Pipe fitting positioning tool and pipe fitting end grinding system

Abstract

The utility model relates to the technical field of pipe fitting rust removal, and particularly discloses a pipe fitting positioning tool and a pipe fitting end polishing system. The pipe fitting positioning tool comprises a base, a magnetic suction cup arranged on the base, a first baffle and a second baffle, the first baffle and the second baffle are vertically arranged above the base and located on the two sides of the magnetic suction cup correspondingly, and the first baffle and the second baffle are provided with a first positioning face and a second positioning face facing the magnetic suction cup correspondingly. The pipe fitting positioning tool further comprises a positioning piece used for pressing the pipe fitting and / or abutting against the pipe fitting in the horizontal direction, the magnetic suction cup has a magnetic state and a non-magnetic state, when the magnetic suction cup is in the magnetic state, the positioning piece is magnetically attracted to the magnetic suction cup, and when the magnetic suction cup is in the non-magnetic state, the positioning piece is movably arranged relative to the magnetic suction cup. According to the pipe fitting positioning tool and the pipe fitting end grinding system, the mechanical arm can drive the grinding head to accurately find the end face position of an elbow pipe, and the pipe fitting positioning tool and the pipe fitting end grinding system can be compatible with other types of pipe fittings.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe rust removal, in particular to a pipe positioning tool and a pipe end grinding system. Background Art

[0002] In the process of prefabrication of pipe fittings, butt welding of pipes and pipe fittings is an important production link. Before welding pipe fittings, the welding surface of the end needs to be polished and rust-removed to reveal the metallic luster and avoid defects in subsequent welding. When rust-removing pipe fittings, it is necessary to polish the outer peripheral surface, inner peripheral surface, groove surface and blunt edge surface near the end face of the pipe fitting. The rust removal range is generally within 50mm. Pipe fittings can be divided into elbow pipes, tees, flange pipes, reducers and other types according to their shapes.

[0003] When using a robot to automatically grind and remove rust from pipe fittings, it is necessary to enable the robot to accurately find the position of the end face of the pipe fitting. In the existing production process, especially for elbow pipes, it is difficult to let the robot accurately find the end face position. This is because when the existing positioning tooling positions the elbow pipe, it usually holds the irregular curved part in the middle of the elbow pipe. After each positioning, the position deviation and angle deviation of the two end faces of the elbow are relatively large, and there is no pattern to follow. This requires positioning before each grinding, which wastes a lot of time. Therefore, in the existing production process, manual labor is often used to grind and remove rust from elbow pipes, and the labor intensity of workers is relatively high. In addition, when grinding and removing rust from pipe fittings, a lot of debris and smoke will be generated, which will cause great pollution to the working environment. Utility Model Content

[0004] The utility model aims to provide a pipe positioning tool and a pipe end grinding system which can enable a manipulator to quickly find the end face position of an elbow pipe and is also compatible with other types of pipes.

[0005] To achieve the above-mentioned purpose, the inventor of the utility model, after considering various methods, provides a pipe positioning tool, including a base, a magnetic suction cup arranged on the base, a first baffle and a second baffle erected above the base and respectively located on both sides of the magnetic suction cup, the first baffle and the second baffle respectively have a first positioning surface and a second positioning surface facing the magnetic suction cup, the first positioning surface and the second positioning surface extend in the horizontal direction and are arranged at an angle, the pipe positioning tool also includes a positioning member for pressing the pipe from top to bottom and / or against the pipe in the horizontal direction, the magnetic suction cup has a magnetic state and a non-magnetic state, when the magnetic suction cup is in the magnetic state, the positioning member is magnetically attracted to the magnetic suction cup, and when the magnetic suction cup is in the non-magnetic state, the positioning member is movably arranged relative to the magnetic suction cup.

[0006] As a further improvement of the present invention, the positioning member includes a first positioning member, which includes a magnetic block made of magnetic material, a pressing block for pressing the pipe, and a control component connecting the magnetic block and the pressing block and used to control the upper and lower positions of the pressing block.

[0007] As a further improvement of the present invention, the positioning member also includes a second positioning member, which is made of magnetic material and includes a magnetic surface for fitting with the magnetic suction cup and a supporting surface arranged at an acute angle relative to the magnetic surface.

[0008] As a further improvement of the utility model, a limiting groove matching the first baffle plate and the second baffle plate is formed on the base, and the first baffle plate and the second baffle plate are both clamped in the limiting groove.

[0009] As a further improvement of the present invention, the angle between the first positioning surface and the second positioning surface is 90°.

[0010] The utility model also provides a pipe end grinding system, comprising the above-mentioned pipe positioning tool, a grinding head for grinding the pipe end, and a manipulator for driving the grinding head to rotate and move.

[0011] As a further improvement of the present invention, the pipe end grinding system also includes a placement rack arranged on one side of the manipulator, and there are multiple grinding heads. The placement rack is provided with multiple storage positions for accommodating multiple grinding heads, and the manipulator is configured to automatically load the grinding heads located in the storage positions and unload the grinding heads loaded thereon to the storage positions.

[0012] As a further improvement of the present invention, the pipe end grinding system also includes a turntable and a driving member for driving the turntable to rotate. At least two pipe positioning tools are provided, and at least two pipe positioning tools are provided on the turntable and are respectively located on both sides of the turntable in the radial direction.

[0013] As a further improvement of the present invention, the pipe end grinding system further comprises a chuck arranged on the turntable for clamping the pipe, and the chuck and at least two pipe positioning tools are respectively located on both sides of the turntable in the radial direction.

[0014] As a further improvement of the present invention, the pipe end grinding system also includes a protective cover, the placement rack, grinding head and manipulator are all located inside the protective cover, a window is provided on one side of the protective cover, one side of the turntable in the radial direction is located inside the protective cover, and the other side in the radial direction extends out of the protective cover from the window, and a sealing plate matching the window is also erected on the turntable.

[0015] Beneficial effects of the utility model:

[0016] The pipe positioning tool and pipe end grinding system provided by the utility model, when positioning the elbow pipe, the two end faces of the elbow pipe are respectively fitted with the first positioning face and the second positioning face, and also have a positioning piece to ensure the positioning effect of the elbow pipe. Therefore, the positions of the two end faces of the elbow pipe are determined after each positioning. When the elbow pipe needs to be ground and rust removed, the manipulator can quickly and accurately find the position of the end face of the elbow pipe, which solves the problem in the prior art that the end face position of the elbow pipe is difficult to determine after positioning, and repeated programming is required after the model is changed to determine the movement position of the manipulator again; on the basis of the above, the pipe positioning tool can also fix flange pipes, tees and other pipes, has good compatibility, and the magnetic suction cup switches between the magnetic state and the non-magnetic state, which is convenient for the pipe positioning tool to frequently position the pipe fittings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a pipe positioning tool provided by an embodiment of the utility model at an angle, wherein the figure also includes an elbow pipe positioned on the pipe positioning tool;

[0018] Figure 2 for Figure 1 A schematic diagram of the structure of the pipe positioning tooling in another angle;

[0019] Figure 3 for Figure 1 A schematic structural diagram of the first positioning member in FIG.

[0020] Figure 4 for Figure 2 A schematic structural diagram of the second positioning member in FIG.

[0021] Figure 5 for Figure 1 Schematic diagram of the pipe positioning tool used to position the flange pipe;

[0022] Figure 6 for Figure 1 Schematic diagram of positioning the tee pipe by the pipe positioning tool in FIG.

[0023] Figure 7 A schematic diagram of a pipe end grinding system provided by an embodiment of the utility model after removing the protective cover;

[0024] Figure 8 A schematic diagram of the structure of a manipulator, a grinding head and a placement rack in a pipe end grinding system provided in one embodiment of the utility model;

[0025] Fig. 9 A schematic diagram of a chuck clamping a flange pipe in a pipe end grinding system provided by an embodiment of the utility model;

[0026] Fig.10A schematic diagram of a chuck clamping a tee pipe in a pipe end grinding system provided by an embodiment of the utility model;

[0027] Fig.11 A schematic diagram of a chuck clamping a reducer in a pipe end grinding system provided by an embodiment of the utility model;

[0028] Fig.12 A schematic diagram of a chuck clamping a short pipe in a pipe end grinding system provided by an embodiment of the utility model;

[0029] Fig.13 A schematic diagram of the structure of a turntable, a pipe positioning tool and a sealing plate in a pipe end grinding system provided in an embodiment of the utility model;

[0030] Fig.14 A schematic diagram of a pipe end grinding system with a protective cover provided in one embodiment of the utility model.

[0031] In the figure:

[0032] 100. Pipe end grinding system;

[0033] 10. Pipe positioning tooling;

[0034] 20. Pipe fittings; 201. Elbow pipe; 202. Flange pipe; 203. Tee pipe; 204. Reducer pipe; 205. Short pipe;

[0035] 1. Base; 11. Limiting groove;

[0036] 2. Magnetic chuck;

[0037] 3. a first baffle; 31. a first positioning surface;

[0038] 4. a second baffle; 41. a second positioning surface;

[0039] 5. Positioning member; 51. First positioning member; 511. Magnetic block; 512. Pressing block; 513. Operating assembly; 52. Second positioning member; 521. Abutting surface;

[0040] 30. Grinding head;

[0041] 50. Placement rack;

[0042] 40. Manipulator; 401. Control box;

[0043] 70. Turntable; 71. Closing plate;

[0044] 80. chuck; 801. auxiliary mechanism;

[0045] 90. Shield; 901. Ventilation hole. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any changes in mechanism, method, or function made by a person skilled in the art based on the embodiments are all within the protection scope of the present invention.

[0047] The terms used herein, such as "upper", "lower", "left", "right", "front", "back", etc., which indicate relative spatial positions, are used for the purpose of convenience to describe the relationship between one feature and another feature as shown in the accompanying drawings. It is understood that, depending on the placement of the product, the terms of relative spatial positions may be intended to include different orientations other than those shown in the drawings, and should not be construed as limitations on the claims. In addition, the descriptor "horizontal" used herein is not completely equivalent to being perpendicular to the direction of gravity, and a certain angle of inclination is allowed.

[0048] like Figure 1-4 As shown, an embodiment of the utility model provides a pipe positioning tool 10, which is used to position various pipes such as elbow pipes 201, flange pipes 202, and tee pipes 203, so as to facilitate subsequent grinding and rust removal operations on the pipes.

[0049] The pipe positioning tool 10 includes a base 1, a magnetic chuck 2 disposed on the base 1, a first baffle 3 and a second baffle 4 erected on the base 1 and located on both sides of the magnetic chuck 2, the first baffle 3 and the second baffle 4 respectively having a first positioning surface 31 and a second positioning surface 41 facing the magnetic chuck 2, the first positioning surface 31 and the second positioning surface 41 extending in the horizontal direction and being arranged at an angle. The pipe positioning tool 10 also includes a positioning member 5, which is used to press the pipe from top to bottom and / or to press against the pipe in the horizontal direction. The magnetic chuck 2 has a magnetic state and a non-magnetic state. When the magnetic chuck 2 is in the magnetic state, the positioning member 5 is magnetically attracted to the magnetic chuck 2 and cannot move relative to the magnetic chuck 2; when the magnetic chuck 2 is in the non-magnetic state, it cannot magnetically attract the positioning member 5, and the positioning member 5 is movably arranged relative to the magnetic chuck 2. The magnetic chuck 2, the first positioning surface 31 and the second positioning surface 41, and the positioning member 5 cooperate with each other to position the pipe.

[0050] First, take the elbow pipe 201 as an example to illustrate how the above-mentioned pipe positioning tool 10 positions the pipe. The elbow pipe 201 is roughly C-shaped, including two end faces at its two ends and an outer peripheral surface at its outer periphery. To position the elbow pipe 201 using the pipe positioning tool 10, it is necessary to place the elbow pipe 201 on the magnetic suction cup 2 when the magnetic suction cup 2 is in a non-magnetic state, and make the two end faces of the elbow pipe 201 respectively fit the first positioning surface 31 and the second positioning surface 41. When the elbow pipe 201 is placed on the magnetic suction cup 2, there is a line contact between its outer peripheral surface and the magnetic suction cup 2, and the magnetic suction force that the magnetic suction cup 2 can act on the elbow pipe 201 is limited. Therefore, in order to ensure the positioning effect of the pipe positioning tool 10 on the elbow pipe 201, it is also necessary to use a positioning member 5 so that the positioning member 5 presses the elbow pipe 201 from top to bottom and / or presses against the elbow pipe 201 in the horizontal direction. After completing the above steps, switch the magnetic suction cup 2 to the magnetic state, so that the magnetic suction cup 2 magnetically attracts the elbow pipe 201 and the positioning piece 5. At this time, the elbow pipe 201 is fixed in a preset position under the limitation of the first positioning surface 31 and the second positioning surface 41, the magnetic suction cup 2 and the positioning piece 5, and because the two end surfaces of the elbow pipe 201 are respectively attached to the first positioning surface 31 and the second positioning surface 41, therefore, the positions of the two end surfaces of the elbow pipe 201 are determined after each positioning. When the elbow pipe 201 is subsequently polished, the manipulator can accurately drive the polishing head to find the positions of the two end surfaces of the elbow pipe 201, so as to polish and remove rust from the positions of the elbow pipe 201 close to its two end surfaces.

[0051] The magnetic chuck 2 is preferably an electromagnetic magnetic chuck that realizes the magnetic suction function through the principle of electromagnetic induction, and the switching between the magnetic state and the non-magnetic state is realized by powering it on and off. It can be imagined that the magnetic chuck 2 is specifically arranged horizontally through its top magnetic suction tube and positioning member 5, and the first positioning surface 31 and the second positioning surface 41 are both perpendicular to the top surface of the magnetic chuck 2.

[0052] Generally, the angle between the two end surfaces of the elbow pipe 201 is 90°, so the angle between the first positioning surface 31 and the second positioning surface 41 is preferably 90°. Of course, in some cases, the angle between the first positioning surface 31 and the second positioning surface 41 can also be greater than or less than 90° to adapt to the elbow pipe 201 whose angle between the two end surfaces is not 90°.

[0053] The positioning member 5 includes a first positioning member 51, and the first positioning member 51 includes a magnetic block 511 made of magnetic material, a pressing block 512 for pressing the pipe fitting, and a control component 513 connecting the magnetic block 511 and the pressing block 512. The magnetic block 511 can be adsorbed on the magnetic suction cup 2 so that the position of the first positioning member 51 is fixed relative to the magnetic suction cup 2, and the control component 513 is used to control the upper and lower positions of the pressing block 512 so that the pressing block 512 can press the elbow pipe 201. In this embodiment, the control component 513 is a commercially available elbow clamp. Of course, in other embodiments, the control component 513 can also be other forms that can be thought of by those skilled in the art.

[0054] The positioning member 5 also includes a second positioning member 52, which is made of a magnetic material and can be magnetically attracted to the magnetic chuck 2. The second positioning member 52 includes a magnetic surface for contacting with the magnetic chuck 2 and a supporting surface 521 arranged at an acute angle relative to the magnetic surface. The second positioning member 52 can extend between the outer peripheral surface of the elbow pipe 201 and the top surface of the magnetic chuck 2, so that the supporting surface 521 abuts against the outer peripheral surface of the elbow pipe 201 to limit the position of the elbow pipe 201.

[0055] Combination Figure 3-5 As shown, the pipe positioning tool 10 can also be used to position the flange pipe 202. The flange pipe 202 can be regarded as a flange connected to one end of the straight pipe. In other words, the flange pipe 202 includes a straight pipe and a flange connected to one end of the straight pipe. The end face of the flange pipe 202 includes a first end face located at the end of the flange away from the straight pipe and a second end face located at the end of the straight pipe away from the flange. The straight pipe and the flange both have an outer peripheral surface located at their outer periphery. When the pipe positioning tool 10 is used to position the flange pipe 202, it is necessary to place the flange pipe 202 on the magnetic suction cup 2 when the magnetic suction cup 2 is in a non-magnetic state, and make the first end face of the flange pipe 202 fit the magnetic suction cup 2, and the positioning member 5 is against the outer peripheral surface of the flange in the horizontal direction, and the outer peripheral surface of the flange contacts the first positioning surface 31 and the second positioning surface 41. When the flange pipe 202 is placed on the magnetic suction cup 2, it is in surface contact with the magnetic suction cup 2, and the magnetic suction cup 2 can act on the flange pipe 202 with a strong magnetic attraction. After the flange tube 202 is fixed at a preset position under the limitation of the first positioning surface 31 and the second positioning surface 41, the magnetic suction cup 2 and the positioning member 5, when the flange tube 202 is subsequently polished, the robot can drive the polishing head to find the position of the second end face of the flange tube 202, and polish and remove rust from the position of the flange tube 202 close to its second end face.

[0056] It should be noted that the magnetic block 511 of the first positioning member 51 can be used to abut against the outer peripheral surface of the flange plate to position the flange pipe 202 .

[0057] Combination Figure 3-4As shown in , 6, the above-mentioned pipe positioning tool 10 can also be used to position the tee 203. The tee 203 can be regarded as two straight pipes connected together in a T-shape, which includes three end faces and an outer peripheral surface located on the outer periphery of the two straight pipes. When the pipe positioning tool 10 is used to position the tee 203, it is necessary to place the tee 203 on the magnetic suction cup 2 when the magnetic suction cup 2 is in a non-magnetic state, and make two of the three end faces of the tee 203 respectively fit the first positioning surface 31 and the second positioning surface 41. When the tee 203 is placed on the magnetic suction cup 2, it is in line contact with the magnetic suction cup 2, and the magnetic suction force that the magnetic suction cup 2 can act on the tee 203 is limited. Therefore, in order to ensure the positioning effect of the pipe positioning tool 10 on the tee 203, it is also necessary to move the positioning member 5 so that the positioning member 5 presses the tee 203 from top to bottom and / or presses against the tee 203 in the horizontal direction. After completing the above steps, switch the magnetic suction cup 2 to the magnetic state, so that the magnetic suction cup 2 magnetically attracts the three-way pipe 203 and the positioning piece 5. At this time, the three-way pipe 203 is fixed in a preset position under the limitation of the first positioning surface 31 and the second positioning surface 41, the magnetic suction cup 2 and the positioning piece 5. After the position of the three-way pipe 203 is fixed, when the elbow pipe 201 is subsequently polished, the robot can drive the polishing head to find the position of the three end faces of the three-way pipe 203, and polish and remove rust from the positions of the three end faces of the three-way pipe 203.

[0058] It should be noted that the above-mentioned first positioning member 51 and the second positioning member 52 can be used to position the three-way pipe 203. When the first positioning member 51 positions the three-way pipe 203, it can be by allowing its pressure block 512 to press the three-way pipe 203, or by allowing its magnetic suction block 511 to abut against the end surface of the three-way pipe 203 that is not in contact with the first positioning surface 31 and the second positioning surface 41 and the outer peripheral surface of the three-way pipe 203; the above-mentioned second positioning member 52 can be extended between the outer peripheral surface of the three-way pipe 203 and the top surface of the magnetic suction cup 2, so that its abutting surface 521 abuts against the outer peripheral surface of the three-way pipe 203 to achieve the positioning of the three-way pipe 203.

[0059] When the first positioning member 51 and the second positioning member 52 are used to position the pipe fitting, both the first positioning member 51 and the second positioning member 52 can be used, or only the first positioning member 51 or only the second positioning member 52 can be used, if the positioning requirements are met, and there is no limitation here. The number of the first positioning member 51 and the second positioning member 52 can be multiple to enhance the positioning effect of the pipe fitting. In other words, the first positioning member 51 and the second positioning member 52 can be multiple according to the size of pipe fittings of different types and specifications to adapt to the positioning of a variety of different pipe fittings.

[0060] The positioning member 5 may also be other structures that can be thought of by those skilled in the art except the first positioning member 51 and the second positioning member 52 . For example, the abutting surface 521 of the second positioning member 52 may be changed into an arc surface that matches the pipe.

[0061] It can be imagined that the above-mentioned pipe positioning tool can also position the short pipe 205, the reducer 204, etc. The positioning method is similar to the positioning method of the flange pipe 202, which will not be repeated here.

[0062] like Figure 1 As shown, the base 1 is provided with a limiting groove 11 matching the first baffle 3 and the second baffle 4, and the first baffle 3 and the second baffle 4 are both clamped in the limiting groove 11, so that when the first baffle 3 and the second baffle 4 are installed on the base 1, the first baffle 3 and the second baffle 4 can be quickly and accurately fixed to a preset position. The first baffle 3 and the second baffle 4 can be provided in multiple numbers according to the sizes of pipes of different specifications, and the operator selects the appropriate first baffle 3 and the second baffle 4 according to the specifications of the pipes during production and installs them on the base 1.

[0063] Continue to combine Figure 7-8 As shown, the utility model also provides a pipe end grinding system 100, including the above-mentioned pipe positioning tool 10, a grinding head 30 for grinding the end of the pipe, and a manipulator 40 for driving the grinding head 30 to rotate and move. The manipulator 40 is controlled by a control unit located in a control box 401. After the pipe positioning tool 10 positions the pipe, it drives the grinding head 30 to find the end face of the pipe. The manipulator 40 drives the grinding head 30 to rotate and performs grinding and rust removal work on the position close to the end face of the pipe. The grinding and rust removal of the pipe is automatically completed by the manipulator 40, which improves the rust removal efficiency and reduces the use of personnel. The manipulator 40 is preferably a six-axis manipulator to have sufficient degrees of freedom.

[0064] There are multiple grinding heads 30, and they may include different types, such as diamond wheels, grinding wheels, shutter wheels, etc. The pipe end grinding system 100 also includes a placement rack 50 arranged on one side of the manipulator 40, and the placement rack 50 is provided with multiple storage positions for storing multiple grinding heads 30. The manipulator 40 is configured to automatically load the grinding heads 30 in the storage positions and unload the loaded grinding heads 30 to the storage positions, that is, when the grinding heads 30 are worn, the manipulator 40 can automatically replace the grinding heads 30, and the manipulator 40 can automatically select the appropriate grinding heads 30 to grind and remove rust from the pipes, thus further improving the automation of the pipe end grinding system 100.

[0065] The pipe end grinding system 100 also includes a turntable 70 and a driving member for driving the turntable 70 to rotate. At least two pipe positioning tools 10 are provided. At least two pipe positioning tools 10 are arranged on the turntable 70 and are respectively located on both sides of the radial direction of the turntable 70. When driven by the driving member, the turntable 70 can switch the positions of the pipe positioning tools 10 on both sides of the radial direction.

[0066] The pipe positioning tool 10 is driven by the turntable 70 to rotate. When the grinding head 30 grinds and removes rust from the pipe on the pipe positioning tool 10 on one side of the turntable 70 in the radial direction, the operator can simultaneously remove the pipe that has been grinded by the grinding head 30 from the pipe positioning tool 10 on the other side of the turntable 70 in the radial direction, and install another pipe on the pipe positioning tool 10 from which the pipe has been removed. In this way, the loading and unloading and grinding operations of the pipe can be carried out simultaneously, further improving the grinding efficiency of the pipe.

[0067] When the elbow pipe 201 or the tee pipe 203 is placed on the magnetic chuck 2, it has a vertically symmetrical structure. It can be seen that when the elbow pipe 201 or the tee pipe 203 is positioned using the pipe positioning tool 10, the first baffle 3 and the second baffle 4 block the lower half of the end face of the elbow pipe 201 or the tee pipe 203. Therefore, after the elbow pipe 201 or the tee pipe 203 is positioned once, the grinding head 30 can only grind the upper part of the elbow pipe 201 or the tee pipe 203 that is higher than the first baffle 3 and the second baffle 4. If it is necessary to grind both the upper and lower parts of the elbow pipe 201 or the tee pipe 203, after the grinding head 30 completes the grinding of the upper part, the magnetic suction cup 2 needs to be switched to a non-magnetic state to release the positioning of the elbow pipe 201 or the tee pipe 203, and flip the elbow pipe 201 or the tee pipe 203 180° so that the unground lower part of the elbow pipe 201 or the tee pipe 203 is higher than the first baffle 3 and the second baffle 4, and then the elbow pipe 201 or the tee pipe 203 is positioned again by the pipe positioning tool 10, and then the grinding head 30 grinds the unground lower part of the elbow pipe 201 or the tee pipe 203.

[0068] Specifically in the present embodiment, the pipe positioning tool 10 is driven by the turntable 70 to rotate. When the grinding head 30 grinds and removes rust from the upper half of the elbow pipe 201 or the three-way pipe 203 on the pipe positioning tool 10 on one side of the radial direction of the turntable 70, the operator can simultaneously remove the elbow pipe 201 or the three-way pipe 203 with the polished upper half from the pipe positioning tool 10 on the other side of the radial direction of the turntable 70 and flip it 180°, and then use the pipe positioning tool 10 to position the elbow or the three-way pipe 203. In this way, the flipping and grinding of the elbow pipe 201 and the three-way pipe 203 can be carried out simultaneously, thereby improving the grinding efficiency of the elbow pipe 201 or the three-way pipe 203.

[0069] The pipe end grinding system 100 further includes a chuck 80 disposed on the turntable 70 for clamping the pipe, and the chuck 80 and at least two pipe positioning tools 10 are respectively located on both sides of the turntable 70 in the radial direction. Figure 9-12 As shown, the chuck 80 can clamp and fix pipe fittings such as flange pipe 202, tee pipe 203, reducer 204, short pipe 205, etc., to increase the number and types of pipe fittings that can be positioned by the pipe end grinding system 100. The pipe fitting is clamped and fixed by the chuck 80, and the manipulator 40 can drive the grinding head 30 to find the end face position of the pipe fitting clamped on the chuck 80, and then grind and remove rust from the pipe fitting. For relatively regular pipe fittings such as flange pipe 202, tee pipe 203, reducer 204, short pipe 205, it is simpler to use a chuck for positioning. Fig.10 As shown, the chuck 80 can clamp pipes of different diameters through an auxiliary mechanism 801.

[0070] Continue to combine Figure 13-14 As shown, the pipe end grinding system 100 also includes a shield 90, and the placement rack 50, the grinding head 30 and the manipulator 40 are all located in the shield 90. A window is provided on one side of the shield 90, and one side of the turntable 70 in the radial direction is located in the shield 90, and the other side in the radial direction extends out of the shield 90 from the window, that is, the chuck 80 and at least two pipe positioning tools 10 located on both sides of the turntable 70 in the radial direction are partially located in the shield 90, and the other part is located outside the shield 90. The grinding head 30 is driven by the manipulator 40 to grind and remove rust from the chuck 80 and the pipe fittings on the pipe fitting positioning tool 10. The debris, smoke and other harmful substances generated during the grinding process are sealed in the protective cover 90 and cannot leak out, thereby avoiding the overall working environment from being polluted. The operator works outside the protective cover 90 to remove the polished pipe fittings from the pipe fitting positioning tool 10 and the chuck 80, or to position new pipe fittings through the pipe fitting positioning tool 10 and the chuck 80, or to flip the elbow pipe 201 and the tee pipe 203. In order to ensure the sealing effect of the protective cover 90, a sealing plate 71 matching the window is erected on the turntable 70.

[0071] Furthermore, the shield 90 is provided with a vent 901, which is connected to a dust removal device through a pipeline, and harmful substances such as smoke and dust in the shield 90 can be sucked away by the dust removal device. In order to be able to observe the situation in the shield 90, at least part of the shield 90 should be set to be transparent.

[0072] The present application also provides a pipe end grinding method, which uses the pipe end grinding system 100. When the pipe is an elbow pipe 201, the grinding method includes the following steps:

[0073] S1a, when the magnetic chuck 2 is in a non-magnetic state, the outer peripheral surface of the elbow tube 201 is in contact with the magnetic chuck 2, and both end surfaces of the elbow tube 201 are respectively attached to the first positioning surface 31 and the second positioning surface 41;

[0074] S2a, using the positioning member 5 to press the elbow pipe 201 from top to bottom and / or to press against the elbow pipe 201 in the horizontal direction;

[0075] S3a, switching the magnetic chuck 2 to a magnetic state, so that the magnetic chuck 2 magnetically attracts the elbow pipe 201 and the positioning member 5;

[0076] S4a, the manipulator 40 drives the grinding head 30 to find the end surface of the elbow pipe 201, and grinds and removes rust from the position of the elbow pipe 201 close to its end surface.

[0077] In the above steps, the two end surfaces of the elbow tube 201 are respectively attached to the first positioning surface 31 and the second positioning surface 41. Therefore, after each positioning, the positions of the two end surfaces of the elbow tube 201 are determined, and the manipulator 40 can quickly and accurately drive the grinding head 30 to find the positions of the two end surfaces of the elbow tube 201, which solves the problem in the prior art that the end surface positioning of the elbow tube 201 is inaccurate and the manipulator 40 is difficult to accurately find the position of the end surface of the elbow tube 201. The magnetic suction cup 2 switches between a magnetic state and a non-magnetic state, which is convenient for frequently using the pipe positioning tool 10 to position the elbow tube 201.

[0078] The above content has explained that if the elbow pipe 201 needs to be completely polished, the elbow pipe 201 needs to be turned 180° and polished again, so the polishing method also includes the following steps:

[0079] S5a, after switching the magnetic chuck 2 to a non-magnetic state, flip the elbow tube 201 180°, and then repeat the above steps S1a to S4a.

[0080] Specifically, “using the positioning member 5 to press the elbow pipe 201 from top to bottom and / or to press against the elbow pipe 201 in the horizontal direction” specifically includes the following steps:

[0081] The magnetic block 511 of the first positioning member 51 is fitted with the magnetic suction cup 2, and the pressure head presses the outer circumference of the elbow tube 201 above the elbow tube 201, and / or the magnetic surface of the second positioning member 52 is fitted with the magnetic suction cup 2, and the abutting surface abuts the outer circumference of the elbow tube 201.

[0082] In the above steps, the elbow tube 201 is positioned using the first positioning member 51 and / or the second positioning member 52, which can overcome the problem that there is line contact between the outer peripheral surface of the elbow tube 201 and the magnetic suction cup 2, and the magnetic suction force that the magnetic suction cup 2 can act on the elbow tube 201 is limited.

[0083] The above content has explained that the pipe fitting positioning tool 10 can also position the flange pipe 202. The flange pipe 202 includes a straight pipe and a flange connected to one end of the straight pipe. The end face of the flange pipe 202 includes a first end face located at an end of the flange away from the straight pipe and a second end face located at an end of the straight pipe away from the flange. Therefore, when the pipe fitting is the flange pipe 202, the grinding method includes the following steps:

[0084] When the magnetic chuck 2 is in a non-magnetic state, the first end surface of the flange tube 202 is in contact with the magnetic chuck 2, and the outer peripheral surface of the flange is in contact with the first positioning surface 31 and the second positioning surface 41;

[0085] Use the positioning member 5 to press against the flange in the horizontal direction;

[0086] The magnetic suction cup 2 is switched to a magnetic state so that the magnetic suction cup 2 can magnetically attract the flange tube 202 and the positioning member 5 .

[0087] The manipulator 40 drives the grinding head 30 to find the position of the second end surface of the flange pipe, and grinds and removes rust from the position of the flange pipe 202 close to the second end surface;

[0088] The above content also illustrates that the pipe fitting positioning tool 10 can also position the tee pipe 203. Therefore, when the pipe fitting is the tee pipe 203, the grinding method includes the following steps:

[0089] S1b, when the magnetic chuck 2 is in a non-magnetic state, the outer peripheral surface of the three-way pipe 203 is in contact with the magnetic chuck 2, and the two end surfaces of the three-way pipe 203 are attached to the first positioning surface 31 and the second positioning surface 41;

[0090] S2b, using the positioning member 5 to press the three-way pipe 203 from top to bottom and / or to abut against the three-way pipe 203 in the horizontal direction;

[0091] S3b, switching the magnetic suction cup 2 to a magnetic state, so that the magnetic suction cup 2 magnetically attracts the three-way pipe 203 and the positioning member 5.

[0092] S4b, the robot 40 drives the grinding head 30 to find the end surface of the tee pipe 203, and grinds and removes rust from the position of the tee pipe 203 close to the end surface.

[0093] The above content has explained that if the three-way pipe 203 needs to be completely polished, the three-way pipe 203 needs to be turned 180° and polished again, so the polishing method also includes the following steps:

[0094] S5b, after switching the magnetic chuck 2 to the non-magnetic state, flip the three-way pipe 203 by 180 degrees, and then repeat the above steps S1b to S4b.

[0095] It can be seen that the robot 40 drives the grinding head 30 to grind various pipes positioned on the pipe fixing tooling.

[0096] It should be understood that although the present specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0097] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any changes in mechanism, method, or function made by a person skilled in the art based on the embodiments are all within the protection scope of the present invention.

Claims

1. A pipe positioning tool, characterized in that: It includes a base, a magnetic suction cup arranged on the base, a first baffle and a second baffle erected above the base and respectively located on both sides of the magnetic suction cup, the first baffle and the second baffle respectively have a first positioning surface and a second positioning surface facing the magnetic suction cup, the first positioning surface and the second positioning surface extend in the horizontal direction and are arranged at an angle, the pipe positioning tool also includes a positioning member for pressing the pipe from top to bottom and / or against the pipe in the horizontal direction, the magnetic suction cup has a magnetic state and a non-magnetic state, when the magnetic suction cup is in the magnetic state, the positioning member is magnetically attracted to the magnetic suction cup, when the magnetic suction cup is in the non-magnetic state, the positioning member is movably arranged relative to the magnetic suction cup.

2. The positioning tool according to claim 1, characterized in that: The positioning member includes a first positioning member, which includes a magnetic block made of magnetic material, a pressing block for pressing the pipe, and a control component connecting the magnetic block and the pressing block and used to control the upper and lower positions of the pressing block.

3. The positioning tool according to claim 1 or 2, characterized in that: The positioning member also includes a second positioning member, which is made of magnetic material and includes a magnetic surface for being attached to the magnetic suction cup and a supporting surface arranged at an acute angle relative to the magnetic surface.

4. The positioning tool according to claim 1, characterized in that: The base is provided with a limiting groove matching the first baffle plate and the second baffle plate, and the first baffle plate and the second baffle plate are both clamped in the limiting groove.

5. The positioning tool according to claim 1, characterized in that: The angle between the first positioning surface and the second positioning surface is 90°.

6. A pipe end grinding system, characterized in that: It comprises the pipe positioning tool as claimed in claim 1, a grinding head for grinding the end of the pipe, and a manipulator for driving the grinding head to rotate and move.

7. The pipe end grinding system according to claim 6, characterized in that: The pipe end grinding system also includes a placement rack arranged on one side of the manipulator, and a plurality of grinding heads are provided. The placement rack is provided with a plurality of storage positions for accommodating the plurality of grinding heads. The manipulator is configured to automatically load the grinding heads located in the storage positions and unload the grinding heads loaded thereon to the storage positions.

8. The pipe end grinding system according to claim 7, characterized in that: The pipe end grinding system also includes a turntable and a driving member for driving the turntable to rotate. At least two pipe positioning tools are provided, and at least two pipe positioning tools are arranged on the turntable and are respectively located on both sides of the turntable in the radial direction.

9. The pipe end grinding system according to claim 8, characterized in that: The pipe end grinding system further comprises a chuck arranged on the turntable for clamping the pipe, and the chuck and at least two pipe positioning tools are respectively located on both sides of the turntable in the radial direction.

10. The pipe end grinding system according to claim 8 or 9, characterized in that: The pipe end grinding system also includes a protective cover, the placement rack, the grinding head and the manipulator are all located inside the protective cover, a window is provided on one side of the protective cover, one side of the turntable in the radial direction is located inside the protective cover, and the other side in the radial direction extends out of the protective cover from the window, and a sealing plate matching the window is also erected on the turntable.

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