Annular abrasive belt polishing device for pipes

Abstract

The invention relates to a pipe annular abrasive belt grinding device which comprises a mechanical arm, a connecting device arranged on the mechanical arm and an abrasive belt and further comprises a driving device, a tensioning device and a grinding frame which are arranged on the connecting device, and the grinding frame is provided with a grinding groove. The moving devices are symmetrically arranged on the two sides of the grinding groove. The pressing device is arranged on the moving device; the grinding roller is rotationally arranged on the pressing device; the auxiliary rolling wheels are rotationally arranged on the pressing device and symmetrically located on the two sides of the grinding rolling wheel. The gap bridge roller is rotationally arranged on the polishing frame and the connecting device; the abrasive belt is movably arranged on the driving device, the tensioning device, the grinding roller and the gap bridge roller in a sleeving mode, the pressing device symmetrically presses the abrasive belt on the outer circle face of the pipe through the grinding roller, and the auxiliary roller is used for controlling the grinding diameter. According to the device, the two sides of the pipe are symmetrically ground at the same time, the grinding efficiency is greatly improved, meanwhile, the grinding size is accurately controlled through cooperation of the positioning wheel and the pressing device, and the grinding quality is high.

Description

Technical Field

[0001] This invention relates to a grinding device, and more particularly to a pipe annular abrasive belt grinding device. Background Technology

[0002] like Figure 12 The elliptical tube shown is formed by welding two U-shaped tubes together. The weld is located on the straight section of the tube, and for aesthetic purposes and to avoid affecting its use, the weld needs to be ground smooth. Current grinding methods are mainly manual, requiring the grinding machine to be rotated to achieve circumferential grinding. This method demands a high level of operator skill, results in inconsistent grinding quality, has a low degree of automation, and is costly. To improve automation and reduce costs, a robotic arm is used to drive a belt grinder. The belt is pressed tightly against one side of the outer circumference and then ground. The robotic arm drives the belt grinder to rotate one revolution along the outer circumference, achieving grinding of the outer surface. This grinding method relies on a pre-set grinding program, but it still suffers from over-grinding (the difference between the outer diameter at the grinding point and the outer diameter of the tube exceeds the required value) or under-grinding (the weld protrudes above the outer circumference of the tube, resulting in an uneven outer surface), especially in manually welded products where inconsistent weld quality leads to poor grinding quality stability. At the same time, the time required for the belt sander to complete one revolution is relatively long, resulting in a slow production cycle. Summary of the Invention

[0003] To solve the above problems, the present invention provides a pipe annular abrasive belt grinding device, the specific technical solution of which is as follows: A pipe annular abrasive belt grinding device includes a robotic arm, a connecting device mounted on the robotic arm, and an abrasive belt. It further includes: a driving device mounted on the connecting device; a tensioning device mounted on one side of the driving device; a grinding frame mounted on the connecting device and having a grinding groove; a moving device symmetrically arranged on both sides of the grinding groove; a clamping device mounted on the moving device; a grinding roller rotatably mounted on the clamping device; auxiliary rollers rotatably mounted on the clamping device and symmetrically located on both sides of the grinding roller; and a bridging roller rotatably mounted on the grinding frame and the connecting device. The abrasive belt is movably sleeved on the driving device, the tensioning device, the grinding roller, and the bridging roller. The clamping device symmetrically clamps the abrasive belt onto the outer circumference of the pipe via the grinding roller. The auxiliary rollers are used to control the grinding diameter.

[0004] Preferably, the driving device includes: a drive motor mounted on the connecting device; a drive wheel rotatably mounted on one side of the drive motor; a driving pulley mounted on the drive motor; a driven pulley mounted on the drive wheel; and a drive belt sleeved on the driving pulley and the driven pulley.

[0005] Preferably, the tensioning device includes: a tensioning cylinder disposed on the connecting device; a tensioning pressure regulating valve connected to the tensioning cylinder; and a tensioning roller rotatably disposed on the piston rod of the tensioning cylinder and abutting against the inner side of the sanding belt.

[0006] Furthermore, it also includes: a correction device, located between the tensioning cylinder and the tensioning roller, used to rotate the angle of the tensioning roller so that the sanding belt keeps its center position unchanged.

[0007] Furthermore, the moving device includes: a moving motor mounted on the grinding frame; a lead screw assembly connected to the moving motor; and a moving frame slidably mounted on the grinding frame and connected to the lead screw assembly.

[0008] Furthermore, the clamping device includes: a clamping cylinder disposed on the moving device; a clamping pressure regulating valve connected to the clamping cylinder; and a clamping seat slidably disposed on the grinding frame and connected to the clamping cylinder and the grinding roller.

[0009] Furthermore, it also includes: an adjustment seat, symmetrically arranged on both sides of the clamping seat, and connected to the auxiliary roller.

[0010] Preferably, the grinding roller is provided with symmetrical correction cone surfaces on both sides.

[0011] Preferably, it further includes: an air blowing device, which is disposed on the grinding frame and is arranged opposite to the auxiliary roller.

[0012] Preferably, it further includes: a detection sensor, wherein the detection sensor is disposed on the side of the grinding groove, and there are at least two such sensors, for detecting the pipe.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a pipe annular abrasive belt grinding device that performs symmetrical grinding from both sides of the pipe simultaneously, which greatly improves the grinding efficiency. At the same time, the positioning wheel and the clamping device enable precise control of the grinding size, which improves the grinding quality and effectively avoids the problems of over-grinding or under-grinding. Attached Figure Description

[0014] Figure 1 This is a perspective view of this application; Figure 2 It is a 3D view showing the robotic arm and pipes hidden. Figure 3 yes Figure 2 The front view; Figure 4 It is a first-view perspective perspective of the assembly of the grinding frame, moving device, clamping device, grinding roller, auxiliary roller and bridge roller; Figure 5 yes Figure 4 The front view; Figure 6 It is a second perspective perspective of the assembly of the grinding frame, moving device, clamping device, grinding roller, auxiliary roller and bridge roller, with some parts hidden; Figure 7 yes Figure 6 The front view; Figure 8 yes Figure 6 Top view; Figure 9 It is a perspective view of the assembly of the moving device, the pressing device, the grinding roller, the auxiliary roller and the air blowing device; Figure 10 yes Figure 9 Top view; Figure 11 It is a three-dimensional view of the assembly of the grinding roller and the auxiliary roller; Figure 12 This is a schematic diagram of an elliptical tube. Detailed Implementation

[0015] The present invention will now be further described with reference to the accompanying drawings.

[0016] like Figures 1 to 12 As shown, a pipe annular belt sander includes a robotic arm 11, a connecting device 12, a sanding belt 13, a drive device 2, a tensioning device 3, a sanding frame 41, a moving device 51, a pressing device 52, a sanding roller 61, an auxiliary roller 62, and a bridging roller. The connecting device 12 is connected to both the robotic arm 11 and the sanding frame 41, and is used for changing different sanding devices on the robotic arm 11. The drive device 2, the tensioning device 3, and the sanding frame 41 are all fixed to the connecting device 12. The drive device 2 and the tensioning device 3 are installed on both sides of one end of the connecting device 12, and the sanding frame 41 is installed on the other end of the connecting device 12. The sanding frame 41 has a sanding groove 42 and is U-shaped. The moving device 51 is mounted on the grinding frame 41 and symmetrically located on both sides of the grinding groove 42. The moving device 51 is connected to the pressing device 52, which is connected to the grinding roller 61 and the auxiliary roller 62. The auxiliary roller 62 is symmetrically located on both sides of the grinding roller 61. The bridge roller is rotatably mounted on the grinding frame 41 and the connecting device 12. The sanding belt 13 is movably sleeved on the driving device 2, the tensioning device 3, and the bridge roller of the grinding roller 61. The pressing device 52 presses the sanding belt 13 symmetrically on the outer surface of the pipe through the grinding roller 61. The auxiliary roller 62 is used to control the grinding diameter.

[0017] The tensioning device 3 is used to tension the abrasive belt 13, keeping it taut. The driving device 2 moves the abrasive belt 13, and the moving device 51 moves it to the side of the pipe. Then, the pressing device 52 presses the abrasive belt 13 against the surface of the pipe using the grinding roller 61. The robotic arm 11 drives the abrasive belt 13 to perform 360° grinding on the outer surface of the pipe. Because the abrasive belt 13 is symmetrically located on both sides of the pipe, the grinding efficiency is nearly twice that of existing single-sided abrasive belt 13 grinding, shortening the grinding cycle and improving grinding efficiency. The auxiliary roller 62 effectively prevents over-grinding, while the pressing device 52 prevents under-grinding. Together, they achieve high-precision surface grinding, making the outer surface of the weld 91 and the outer surface of the pipe form an integral structure, improving surface quality.

[0018] Specifically, the drive unit 2 includes a drive motor 21, a drive wheel 22, a drive pulley, a driven pulley, and a drive belt. The drive motor 21 is fixed on the connecting base plate 21 of the connecting device 12, and the output shaft of the drive motor 21 is connected to the drive pulley. The drive wheel 22 is mounted on the connecting base plate 21 via a drive seat 24 and is located on one side of the drive motor 21. The drive wheel 22 and the drive seat 24 are rotatably connected via a drive shaft 23. The driven pulley is arranged opposite to the drive pulley and is mounted on the drive shaft 23. The drive belt is sleeved on the drive pulley and the driven pulley. The drive motor 21 drives the drive wheel 22 to rotate via the drive pulley, the driven pulley, and the drive belt, and the drive wheel 22 drives the sanding belt 13 to move.

[0019] The tensioning device 3 includes a tensioning cylinder 31, a tensioning pressure regulating valve, and a tensioning roller 33. The tensioning cylinder 31 is fixed on the connecting base plate 21. The tensioning cylinder 31 is a multi-axis cylinder or a slide cylinder and is connected to the tensioning pressure regulating valve, which is connected to an air source. A tensioning seat 32 is mounted on the piston rod of the tensioning cylinder 31, and the tensioning roller 33 is rotatably mounted on the tensioning seat 32, pressing against the inner side of the sanding belt 13. The tensioning cylinder 31 achieves tensioning of the sanding belt 13 through the tensioning roller 33, and the tensioning pressure is adjusted by adjusting the pressure of the tensioning pressure regulating valve.

[0020] To prevent the abrasive belt 13 from deviating, the pipe annular abrasive belt 13 grinding device also includes a deviation correction device 34. The deviation correction device 34 is installed between the tensioning cylinder 31 and the tensioning roller 33, and is used to rotate the angle of the tensioning roller 33 to keep the abrasive belt 13 in a constant centered position. The deviation correction device 34 includes a worm gear reducer, which is mounted on the piston rod of the tensioning cylinder 31. The output shaft of the worm gear reducer is fixedly connected to the tensioning seat 32. The angle of the tensioning roller 33 is adjusted via the worm gear reducer according to actual usage to prevent the abrasive belt 13 from deviating to one side.

[0021] The moving device 51 includes a moving motor 511, a lead screw assembly 512, and a moving frame 513. The moving motor 511 is fixed on the grinding frame 41. The lead screw assembly 512 includes a ball screw 5121, a lead screw nut, a connecting sleeve 5122, and a bearing seat 5123. One end of the ball screw 5121 is connected to the motor shaft of the moving motor 511. The lead screw nut is mounted on the ball screw 5121 and connected to the connecting sleeve 5122. The end of the connecting sleeve 5122 is fixed on the moving frame 513. The bearing seat 5123 is fixed on the moving frame 513 and connected to the other end of the ball screw 5121, so that both ends of the ball screw 5121 are supported. The moving frame 513 is slidably mounted on the grinding frame 41 via a linear guide pair. The moving device 51 is symmetrically located on both sides of the grinding groove 42. The moving motor 511 drives the moving frame 513 to move on the upper cover of the grinding frame 41 through the lead screw assembly 512, so that the sanding belt 13 is close to the pipe, which can expand the applicable range of pipe diameter and improve versatility.

[0022] The clamping device 52 includes a clamping cylinder 521, a clamping pressure regulating valve, and a clamping seat 522. The clamping cylinder 521 is fixed on the moving frame 513 of the moving device 51 and connected to the clamping pressure regulating valve. The clamping pressure regulating valve is used to adjust the clamping force. The piston rod of the clamping cylinder 521 is connected to the clamping seat 522. The clamping seat 522 is slidably mounted on the grinding frame 41 through a linear guide pair and is symmetrically located on both sides of the grinding groove 42. The clamping seat 522 is connected to the grinding roller 61.

[0023] To facilitate adjustment of the position of the auxiliary roller 62, an adjusting seat 523 is also included. The adjusting seat 523 is symmetrically installed on both sides of the clamping seat 522 and connected to the auxiliary roller 62. The adjusting seat 523 is connected to the clamping seat 522 through a dovetail groove structure and has an oblong hole. It is fixed to the clamping seat 522 with screws, which can adjust the position of the auxiliary roller 62.

[0024] The grinding roller 61 has symmetrically arranged correction cones 611 on both sides. The correction cones 611 are used to prevent the sanding belt 13 from deviating and to concentrate the grinding position. The overall width of the grinding roller 61 is not less than or slightly less than the width of the sanding belt 13. The correction cones 611 make the sanding belt 13 form a covering structure on the grinding roller 61, which can prevent the sanding belt 13 from moving axially during grinding and improve the stability and reliability of grinding.

[0025] The pipe annular abrasive belt 13 grinding device also includes an air blowing device 7, which is mounted on the grinding frame 41 and positioned opposite the auxiliary roller 62. The air blowing device 7 is used to clean grinding debris, prevent its accumulation, and ensure grinding quality. The air blowing device 7 includes an air blowing seat 71 and an air nozzle 72. The air blowing seat 71 is fixed to the grinding frame 41, and the air nozzle 72 is mounted on the air blowing seat 71, with the air blowing direction directed towards the auxiliary roller 62. This promptly cleans the grinding debris, preventing it from accumulating on the pipe surface and affecting the operation of the auxiliary roller 62, thereby ensuring grinding accuracy.

[0026] The pipe annular abrasive belt 13 grinding device also includes detection sensors 8. The detection sensors 8 are mounted on the grinding frame 41 and located on the side of the grinding groove 42. There are at least two detection sensors 8, used for detecting the pipe. To improve detection accuracy, three detection sensors 8 can be set. The detection sensors 8 are located on the three sides of the U-shaped grinding groove 42, with two symmetrically arranged and on the same axis as the two grinding rollers 61. The third detection sensor 8 is also arranged opposite to the axis of the pipe. The intersection point of the three detection sensors 8 is on the axis of the pipe, which can accurately locate the position of the pipe, improving the grinding accuracy and the accuracy of pipe position finding.

[0027] The bridging rollers include a first bridging roller 71, a second bridging roller 72, a third bridging roller 73, a fourth bridging roller 74, a fifth bridging roller 75, a sixth bridging roller 76, a seventh bridging roller 77, and an eighth bridging roller 78. The first bridging roller 71 is mounted on the connecting base plate 121 and is located between the grinding frame 41 and the drive wheel 22. The second bridging roller 72 and the eighth bridging roller 78 are located at the two ends of the top of the grinding frame 41, with the second bridging roller 72 on the same side as the first bridging roller 71 and the eighth bridging roller on the same side as the tensioning roller 33. The third bridging roller 73 and the seventh bridging roller 77 are located at the two ends of the bottom of the grinding frame 41. The fourth bridging roller is located at both ends of the grinding roller 61 and on both sides of the grinding groove 42. The sixth bridging roller 76 is located on both sides of the bottom of the grinding groove 42 and is used for the steering of the sanding belt 13.

[0028] During operation, the elliptical tube is fixed to the fixed device. The robotic arm 11 moves the grinding frame 41 to the weld seam 91 of the tube. The grinding groove 42 is inserted into the tube. After the detection sensor 8 detects the tube, the robotic arm 11 stops, fixing the position of the grinding frame 41. Then, the moving motor 511 of the moving device 51 drives the moving frame 513 to move through the lead screw assembly 512, so that the grinding roller 61 is close to the tube. Then, the drive motor 21 starts, and the sanding belt 13 starts working. Next, the clamping cylinder 521 starts, and the clamping cylinder 521 presses the sanding belt 13 against the weld seam 91 of the tube through the grinding roller 61 for grinding. The robotic arm 11 drives the grinding frame 41 to rotate around the surface of the tube to grind the circumference of the tube. At the start of grinding, the abrasive belt 13 first rests against the pipe for grinding. When the required outer diameter is reached, the auxiliary roller 62 presses against the surface of the pipe, preventing the abrasive belt 13 from continuing to grind, thus controlling the amount of grinding and effectively avoiding over-grinding. The clamping cylinder 521 presses the abrasive belt 13 firmly against the surface of the pipe during grinding, ensuring reliable grinding and preventing under-grinding. After grinding is completed, the clamping cylinder 521 retracts, the moving motor 511 drives the grinding roller 61 away from the pipe, and then the robotic arm 11 drives the grinding frame 41 away from the pipe, removing the ground pipe from the fixing device, completing the grinding process.

[0029] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the claims of the present invention.

Claims

1. A pipe annular abrasive belt grinding device, comprising a robotic arm (11), a connecting device (12) disposed on the robotic arm (11), and an abrasive belt (13), characterized in that, Also includes: The driving device (2) is mounted on the connecting device (12); Tensioning device (3) is located on one side of drive device (2); A grinding frame (41) is provided on the connecting device (12) and has a grinding groove (42). The moving device (51) is symmetrically arranged on both sides of the polishing groove (42); A clamping device (52) is provided on the moving device (51); The grinding roller (61) is rotatably mounted on the clamping device (52); An auxiliary roller (62) is rotatably mounted on the clamping device (52) and symmetrically positioned on both sides of the polishing roller (61); and The bridge roller is rotatably mounted on the grinding frame (41) and the connecting device (12); The sanding belt (13) is movably sleeved on the driving device (2), the tensioning device (3), the grinding roller (61), and the bridge roller. The pressing device (52) presses the sanding belt (13) symmetrically on the outer surface of the pipe through the grinding roller (61). The auxiliary roller (62) is used to control the grinding diameter.

2. The pipe annular abrasive belt grinding device according to claim 1, characterized in that, The driving device (2) includes: A drive motor (21) is mounted on the connecting device (12); The drive wheel (22) is rotatably located on one side of the drive motor (21); An active pulley is mounted on the drive motor (21); Driven pulley, disposed on the drive wheel (22); and A drive belt is fitted onto the driving pulley and the driven pulley.

3. The pipe annular abrasive belt grinding device according to claim 1, characterized in that, The tensioning device (3) includes: A tensioning cylinder (31) is provided on the connecting device (12); A tension regulating valve is connected to the tension cylinder (31); and The tensioning roller (33) is rotatably mounted on the piston rod of the tensioning cylinder (31) and abuts against the inner side of the sand belt (13).

4. The pipe annular abrasive belt grinding device according to claim 3, characterized in that, Also includes: The correction device (34) is located between the tension cylinder (31) and the tension roller (33) and is used to rotate the angle of the tension roller (33) so that the sand belt (13) keeps its center position unchanged.

5. The pipe annular abrasive belt grinding device according to claim 1, characterized in that, The mobile device (51) includes: A movable motor (511) is mounted on the grinding frame (41); The lead screw assembly (512) is connected to the moving motor (511); The movable frame (513) is slidably disposed on the grinding frame (41) and connected to the lead screw assembly (512).

6. The pipe annular abrasive belt grinding device according to claim 1, characterized in that, The clamping device (52) includes: A clamping cylinder (521) is mounted on the moving device (51); The pressure regulating valve is connected to the pressure cylinder (521); and The clamping seat (522) is slidably disposed on the grinding frame (41) and connected to the clamping cylinder (521) and the grinding roller (61).

7. The pipe annular abrasive belt grinding device according to claim 6, characterized in that, Also includes: Adjustment seat (523) is symmetrically arranged on both sides of the pressing seat (522) and connected to the auxiliary roller (62).

8. The pipe annular abrasive belt grinding device according to claim 1, characterized in that, The grinding roller (61) has symmetrically arranged correction cone surfaces (611) on both sides.

9. A pipe annular abrasive belt grinding device according to any one of claims 1 to 8, characterized in that, Also includes: An air blowing device (7) is provided on the grinding frame (41) and is arranged opposite to the auxiliary roller (62).

10. A pipe annular abrasive belt grinding device according to any one of claims 1 to 8, characterized in that, Also includes: The detection sensor (8) is located on the side of the grinding groove (42), and there are at least two of them, for detecting the pipe.

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