Automatic deslagging and polishing device for cut run-on and run-off plates

Abstract

The invention relates to the technical field of steel pipe manufacturing, in particular to an automatic deslagging and polishing device for cut run-on and run-off plates, which is used for solving the problem that the secondary processing performance and the service life of pipes are affected by cut material residues. The device comprises an execution module, a sensing and positioning module, a slag and dust removal module, an intelligent control module and a clamping module, the clamping module comprises a base and a plurality of conveying rollers arranged on the base in a linear array mode, a steel pipe is placed on the conveying rollers to be conveyed, and the sensing and positioning module is used for recognizing the arc starting position and the arc stopping position of a welding seam. The intelligent control module obtains welding seam arc starting and arc extinguishing position data collected by the sensing and positioning module, controls the execution module to cut an arc striking plate and an arc extinguishing plate, and polishes a notch; according to the device, by cutting the run-on and run-off plates and polishing the cut, the cut of the steel pipe is smooth, the surface cleanliness meets the requirement, and secondary machining of the steel pipe is facilitated.

Description

Technical Field

[0001] This invention relates to the field of steel pipe manufacturing technology, specifically to an automatic slag removal and grinding device after the arc-extinguishing plate is cut. Background Technology

[0002] With the advancement of technology and the continuous rise in labor costs, the welded steel pipe manufacturing industry is accelerating the intelligent transformation of its production processes, upgrading its automation technology to improve industrial efficiency. In the manufacturing process of straight seam submerged arc welded pipes, the application of the arc-initiating (extinguishing) plate is a key process step to ensure welding quality stability and control material loss. The currently prevalent traditional manual flame cutting method has significant technical defects; insufficient cut surface flatness will trigger a series of chain reactions.

[0003] ① It affects the end face sealing performance during the water pressure test, forcing the pressure in the main cylinder top pipe to increase, thereby accelerating the wear of the sealing ring;

[0004] ② This leads to abnormal wear of the cutting tools during the chamfering process;

[0005] ③ When the unevenness of the port exceeds the process threshold, it will disrupt the normal production process and force the addition of a flat-end pretreatment step. This process defect not only causes a decrease in production efficiency and material waste, but the resulting cutting slag will also cause mechanical damage to the diameter expansion unit.

[0006] As a fundamental material in modern industrial systems, steel pipes are widely required for cutting and surface treatment in various engineering applications. Current technological development in the industry exhibits a clear generational shift: traditional flame cutting is gradually being replaced by advanced cutting technologies due to its low energy efficiency. These technologies, with their millimeter-level processing precision and significantly improved cutting efficiency, have become the mainstream solution.

[0007] Both of these technologies face the same process challenge—the adhesion of cutting residues (including slag, oxide layer, etc.). These microscopic defects directly affect the secondary processing performance and service life of the pipe. Summary of the Invention

[0008] This invention provides an automatic slag removal and grinding device after cutting with an arc-extinguishing plate, in order to solve the problem that the residue from the cut material affects the secondary processing performance and service life of the pipe.

[0009] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0010] An automatic slag removal and grinding device after cutting an arc-starting and extinguishing plate includes an execution module, a sensing and positioning module, a slag and dust removal module, an intelligent control module, and a clamping module. The clamping module includes a base and multiple conveying rollers arranged in a linear array on the base. A steel pipe is placed on the conveying rollers for conveying. The sensing and positioning module is used to identify the arc-starting and arc-ending positions of the weld. The intelligent control module acquires the arc-starting and arc-ending position data collected by the sensing and positioning module, controls the execution module to cut the arc-starting and extinguishing plates, and grinds the cut. When the execution module is running, the control module controls the slag and dust removal module to collect and process cutting waste and dust.

[0011] Furthermore, the execution module includes a six-axis robot mounted on the base. The execution arm of the six-axis robot is equipped with a plasma cutting torch and a grinding head. The plasma cutting torch is used to cut off the initiation and extinguishing plates, and the grinding head is used to grind the cut.

[0012] Furthermore, the perception and positioning module includes a 3D vision sensor installed on the six-axis robot arm. The 3D vision sensor is used for three-dimensional scanning of the arc initiation and termination positions of the weld, providing a basis for the initial positioning and path planning of the six-axis robot.

[0013] Furthermore, the sensing and positioning module also includes a laser displacement sensor integrated at the plasma torch, which is used to acquire data on the distance between the plasma torch and the arc plate, as well as the cut shape.

[0014] Furthermore, the slag and dust removal module includes a variable frequency fan, on which an extraction pipe and an exhaust pipe are installed. A negative pressure nozzle is installed at the end of the extraction pipe, with the negative pressure nozzle facing the cut position of the steel pipe. A cyclone dust collector is installed on the exhaust pipe.

[0015] Furthermore, the slag and dust removal module also includes a collection box, which is disposed on the base and located below the cutting position of the steel pipe.

[0016] Furthermore, the clamping module also includes a magnetic chuck, which is mounted on the base and located in the gap between two adjacent conveying rollers.

[0017] Furthermore, the control module includes a central controller for coordinating the actions of the execution module, the sensing and positioning module, the slag and dust removal module, and the clamping module;

[0018] The MES system production execution module interface is used to send operation information to the remote end;

[0019] The quality prediction module algorithm is embedded in the control software running on the central controller, and provides early warnings of parameter deviations based on the data obtained by the perception and positioning module.

[0020] The human-machine interface is used to display the current working status, process parameters, early warning information, and the estimated completion time for the arc plate cutting and grinding of the remaining steel pipes.

[0021] The beneficial effects of this invention are analyzed as follows:

[0022] An automatic slag removal and grinding device after cutting an arc-starting and extinguishing plate includes an execution module, a sensing and positioning module, a slag and dust removal module, an intelligent control module, and a clamping module. The clamping module includes a base and multiple conveying rollers arranged in a linear array on the base. The steel pipe is placed on the conveying rollers for conveying. The sensing and positioning module is used to identify the arc-starting and arc-ending positions of the weld. The intelligent control module acquires the arc-starting and arc-ending position data of the weld collected by the sensing and positioning module, controls the execution module to cut the arc-starting and extinguishing plates, and grinds the cut. When the execution module is running, the control module controls the slag and dust removal module to collect and process cutting waste and dust.

[0023] When cutting the arc-starting and arc-extinguishing plates at the end of the steel pipe, the steel pipe is placed on the clamping module. The conveying roller of the clamping module transports the steel pipe to the execution module. The sensing and positioning module collects the position of the steel pipe and the coordinates of the arc plate. When the steel pipe reaches the cutting position, the execution module cuts the arc-starting and arc-extinguishing plates at the end of the steel pipe and grinds the cut end. During the operation of the execution module, the slag removal and dust removal module operates simultaneously, and the cutting waste and dust are collected. The intelligent control module coordinates the operation of all the aforementioned modules. After the cutting and grinding are completed, the conveying roller continues to rotate and sends out the steel pipe. Then, the next steel pipe is cut and ground for the arc-starting and arc-extinguishing plates. Through the cutting and grinding of the arc-starting and arc-extinguishing plates by the above modules, the cut of the steel pipe is made flat and the surface cleanliness meets the requirements, which facilitates the secondary processing of the steel pipe. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0025] In the diagram: 1. Base; 2. Conveyor roller; 3. Six-axis robot; 4. Collection box. Detailed Implementation

[0026] 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.

[0027] Examples, such as Figure 1 As shown, an automatic slag removal and grinding device after cutting an arc-starting and extinguishing plate includes an execution module, a sensing and positioning module, a slag and dust removal module, an intelligent control module, and a clamping module. The clamping module includes a base 1 and multiple conveying rollers 2 arranged in a linear array on the base 1. The steel pipe is placed on the conveying rollers 2 for conveying. The sensing and positioning module is used to identify the arc-starting and arc-ending positions of the weld. The intelligent control module acquires the arc-starting and arc-ending position data of the weld collected by the sensing and positioning module, controls the execution module to cut the arc-starting and extinguishing plates, and grinds the cut. When the execution module is running, the control module controls the slag and dust removal module to collect and process cutting waste and dust.

[0028] The working mechanism of the automatic slag removal and grinding device after cutting the arc extinguishing plate provided in this embodiment is as follows:

[0029] When cutting the arc-starting and arc-extinguishing plates at the end of the steel pipe, the steel pipe is placed on the clamping module. The conveying roller 2 of the clamping module transports the steel pipe to the execution module. The sensing and positioning module collects the position of the steel pipe and the coordinates of the arc plate. When the steel pipe reaches the cutting position, the execution module cuts the arc-starting and arc-extinguishing plates at the end of the steel pipe and grinds the cut end. During the operation of the execution module, the slag removal and dust removal module operates synchronously, and the cutting waste and dust are collected. The intelligent control module coordinates the operation of all the aforementioned modules. After the cutting and grinding are completed, the conveying roller 2 continues to rotate and sends out the steel pipe. Then, the next steel pipe is cut and ground. Through the cutting of the arc-starting and arc-extinguishing plates and the grinding of the cut, the steel pipe cut is made flat and the surface cleanliness meets the requirements, which facilitates the secondary processing of the steel pipe.

[0030] Among the optional methods in this embodiment, the more preferred one is:

[0031] The execution module includes a six-axis robot 3 mounted on a base 1. The execution arm of the six-axis robot 3 is equipped with a plasma cutting torch and a grinding head. The plasma cutting torch is used to cut off the initiation and extinguishing plates, and the grinding head is used to grind the cut.

[0032] The six-axis robot 3 has high flexibility and wide operating range. It is equipped with a quick-change disc tool to realize the rapid switching between plasma torch and grinding head. After cutting the arc plate with plasma torch, the six-axis robot 3 changes the grinding head to grind the cut, remove slag, and smooth out uneven areas.

[0033] Among the optional methods in this embodiment, the more preferred one is:

[0034] The perception and positioning module includes a 3D vision sensor mounted on the actuator arm of the six-axis robot 3. The 3D vision sensor is used for three-dimensional scanning of the arc initiation and termination positions of the weld, providing a basis for the initial positioning and path planning of the six-axis robot 3.

[0035] The 3D vision sensor can also be installed on the base 1. The 3D vision sensor collects the position of the steel pipe to determine the three-dimensional coordinates of the arc start and end segments of the weld, so as to realize the initial positioning and cutting and grinding path planning of the six-axis robot 3.

[0036] Among the optional methods in this embodiment, the more preferred one is:

[0037] The sensing and positioning module also includes a laser displacement sensor integrated into the plasma torch. The laser displacement sensor is used to acquire data on the distance between the plasma torch and the arc plate, as well as the cut shape.

[0038] The laser displacement sensor collects and feeds back the distance and cut shape data between the plasma torch and the workpiece every 50ms. The control module controls the six-axis robot 3 to drive the plasma torch to achieve automatic height tracking based on the collected data.

[0039] Among the optional methods in this embodiment, the more preferred one is:

[0040] The slag and dust removal module includes a variable frequency fan, on which an extraction pipe and an exhaust pipe are installed. A negative pressure nozzle is installed at the end of the extraction pipe, facing the cut position of the steel pipe. A cyclone dust collector is installed on the exhaust pipe.

[0041] The variable frequency fan adjusts the suction intensity according to the increase or decrease of cutting power to achieve energy-saving and efficient operation. The negative pressure nozzle absorbs the smoke and dust generated by the cutting torch, capturing most of the metal particles and larger residues at the source. The cyclone separator separates the extracted larger particles, ensuring a clean working environment and eliminating the impact of smoke and dust on the sensing and positioning module.

[0042] Among the optional methods in this embodiment, the more preferred one is:

[0043] The slag and dust removal module also includes a collection box 4, which is set on the base 1 and located below the cutting position of the steel pipe.

[0044] The collection box 4 is located at the bottom of the cutting arc plate and is used to collect the metal scrap after cutting for easy recycling.

[0045] Among the optional methods in this embodiment, the more preferred one is:

[0046] The clamping module also includes a magnetic chuck, which is mounted on the base 1 and located in the gap between two adjacent conveyor rollers 2.

[0047] The magnetic chuck is electromagnetically controlled. When it is necessary to lock the steel pipe, the magnetic chuck is energized so that it can pick up and fix the steel pipe. The magnetic chuck and the base 1 can be connected by a structure such as an electric telescopic rod, so that the magnetic chuck can move closer to or away from the steel pipe.

[0048] Among the optional methods in this embodiment, the more preferred one is:

[0049] The control module includes a central controller for coordinating the actions of the execution module, sensing and positioning module, slag and dust removal module, and clamping module; an MES system production execution module interface for sending operational information to remote terminals; a quality prediction module algorithm embedded in the control software running on the central controller, which provides early warnings of parameter deviations based on data obtained from the sensing and positioning module; and a human-machine interface for displaying the current working status, process parameters, early warning information, and the estimated completion time for the arc plate cutting and grinding of the remaining steel pipes.

[0050] The central controller executes the core control logic and coordinates the operation of other modules. The MES system's production execution module interface connects with the factory's upper-level management system to receive production orders and report status data, enabling real-time monitoring and adjustment. The quality prediction model algorithm is embedded in the control software, analyzing data collected by real-time sensors and providing a 300ms advance warning of parameter deviations to achieve proactive control. The human-machine interface includes a real-time dashboard that displays the current working status, process parameters, warning information, and the estimated cutting completion time of the remaining steel pipes.

[0051] The working steps of this device include:

[0052] S1. Arc Extinguishing Plate Cutting: Intelligent cutting process is executed according to preset trajectory planning and process parameters;

[0053] S2. Slag Removal Equipment Operation: Integrating waste recycling function into the steel pipe cutting process, and using matching slag removal equipment to environmentally treat the metal particles generated during the operation.

[0054] S3. Real-time monitoring and adjustment: Based on the production execution module of the MES system, a collaborative control system for cutting and slag removal is constructed: ① The laser displacement sensor provides feedback on the cut shape data every 50ms; ② The cyclone dust collector automatically adjusts the suction intensity according to the cutting power; ③ The quality prediction model provides an early warning of parameter deviation 300ms in advance; ④ The dashboard displays the estimated completion time of the remaining steel pipes in real time.

[0055] 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. An automatic slag removal and grinding device after cutting an arc-extinguishing plate, characterized in that: The system includes an execution module, a sensing and positioning module, a slag and dust removal module, an intelligent control module, and a clamping module. The clamping module includes a base (1) and multiple conveying rollers (2) arranged in a linear array on the base (1). The steel pipe is placed on the conveying rollers (2) for conveying. The sensing and positioning module is used to identify the arc initiation and arc termination positions of the weld. The intelligent control module acquires the arc initiation and arc termination position data collected by the sensing and positioning module, controls the execution module to cut the arc initiation and arc termination plates, and grinds the cut. When the execution module is running, the control module controls the slag and dust removal module to collect and process cutting waste and dust.

2. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 1, characterized in that: The execution module includes a six-axis robot (3) mounted on the base (1). The execution arm of the six-axis robot (3) is equipped with a plasma cutting torch and a grinding head. The plasma cutting torch is used to cut off the initiation and extinguishing plates, and the grinding head is used to grind the cut.

3. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 2, characterized in that: The perception and positioning module includes a 3D vision sensor installed on the execution arm of the six-axis robot (3). The 3D vision sensor is used for three-dimensional scanning of the arc initiation and arc termination positions of the weld, providing a basis for the initial positioning and path planning of the six-axis robot (3).

4. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 3, characterized in that: The sensing and positioning module also includes a laser displacement sensor integrated at the plasma torch, which is used to acquire the distance between the plasma torch and the arc plate, as well as the cut shape data.

5. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 4, characterized in that: The slag and dust removal module includes a variable frequency fan, on which an extraction pipe and an exhaust pipe are installed. A negative pressure nozzle is installed at the end of the extraction pipe, and the negative pressure nozzle faces the cut position of the steel pipe. A cyclone dust collector is installed on the exhaust pipe.

6. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 5, characterized in that: The slag and dust removal module also includes a collection box (4), which is set on the base (1) and located below the cutting position of the steel pipe.

7. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 1, characterized in that: The clamping module also includes a magnetic chuck, which is mounted on the base (1) and located in the gap between two adjacent conveying rollers (2).

8. The automatic slag removal and grinding device after cutting the arc-extinguishing plate according to claim 1, characterized in that: The control module includes a central controller, which coordinates the actions of the execution module, the sensing and positioning module, the slag and dust removal module, and the clamping module. The MES system production execution module interface is used to send operation information to the remote end; The quality prediction module algorithm is embedded in the control software running on the central controller, and provides early warnings of parameter deviations based on the data obtained by the perception and positioning module. The human-machine interface is used to display the current working status, process parameters, early warning information, and the estimated completion time for the arc plate cutting and grinding of the remaining steel pipes.

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