Pipe flanging and cutting and grinding mechanism and robot

Abstract

The application provides a pipe flanging reducing cutting and grinding mechanism and robot, which comprises a driving assembly and a cutter assembly; the cutter assembly comprises a telescopic cutter mechanism, a cutter disc rotating mechanism, a transmission mechanism and a cutting driving mechanism; the cutting driving mechanism is in transmission connection with the cutter disc rotating mechanism and is used for providing rotating power for the cutter disc rotating mechanism; the telescopic cutter mechanism is arranged on the cutter disc rotating mechanism and is used for synchronous rotation with the cutter disc rotating mechanism; the transmission mechanism is connected between the driving assembly and the telescopic cutter mechanism and is used for converting the axial power output by the driving assembly into thrust force for driving the telescopic cutter mechanism to realize radial telescoping, so as to change the effective cutting radius and realize cutting and grinding work on the pipe flanging.

Description

Technical Field

[0001] This invention relates to the field of cable engineering construction technology, and in particular to a pipe internal flange-changing and grinding mechanism and robot. Background Technology

[0002] In cable engineering and the construction of various plastic pipes (such as MPP pipes), pipes are typically extended by hot-melt welding. This welding process creates irregularly shaped, hard, inwardly flared edges at the joint inside the pipe. During subsequent cable laying or use, these protruding inwardly flared edges can easily scratch the cable's outer sheath, so they must be removed and ground smooth.

[0003] Currently, the removal of internal flanges in pipes typically employs cutting devices with fixed-size cutter heads or simple manual expansion cutting tools. However, existing cutting devices have the following limitations in practical engineering applications: First, existing tool mechanisms often cannot automatically and accurately adjust the radial diameter according to changes in the actual inner diameter of the pipe and the irregular shape of the internal flange, making it difficult to control the depth of cut and increasing the risk of incomplete cutting or over-cutting that damages the pipe wall. Second, due to the limited cylindrical space inside the pipe, existing cutting devices often struggle to achieve both smooth cutting rotation and precise radial feed control within a compact structural module. Mechanical interference easily occurs between the rotational and extensional forces, resulting in low power transmission efficiency and insufficient stability and machining accuracy in the cutting operation. Summary of the Invention

[0004] In view of this, the present invention provides a pipe internal flange changing diameter cutting and grinding mechanism and robot.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: This invention provides a pipe internal flange changing diameter cutting and grinding mechanism, including a drive assembly and a tool assembly; the tool assembly includes a telescopic tool mechanism, a cutter head rotation mechanism, a transmission mechanism, and a cutting drive mechanism; the cutting drive mechanism is drively connected to the cutter head rotation mechanism and provides rotational power to the cutter head rotation mechanism; the telescopic tool mechanism is disposed on the cutter head rotation mechanism and rotates synchronously with the cutter head rotation mechanism; the transmission mechanism is connected between the drive assembly and the telescopic tool mechanism and converts the axial power output by the drive assembly into a thrust that drives the telescopic tool mechanism to perform radial extension and retraction, thereby changing the effective cutting radius and performing cutting and grinding operations on the pipe internal flange.

[0006] Optionally, the drive assembly includes an electric actuator; the power output end of the electric actuator is connected to the transmission mechanism to provide the axial driving force for the radial extension.

[0007] Optionally, the cutting drive mechanism includes a cutting drive motor and a first-stage pinion; the power output shaft of the cutting drive motor is fixedly connected to the first-stage pinion for outputting high-speed rotational power.

[0008] Optionally, the cutter head rotation mechanism includes a variable diameter cutter head, a secondary large gear, an angular contact ball bearing, and a deep groove ball bearing; the rotating spindle of the variable diameter cutter head is supported and carried by the angular contact ball bearing and the deep groove ball bearing; the secondary large gear is integrated on the back of the variable diameter cutter head and meshes with the primary small gear of the cutting drive mechanism to drive the variable diameter cutter head to rotate.

[0009] Optionally, the transmission mechanism includes a ratchet sleeve, a variable-diameter inner ratchet, a variable-diameter pawl, and a variable-diameter cone; the ratchet sleeve is fixedly sleeved on the central axis, and the variable-diameter inner ratchet and the variable-diameter pawl are axially fitted and installed inside the ratchet sleeve; the rear end of the variable-diameter inner ratchet is connected to the power output end of the drive assembly; the variable-diameter cone is coaxially fixedly connected to the front end of the variable-diameter pawl, and its outer circumferential surface forms a conical outer inclined surface. Under the drive of the drive assembly, the variable-diameter cone moves axially synchronously with the ratchet component.

[0010] Optionally, the telescopic tool mechanism includes a sliding guide rail, a tool disc base, a telescopic tool bar, a contact wheel, a cutting and grinding tool, a tool limiting wheel, a linear bearing, and a tool bar limiting compression spring; the sliding guide rail is radially fixedly disposed on the end face of the tool disc rotation mechanism, and the tool disc base is slidably fitted therein; the bottom of the telescopic tool bar is fixed to the tool disc base, and the cutting and grinding tool is an integrated cutting and grinding head, which is fixedly installed on the radial top end of the telescopic tool bar.

[0011] Optionally, the contact wheel is rotatably mounted on the inner end of the bottom of the retractable tool holder and rolls against the outer inclined surface of the variable diameter cone; the axial movement of the variable diameter cone forces the contact wheel to slide outward along the inclined surface, thereby converting the axial thrust into the radial thrust of the retractable tool holder.

[0012] Optionally, the tool limiting wheel is installed at the top of the telescopic tool bar close to the cutting tool, and is used to roll against the pipe wall to limit the cutting depth; the linear bearing is sleeved on the outside of the telescopic tool bar, and works with the tool bar limiting spring to provide guidance and floating adjustment resistance for the radial extension and retraction of the telescopic tool bar and the pipe wall contact.

[0013] Optionally, the tool assembly further includes a protective mechanism, which is disposed outside the tool head rotation mechanism to provide safety protection; the protective mechanism includes a tool head protective shell and a return spring; the tool head protective shell is disposed at the front end of the tool head rotation mechanism and the return spring is disposed between the two.

[0014] Implementing the embodiments of the present invention will have at least the following beneficial effects: This invention converts the axial power of the drive assembly into the radial thrust of the telescopic tool mechanism through a transmission mechanism, enabling dynamic adjustment of the cutter head's cutting radius. Furthermore, it decouples the cutting rotational power from the radial telescopic power, providing them independently to the cutting drive mechanism and drive assembly, thus ensuring that the depth of cut and cutting speed do not interfere with each other. The overall structure not only adapts to pipes of different inner diameters, limiting the cutting depth with a limiting wheel to prevent damage to the pipe wall, but also provides anti-collision buffering through a protective mechanism, effectively improving the dimensional accuracy of pipe flange removal operations and the safety of equipment operation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the pipe internal flange changing diameter cutting and grinding mechanism provided in an embodiment of the present invention; Figure 2 This is a cross-sectional view of the pipe internal flange reducing diameter cutting and grinding mechanism provided in an embodiment of the present invention; Figure 3 A frontal perspective view of the pipe internal flange changing diameter cutting and grinding mechanism provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the transmission mechanism and the tool assembly provided in an embodiment of the present invention. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0018] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0020] This embodiment provides a pipe internal flange and diameter-changing cutting and grinding mechanism, such as Figure 1-4 As shown, it includes a drive assembly 1 and a tool assembly 2. The tool assembly 2 includes a telescopic tool mechanism 3, a tool head rotation mechanism 4, a transmission mechanism 5, and a cutting drive mechanism 6.

[0021] The cutting drive mechanism 6 is connected to the cutter head rotation mechanism 4; the telescopic tool mechanism 3 is mounted on the cutter head rotation mechanism 4; and the transmission mechanism 5 is connected between the drive assembly 1 and the telescopic tool mechanism 3. During operation, the cutting drive mechanism 6 provides continuous rotational power to the cutter head rotation mechanism 4, and the telescopic tool mechanism 3 rotates synchronously with it. Simultaneously, the transmission mechanism 5 converts the linear axial power output from the drive assembly 1 into thrust to drive the telescopic tool mechanism 3 to extend and retract radially.

[0022] This invention employs a modular design that separates the rotary cutting and radial telescopic drives, enabling the device to change its effective cutting radius while rotating. This structure not only avoids motion interference caused by a single power source but also allows the cutting and grinding device to dynamically adapt to changes in the pipe's inner diameter, achieving active fitting and removal of the inwardly flanged edge.

[0023] In some embodiments, the drive assembly 1 includes an electric actuator.

[0024] Specifically, the power output end of the electric push rod is connected to the transmission mechanism 5 inside the tool assembly 2. When a feed command is issued, the electric push rod extends, providing a linear driving force to push the tool outward; when a retraction command is issued, the electric push rod retracts.

[0025] The use of an electric linear actuator to provide axial power can accurately convert electrical signals into linear displacement, providing a stable power input basis for subsequent diameter-changing operations and ensuring the smoothness of the radial feed process.

[0026] In some embodiments, the cutting drive mechanism 6 includes a cutting drive motor 61 and a primary pinion 62.

[0027] Specifically, the power output shaft of the cutting drive motor 61 is fixedly connected to the first-stage pinion 62. When powered on, the cutting drive motor 61 directly drives the first-stage pinion 62 to output high-speed rotational power through its output shaft.

[0028] The motor output shaft is directly fixedly connected to the first-stage pinion 62, which features a compact structure and a short transmission chain. It can efficiently and without slippage transmit rotational torque, meeting the power strength requirements for cutting the inner flange of hard plastic.

[0029] In some embodiments, the cutter head rotation mechanism 4 includes a variable diameter cutter head 41, a secondary large gear 42, an angular contact ball bearing 43, and a deep groove ball bearing 44.

[0030] Specifically, the rotating spindle of the variable diameter cutter head 41 is supported by angular contact ball bearings 43 and deep groove ball bearings 44 arranged side by side; the secondary large gear 42 is integrated on the back of the variable diameter cutter head 41 and meshes internally with the primary small gear 62 of the cutting drive mechanism 6. When the primary small gear 62 rotates, it drives the secondary large gear 42 and the variable diameter cutter head 41 in front to rotate synchronously through internal meshing.

[0031] The use of internal meshing gear transmission effectively saves the radial space on the back of the cutter head and reduces the size of the device; the combination of angular contact ball bearing 43 and deep groove ball bearing 44 can simultaneously withstand the multi-directional axial thrust and radial reaction force generated during cutting, ensuring the smooth operation of the variable diameter cutter head 41 when cutting is obstructed.

[0032] In some embodiments, the transmission mechanism 5 includes a ratchet sleeve 51, a variable-diameter inner ratchet 52, a variable-diameter pawl 53, and a variable-diameter cone 54.

[0033] Specifically, the ratchet sleeve 51 is fixedly sleeved on the central axis, and the variable-diameter inner ratchet 52 and the variable-diameter pawl 53 are axially fitted inside the ratchet sleeve 51; the rear end of the variable-diameter inner ratchet 52 is connected to the output end of the electric push rod in the drive assembly 1; the variable-diameter cone 54 is coaxially fixedly connected to the front end of the variable-diameter pawl 53, and its outer circumferential surface is formed as a conical outer inclined surface. Under the push of the electric push rod, the variable-diameter cone 54 moves axially synchronously along the central axis with the ratchet components such as the variable-diameter pawl 53.

[0034] The structural design, which uses linear thrust to directly drive the ratchet assembly and the front-end variable-diameter cone 54, linearly converts control commands into displacement changes of the variable-diameter cone 54, resulting in sufficient structural rigidity and high transmission accuracy.

[0035] In some embodiments, the telescopic tool mechanism 3 includes a sliding guide rail 31, a tool head base 32, a telescopic tool bar 33, a contact wheel 34, a cutting and grinding tool 35, a tool limiting wheel 36, a linear bearing, and a tool bar limiting compression spring 37.

[0036] Specifically, the sliding guide rail 31 is radially fixed to the end face of the variable diameter cutter head 41, and the cutter head base 32 is slidably fitted therein; the bottom of the telescopic cutter bar 33 is fixed to the cutter head base 32, and the cutting and grinding tool 35 is fixed to its radial top end; the contact wheel 34 is rotatably mounted on the bottom side of the telescopic cutter bar 33 and rolls against the tapered outer inclined surface of the variable diameter cone 54 of the transmission mechanism 5; the linear bearing is sleeved on the outside of the telescopic cutter bar 33 and cooperates with the cutter bar limiting compression spring 37. The axial movement of the variable diameter cone 54 forces the contact wheel 34 to slide outward along the inclined surface. This structure converts the axial thrust into radial thrust, forcing the telescopic cutter bar 33 to extend outward.

[0037] This inclined plane pushing mechanism achieves a 90-degree change in the direction of force and occupies little space; together with the linear bearing and the tool holder limiting spring 37, it provides smooth guidance and elastic reset for the extension and retraction of the tool holder.

[0038] For example, the cutting and grinding tool 35 is a cutting and grinding integrated milling cutter head made of carbide, which can simultaneously complete the flanging and root grinding by using the side edge and end edge when it extends outward.

[0039] In some embodiments, the tool limiting wheel 36 is mounted on the top of the telescopic tool holder 33 and is positioned close to the cutting and grinding tool 35.

[0040] Specifically, when the retractable cutter bar 33 is driven to extend outward until the inner flange is completely cut off, the outer edge of the cutter limiting wheel 36 will preferentially abut against the inner wall of the pipe body, preventing the retractable cutter bar 33 from continuing to extend outward.

[0041] By using limit wheels for physical rigid limiting, excessive cutting caused by control system errors or sensor delays is effectively avoided, ensuring that the pipe wall is not scratched by sharp cutting tools 35, thus improving the safety of construction operations.

[0042] In some embodiments, the tool assembly 2 further includes a protection mechanism 7, comprising a tool disc protective housing 71 and a reset spring 72.

[0043] Specifically, the cutter head protective shell 71 is disposed in the form of a cover at the front end of the variable diameter cutter head 41, and a reset spring 72 is provided between the cutter head protective shell 71 and the internal fixed structure. When the entire cutting and grinding device moves forward in the pipeline and touches the pipeline plug or other obstacles, the cutter head protective shell 71 is forced to slide backward, compressing the reset spring 72 and causing displacement.

[0044] The working process of this invention: When the inner flange position to be worked is reached, the electric push rod of the drive component 1 is activated first and outputs linear axial power, which pushes the variable diameter inner ratchet 52, variable diameter pawl 53 and variable diameter cone 54 of the transmission mechanism 5 to generate an overall axial displacement along the central axis. As the variable diameter cone 54 moves forward, its outer conical inclined surface forces the contact wheel 34 at the bottom of the telescopic cutter mechanism 3 to slide outward along the inclined surface, converting the axial thrust into radial thrust, which in turn drives the cutter head base 32 and the telescopic cutter bar 33 fixed thereon to overcome the resistance of the cutter bar limiting spring 37 and extend radially outward along the sliding guide rail 31 on the end face of the variable diameter cutter head 41 until the cutter limiting wheel 36 at the top of the telescopic cutter bar 33 rolls against the inner wall of the pipe body, thereby completing the adaptive adjustment of the cutting radius to the current pipe diameter and precisely limiting the cutting depth of the cutting and grinding cutter 35. Subsequently, the cutting drive motor 61 of the cutting drive mechanism 6 starts, and through the first-stage pinion 62, it engages with the second-stage large gear 42 on the back of the cutter head rotation mechanism 4 to drive the variable diameter cutter head 41 to rotate smoothly under the cooperative support of the angular contact ball bearing 43 and the deep groove ball bearing 44, so that the cutting and grinding tool 35 at the end of the telescopic cutter bar 33 rotates synchronously with the cutter head, and performs all-round cutting and grinding operations on the inner flange generated by the hot melting of the pipe. During this operation and device movement, if an unexpected physical obstruction or contact occurs at the front end, the cutter head protective shell 71 of the protection mechanism 7 will compress the reset spring 72 to generate a backward displacement, providing flexible clearance and anti-collision buffer protection to avoid damage to the internal precision transmission components; after the inner flange is completely removed, the cutting drive motor 61 stops rotating, the variable diameter cutter head 41 stops rotating, and at the same time the electric push rod retracts to remove the axial thrust. At this time, the telescopic cutter bar 33 automatically retracts radially under the elastic recovery action of the cutter bar limiting spring 37, so that the cutting and grinding tool 35 safely detaches from the tube wall, thus completing the entire inner flange variable diameter cutting and grinding process.

[0045] This embodiment provides an integrated robot for internal flange cutting and grinding of cable ducts, including a mobile carrier and an internal flange changing diameter cutting and grinding mechanism as described above, mounted on the mobile carrier.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A pipe internal flange changing diameter cutting and grinding mechanism, characterized in that, It includes a drive assembly (1) and a tool assembly (2); The tool assembly (2) includes a telescopic tool mechanism (3), a tool head rotation mechanism (4), a transmission mechanism (5), and a cutting drive mechanism (6). The cutting drive mechanism (6) is connected to the cutter head rotation mechanism (4) for providing rotational power to the cutter head rotation mechanism (4); The telescopic cutter mechanism (3) is mounted on the cutter head rotating mechanism (4) and is used to rotate synchronously with the cutter head rotating mechanism (4); The transmission mechanism (5) is connected between the drive assembly (1) and the telescopic cutter mechanism (3) to convert the axial power output by the drive assembly (1) into a thrust that drives the telescopic cutter mechanism (3) to perform radial extension and retraction, so as to change the effective cutting radius and perform cutting and grinding operations on the inner flange of the pipe.

2. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 1, characterized in that, The drive assembly (1) includes an electric push rod (11); The power output end of the electric push rod (11) is connected to the transmission mechanism (5) to provide the axial driving force for the radial extension.

3. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 1, characterized in that, The cutting drive mechanism (6) includes a cutting drive motor (61) and a first-stage pinion (62). The power output shaft of the cutting drive motor (61) is fixedly connected to the first-stage pinion (62) for outputting high-speed rotational power.

4. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 3, characterized in that, The cutter head rotation mechanism (4) includes a variable diameter cutter head (41), a secondary large gear (42), an angular contact ball bearing (43), and a deep groove ball bearing (44). The rotating spindle of the variable diameter cutter head (41) is supported and carried by the angular contact ball bearing (43) and the deep groove ball bearing (44) in cooperation; The secondary large gear (42) is integrated on the back of the variable diameter cutter head (41) and meshes with the primary small gear (62) of the cutting drive mechanism (6) to drive the variable diameter cutter head (41) to rotate.

5. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 1, characterized in that, The transmission mechanism (5) includes a ratchet sleeve (51), a variable diameter inner ratchet (52), a variable diameter pawl (53), and a variable diameter cone (54). The ratchet sleeve (51) is fixedly sleeved on the central axis, and the variable diameter inner ratchet (52) and the variable diameter pawl (53) are axially fitted and installed inside the ratchet sleeve (51); The rear end of the variable-diameter inner ratchet (52) is connected to the power output end of the drive assembly (1) via a transmission connection. The variable diameter cone (54) is coaxially fixedly connected to the front end of the variable diameter ratchet (53), and its outer circumferential surface is formed with a tapered outer inclined surface. Under the drive of the drive assembly (1), the variable diameter cone (54) moves axially synchronously with the ratchet component.

6. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 5, characterized in that, The telescopic tool mechanism (3) includes a sliding guide rail (31), a tool disc base (32), a telescopic tool bar (33), a contact wheel (34), a cutting and grinding tool (35), a tool limiting wheel (36), a linear bearing (37), and a tool bar limiting compression spring (38). The sliding guide rail (31) is fixedly disposed radially on the end face of the cutter head rotating mechanism (4), and the cutter head base (32) is slidably fitted therein; The bottom of the telescopic cutter bar (33) is fixed to the cutter head base (32), and the cutting and grinding tool (35) is an integrated cutting and grinding head, which is fixedly installed on the radial top end of the telescopic cutter bar (33).

7. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 6, characterized in that: The contact wheel (34) is rotatably mounted on the inner end of the bottom of the retractable tool bar (33) and rolls against the tapered outer inclined surface of the variable diameter cone (54); The axial movement of the variable diameter cone (54) forces the contact wheel (34) to slide outward along the inclined plane, thereby converting the axial thrust into the radial thrust of the telescopic tool holder (33).

8. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 6, characterized in that: The tool limiting wheel (36) is installed at the top of the telescopic tool bar (33) close to the cutting tool (35) and is used to roll against the pipe wall to limit the cutting depth; The linear bearing (37) is sleeved on the outside of the telescopic tool bar (33) and works in conjunction with the tool bar limiting spring (38) to provide guidance and floating adjustment resistance for the radial extension and retraction of the telescopic tool bar (33) and the fitting of the pipe wall.

9. The pipe internal flange changing diameter cutting and grinding mechanism as described in claim 1, characterized in that, The tool assembly (2) also includes a protective mechanism (7), which is covered outside the tool head rotation mechanism (4) to provide safety protection; The protection mechanism (7) includes a cutter head protective shell (71) and a reset spring (72). The cutter head protective housing (71) is disposed at the front end of the cutter head rotating mechanism (4) and the reset spring (72) is disposed between the two.

10. A pipe internal flange-changing diameter cutting and grinding robot, characterized in that, It includes a mobile carrier and a pipe internal flange-changing and grinding mechanism as described in any one of claims 1-9, which is disposed on the mobile carrier.

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