaped screw rod has a insertion slot, into which a hexagonal insertion rod is inserted. The hexagonal insertion rod contains a magnet, and one end of the hexagonal insertion rod is fixedly connected to the output end of the mounting motor. The mounting motor is fixedly connected to the output end of the first telescopic cylinder, which is fixedly connected to the mounting bracket.

[0009] Preferably, the pushing mechanism includes a push plate disposed inside the storage box, and a second telescopic cylinder is fixedly connected to the outside of the storage box. The output end of the second telescopic cylinder extends into the storage box and is fixedly connected to the push plate.

[0010] Preferably, the blocking mechanism includes an L-shaped blocking plate, which is movably connected inside the storage box. A third telescopic cylinder is fixedly connected to the outside of the storage box, and the output end of the third telescopic cylinder is fixedly connected to the L-shaped blocking plate.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention installs two coarse grinding discs and a fine grinding disc by setting two installation mechanisms on both sides of the support column. The support column is moved by the six-axis robotic arm, so that the coarse grinding disc first grinds the end face of the pipe pile. Then, the support column is rotated by the second connecting motor, so that the two installation mechanisms interchange positions, completing the position exchange of the coarse and fine grinding discs. Then, the fine grinding disc is used to finely grind the end face of the pipe pile, ensuring the flatness of the end face of the pipe pile. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram illustrating the connection relationship between the support column and the rotating shaft of the present invention; Figure 3This is a three-dimensional structural diagram illustrating the positional relationship between the storage box and the limiting plate of the present invention; Figure 4 This is a three-dimensional structural diagram of the mounting bracket of the present invention located between the storage box and the limiting plate; Figure 5 This is a three-dimensional cross-sectional view of the second connecting motor position of the present invention; Figure 6 This is a three-dimensional cross-sectional view of the grinding disc replacement state of the present invention; Figure 7 This is a three-dimensional cross-sectional view of the positional relationship between the storage box and the limiting plate of the present invention; Figure 8 This is a three-dimensional sectional view of the mounting bracket of the present invention; Figure 9 This is a three-dimensional cross-sectional view of the connection relationship between the insertion slot and the hexagonal insertion rod of the present invention.

[0013] In the diagram: 1. Linear translational support platform; 2. Dustproof bellows cover; 3. Six-axis robotic arm body; 4. Heavy-duty slide table; 5. Mounting motor; 6. Connecting block; 7. First connecting motor; 8. Connecting plate; 9. Limiting plate; 10. Storage box; 11. Box cover; 12. Support column; 13. T-slot; 14. Lead screw; 15. Drive motor; 16. Grinding disc; 17. Mounting bracket; 18. Second telescopic cylinder; 19. Rotating shaft; 20. Cross-shaped screw rod; 21. First telescopic cylinder; 22. Hexagonal plug rod; 23. Positioning plate; 24. First motor; 25. Plug slot; 26. Second connecting motor; 27. Push plate; 28. L-shaped blocking plate; 29. ​​Third telescopic cylinder; 30. Discharge port; 31. Arc-shaped limiting slot. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Please see Figure 1-9 The present invention provides a technical solution: Example 1: A robotic arm for grinding the end face of pipe piles includes a six-axis robotic arm body 3, which is fixedly mounted on a heavy-duty slide table 4. The heavy-duty slide table 4 is slidably mounted on a linear translational support platform 1. A dustproof bellows cover 2 is also provided on the linear translational support platform 1 to protect its interior. One end of the six-axis robotic arm body 3 is fixedly connected to a connecting block 6. A rotating shaft 19 is movably connected inside the connecting block 6. A support column 12 is movably connected to the outside of the rotating shaft 19. A circular sliding rod is fixedly connected to the lower end of the support column 12. A circular sliding groove is opened on the outside of the rotating shaft 19. The circular sliding rod located at the lower end of the support column 12 slides into the circular sliding groove. Installation mechanisms are movably connected to both sides of the support column 12. A grinding disc 16 is installed in the installation mechanism. The installation mechanism installs the grinding disc 16 and drives the grinding disc 16 to rotate.

[0016] Two connecting plates 8 are fixedly connected to one side of the connecting block 6. A storage box 10 and a limiting plate 9 are fixedly connected to the end of the connecting plate 8 away from the connecting block 6, respectively. There is a gap between the storage box 10 and the limiting plate 9, which allows the mounting frame 17 to enter. A pushing mechanism is provided inside the storage box 10. A discharge port 30 is provided at the lower end of the storage box 10, and the discharge port 30 is connected to the inside of the storage box 10. The grinding disc 16 stored in the storage box 10 is pushed into the discharge port 30 by the pushing mechanism.

[0017] The storage box 10 is equipped with a blocking mechanism on the outside. The blocking mechanism blocks the discharge port 30. The upper end of the limiting plate 9 is provided with an arc-shaped limiting groove 31. The grinding disc 16 is limited by the arc-shaped limiting groove 31. The storage box 10 is movably installed with a box cover 11. The new grinding disc 16 can be stored in the storage box 10 by opening the box cover 11. After storage is completed, the box cover 11 can be reinstalled on the upper end of the storage box 10 by screwing.

[0018] Example 2: Based on Embodiment 1, in order to allow the coarse grinding disc 16 and the fine grinding disc 16 installed in the two mounting brackets 17 to interchange their positions, a first connecting motor 7 is fixedly connected to one side of the connecting block 6. The output end of the first connecting motor 7 is fixedly connected to the rotating shaft 19. The first connecting motor 7 drives the rotating shaft 19 to rotate, which in turn drives the support column 12 to rotate. A second connecting motor 26 is fixedly connected inside the rotating shaft 19. The output end of the second connecting motor 26 is fixedly connected to the support column 12. The second connecting motor 26 drives the support column 12 to rotate, thereby allowing the coarse grinding disc 16 and the fine grinding disc 16 installed in the two mounting brackets 17 to interchange their positions.

[0019] The installation mechanism includes a mounting frame 17, one end of which is movably connected to a T-slot 13. The T-slot 13 is located on the outside of the support column 12. A lead screw 14 is screwed into the mounting frame 17. The lower end of the lead screw 14 is movably connected to the T-slot 13, and the upper end passes through the support column 12 and is fixedly connected to the output end of a drive motor 15. The drive motor 15 is fixedly connected to the upper end of the support column 12. The drive motor 15 drives the lead screw 14 to rotate. Driven by the lead screw 14, the mounting frame 17 moves up or down along the T-slot 13, thereby driving the grinding disc 16 to move, so that the grinding disc 16 can grind the end face of pipe piles of different diameters.

[0020] A positioning plate 23 is provided on the inner side of the mounting bracket 17. One end of the positioning plate 23 has an internal threaded hole. The positioning plate 23 is fixedly connected to the output end of the first motor 24. The first motor 24 is fixedly connected inside the mounting bracket 17. A cross-shaped screw rod 20 is provided at the end of the positioning plate 23 away from the first motor 24. The cross-shaped screw rod 20 has external threads on its outer side. One end of the cross-shaped screw rod 20 has a insertion slot 25. A hexagonal insertion rod 22 is inserted into the insertion slot 25. A magnet is provided inside the hexagonal insertion rod 22. One end of the hexagonal insertion rod 22 is fixedly connected to… The motor 5 is fixedly connected to the output end of the first telescopic cylinder 21, which is also fixedly connected to the mounting bracket 17. The motor 5 is moved by the first telescopic cylinder 21, causing one end of the hexagonal plug rod 22 to be inserted into the plug slot 25 located at one end of the cross-shaped screw rod 20. The motor 5 drives the hexagonal plug rod 22 to rotate, causing the other end of the cross-shaped plug rod 20 to rotate away from the positioning plate 23. At the same time, during the rotation process, the first telescopic cylinder 21 drives the motor 5 to move.

[0021] The pushing mechanism includes a push plate 27, which is disposed inside the storage box 10. A second telescopic cylinder 18 is fixedly connected to the outside of the storage box 10. The output end of the second telescopic cylinder 18 extends into the storage box 10 and is fixedly connected to the push plate 27. The push plate 27 is moved by the second telescopic cylinder 18, so that the grinding discs 16 stored in the storage box 10 move as a whole towards the discharge port 30. The blocking mechanism includes an L-shaped blocking plate 28, which is movably connected inside the storage box 10. A third telescopic cylinder 29 is fixedly connected to the outside of the storage box 10. The output end of the third telescopic cylinder 29 is fixedly connected to the L-shaped blocking plate 28. When the third telescopic cylinder 29 is activated, the L-shaped blocking plate 28 moves and cancels the obstruction of the discharge port 30. At this time, the grinding discs 16 stored in the storage box 10 will be discharged through the discharge port 30.

[0022] Working principle: During use, the pipe pile is transported to the grinding area and raised. The heavy-duty slide table 4 moves along the linear translation bearing platform 1, driving the six-axis robotic arm body 3 to move. The six-axis robotic arm body 3 can drive the connecting block 6 to move, so that the grinding disc 16 in the mounting frame 17 contacts the end face of the pipe pile. By turning on the first motor 24, the grinding disc 16 can be rotated. The rotating grinding disc 16 can grind the end face of the pipe pile. The first connecting motor 7 can drive the rotating shaft 19 to rotate. The rotation of the rotating shaft 19 drives the support column 12 to rotate. At this time, the grinding disc 16 located in the mounting frame 17 rotates and grinds along the end face of the pipe pile. After the grinding disc 16 on one side finishes grinding the end face of the pipe pile, the six-axis robotic arm body 3 drives the mounting frame 17 away from the end face of the pipe pile. The second connecting motor 26 drives the support column 12 to rotate, so that the finer grinding disc 16 rotates to the position of the end face of the pipe pile. The six-axis robotic arm body 3 then brings the finer grinding disc 16 into contact with the end face of the pipe pile again, and the end face of the pipe pile is ground again by the finer grinding disc 16. When the grinding disc 16 needs to be replaced, the mounting bracket 17 of the grinding disc 16 to be replaced is rotated to a position close to the six-axis robotic arm body 3. The support column 12 is controlled to be in a horizontal state by the first connecting motor 7. The mounting motor 5 is moved by the first telescopic cylinder 21, so that one end of the hexagonal plug rod 22 is inserted into the plug slot 25 located at one end of the cross-shaped screw rod 20. The hexagonal plug rod 22 is rotated by the mounting motor 5, so that the other end of the cross-shaped plug rod 20 is rotated away from the positioning plate 23. At the same time, during the rotation process, the first telescopic cylinder 21 drives the mounting motor 5 to move. At this time, the grinding disc 16 located in the mounting bracket 17 falls off. The magnet located in the hexagonal plug rod 22 will attract the cross-shaped screw rod 20, so that the first telescopic cylinder 21 can drive the cross-shaped plug rod 20 to move. The drive motor 15 is turned on, causing the lead screw 14 to rotate, moving the mounting bracket 17 (without the grinding disc 16 installed) between the storage box 10 and the limiting plate 9. At this time, the drive motor 15 stops rotating, and the third telescopic cylinder 29 is activated, causing the L-shaped blocking plate 28 to move and remove its obstruction of the discharge port 30. The grinding disc 16 stored in the storage box 10 will then be discharged through the discharge port 30. When the lower end of the grinding disc 16 enters the arc-shaped limiting groove 31, the first telescopic cylinder 21 and the mounting motor 5 will be activated again, causing one end of the cross-shaped screw rod 20 to be screwed onto the positioning plate 23. Inside the internal threaded hole, the grinding disc 16 is fixed in place. After the first telescopic cylinder 21 is installed, it drives the installation motor 5 back to its initial position. One end of the hexagonal plug rod 22 disengages from the plug groove 25. The third telescopic cylinder 29 drives the L-shaped baffle plate 28 to block the discharge port 30 again. The second telescopic cylinder 18 drives the push plate 27 to move, so that the grinding disc 16 stored in the storage box 10 moves as a whole towards the discharge port 30. By rotating the lead screw 14 in the opposite direction, the mounting bracket 17 of the grinding disc 16 after replacement can be moved out of the storage box 10 and the limiting plate 9.

[0023] 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 robotic arm for a pipe pile end face grinding machine, comprising a six-axis robotic arm body, the six-axis robotic arm body being fixedly mounted on a heavy-duty slide table, the heavy-duty slide table being slidably mounted on a linear translational support platform, the linear translational support platform being further covered with a dustproof bellows cover, characterized in that: One end of the six-axis robotic arm body is fixedly connected to the connecting block. A rotating shaft is movably connected inside the connecting block. A support column is movably connected to the outside of the rotating shaft. Mounting mechanisms are movably connected to both sides of the support column. A grinding disc is installed inside the mounting mechanism. The grinding disc is installed through the mounting mechanism and drives the grinding disc to rotate. Two connecting plates are fixedly connected to one side of the connecting block. A storage box and a limiting plate are fixedly connected to the end of the connecting plate away from the connecting block. A pushing mechanism is provided inside the storage box. A discharge port is provided at the lower end of the storage box and the discharge port is connected to the inside of the storage box. The grinding disc stored in the storage box is pushed into the discharge port by the pushing mechanism. The storage box is equipped with a blocking mechanism on the outside, which blocks the discharge port by opening the blocking mechanism. The upper end of the limiting plate is provided with an arc-shaped limiting groove, and the upper end of the storage box is movably installed with a box cover. A first connecting motor is fixedly connected to one side of the connecting block. The output end of the first connecting motor is fixedly connected to the rotating shaft. A second connecting motor is fixedly connected inside the rotating shaft. The output end of the second connecting motor is fixedly connected to the support column. The installation mechanism includes a mounting frame, one end of which is movably connected to a T-slot. The mounting bracket has a positioning plate on its inner side. One end of the positioning plate has an internal threaded hole. The positioning plate is fixedly connected to the output end of the first motor. The first motor is fixedly connected inside the mounting bracket. The end of the positioning plate away from the first motor has a cross-shaped screw rod. The outside of the cross-shaped screw rod has an external thread. One end of the cross-shaped screw rod has a insertion slot. A hexagonal insertion rod is inserted into the insertion slot. A magnet is installed in the hexagonal insertion rod. One end of the hexagonal insertion rod is fixedly connected to the output end of the mounting motor. The mounting motor is fixedly connected to the output end of the first telescopic cylinder. The first telescopic cylinder is fixedly connected inside the mounting bracket.

2. The robotic arm for a pipe pile end face grinding machine according to claim 1, characterized in that: The T-slot is formed on the outside of the support column. A lead screw is screwed into the mounting bracket. The lower end of the lead screw is movably connected to the T-slot, and the upper end passes through the support column and is fixedly connected to the output end of the drive motor. The drive motor is fixedly connected to the upper end of the support column.

3. The robotic arm for a pipe pile end face grinding machine according to claim 1, characterized in that: The pushing mechanism includes a push plate, which is disposed inside the storage box. A second telescopic cylinder is fixedly connected to the outside of the storage box. The output end of the second telescopic cylinder extends into the storage box and is fixedly connected to the push plate.

4. The robotic arm for a pipe pile end face grinding machine according to claim 1, characterized in that: The blocking mechanism includes an L-shaped blocking plate, which is movably connected inside the storage box. A third telescopic cylinder is fixedly connected to the outside of the storage box, and the output end of the third telescopic cylinder is fixedly connected to the L-shaped blocking plate.

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