Roller bed type pipe end face groove robot laser derusting machine

Abstract

The utility model discloses a roller bed type pipe end face groove robot laser derusting machine which comprises a lifting type roller conveying mechanism connected with a lifting driving mechanism and comprising a plurality of V-shaped roller sets distributed at intervals in the conveying direction; the driving wheel sets are arranged at intervals and located in the intervals of the V-shaped roller sets. Each driving wheel group comprises two wheel discs of which the rotating shaft directions are parallel to the conveying direction; when the lifting type roller conveying mechanism is located at the low position, the pipe fitting is borne by the driving wheel set, and the circumferential faces of two wheel discs of the driving wheel set make contact with the two sides of the bottom of the pipe fitting correspondingly so as to drive the pipe fitting to rotate. And the walking mechanism walks on the robot walking ground rail parallel to the conveying direction, and a robot rust removal mechanism used for removing rust on the pipe fittings is borne on the walking mechanism. The device can automatically convey the pipe fittings, can automatically drive the pipe fittings to rotate in the rust removal process, and is high in automation degree; and the device can adapt to pipe fittings with different diameters and grooves with different shapes, and is high in universality.

Description

Technical Field

[0001] The utility model relates to the field of mechanical manufacturing, in particular to a roller bed type pipe end face groove robot laser rust removal machine. Background Art

[0002] Pipelines are an important part of liquid transportation systems. Due to the limitation of transportation length, existing pipelines are usually formed by splicing and welding multiple pipes. For large pipes, the end faces of the pipes need to be beveled before welding to facilitate welding.

[0003] Pipe welding and beveling are different processes, and there may be a long time interval between the two. Therefore, the bevel of the pipe needs to be derusted before welding. Since the bevel is a curved surface, and the size parameters change with the requirements of the welding process, the existing equipment that grinds the outer circle of the pipe with a grinding wheel is usually not used for bevel grinding. Therefore, the existing bevel grinding is usually performed by manual handheld grinders, which is time-consuming, labor-intensive and inefficient. Utility Model Content

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the utility model is that the existing manual groove rust removal method is inefficient.

[0005] To achieve the above purpose, the utility model provides a roller bed type pipe end face groove robot laser rust removal machine, which includes:

[0006] A lifting roller conveying mechanism, connected to the lifting drive mechanism, is used to convey the pipe along the axial direction of the pipe, and comprises a plurality of V-shaped roller groups spaced apart along the conveying direction;

[0007] A plurality of drive wheel groups, each drive wheel group is arranged at intervals along the conveying direction and is located in the intervals of the V-shaped roller groups; each drive wheel group includes two wheel discs whose rotation axis directions are parallel to the conveying direction, and at least one wheel disc is in transmission connection with the driving mechanism; when the lifting roller conveying mechanism is in a low position, the pipes on the lifting roller conveying mechanism are carried by at least two drive wheel groups, and the circumferential surfaces of the two wheel discs of the drive wheel group are in contact with the two sides of the bottom of the pipe respectively, so as to drive the pipe to rotate along its axis direction;

[0008] The walking mechanism walks on a robot walking track parallel to the conveying direction, and carries a robot rust removal mechanism for removing rust from pipe fittings.

[0009] A further improvement of the utility model is that the lifting roller conveying mechanism and the driving wheel set are both mounted on a frame;

[0010] The lifting roller conveying mechanism includes a rotating bracket, and each V-shaped roller group is installed on the rotating bracket; the first side of the rotating bracket parallel to the conveying direction is rotatably connected to the frame, and the second side of the rotating bracket opposite to the first side is connected to the lifting drive mechanism. When the lifting drive mechanism drives the second side of the rotating bracket to move up and down, the V-shaped roller group on the rotating bracket also rises and falls synchronously.

[0011] A further improvement of the utility model is that a plurality of vertical protective plates are arranged on the rotating bracket, the vertical protective plates are perpendicular to the conveying direction, and the height of the top edge thereof gradually decreases from the first side of the rotating bracket to the V-shaped roller set.

[0012] A further improvement of the utility model is that each of the V-shaped roller groups is installed between the first side and the second side of the rotating bracket, and a transmission mechanism is provided on the second side of the rotating bracket, and the two rollers of each of the V-shaped roller groups are connected to the power device through the transmission mechanism.

[0013] A further improvement of the utility model is that a pipe port positioning mechanism is arranged on the frame, and the pipe port positioning mechanism includes a vertical lifting mechanism and a limiting roller located at the top of the vertical lifting mechanism; when the vertical lifting mechanism is in a raised state, the limiting roller is used to contact the end face of the pipe wall of the pipe to limit the axial movement of the pipe.

[0014] A further improvement of the utility model is that the vertical lifting mechanism is a pneumatic cylinder or an electric cylinder.

[0015] A further improvement of the utility model is that the robot walking track includes a frame and a linear rail and a rack installed on the frame; the walking mechanism is slidably arranged on the linear rail through a slider cooperating with the linear rail, and the walking mechanism is driven to walk along the linear rail through a gear cooperating with the rack and a gear driving mechanism.

[0016] A further improvement of the utility model is that a dust removal system is also provided on the walking mechanism for absorbing dust generated by grinding.

[0017] A further improvement of the utility model is that the robot rust removal mechanism comprises a mechanical arm and a laser rust removal device located at the end of the mechanical arm.

[0018] The device provided by the utility model has the following technical effects:

[0019] 1. It can automatically transport pipe fittings and automatically drive the pipe fittings to rotate during the rust removal process, with a high degree of automation;

[0020] 2. It can adapt to pipes of different diameters and bevels of different shapes, and is highly versatile.

[0021] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional view of the roller bed type pipe end beveling robot laser rust removal machine of the utility model;

[0023] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0024] Figure 3 This is another stereoscopic view of the roller bed type pipe end beveling robot laser rust removal machine;

[0025] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0026] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0028] Some exemplary embodiments of the present invention are described for the purpose of illustration. It should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0029] like Figure 1 , Figure 3As shown, the embodiment of the utility model provides a roller bed type pipe end beveling robot laser rust removal machine, which includes: a lifting roller conveying mechanism 20 and a driving wheel group 40 installed on a frame 10, and a robot rust removal mechanism 51 carried by a walking mechanism 50. The lifting roller conveying mechanism 20 is used to convey the pipe 60 along the axial direction, and the driving wheel group 40 is used to carry the pipe 60 when the lifting roller conveying mechanism 20 is in a low position, and drive the pipe 60 to rotate along its axis. The robot rust removal mechanism 51 includes a mechanical arm and a laser rust removal device located at the end of the mechanical arm. Compared with a grinding wheel, this rust removal solution can adapt to bevels of different shapes.

[0030] like Figure 1 , Figure 2 As shown, in this embodiment, the lifting roller conveying mechanism 20 is connected to the lifting drive mechanism, and is used to convey the pipe 60 along the axial direction of the pipe 60, and includes a plurality of V-shaped roller groups 21 spaced apart along the conveying direction. The lifting roller conveying mechanism 20 also includes a rotating bracket 22, and each V-shaped roller group 21 is mounted on the rotating bracket 22; the first side 23 of the rotating bracket 22 parallel to the conveying direction is rotatably connected to the frame 10, and the second side 24 of the rotating bracket 22 opposite to the first side 23 is connected to the lifting drive mechanism. When the lifting drive mechanism drives the second side 24 of the rotating bracket 22 to lift and lower, the V-shaped roller group 21 on the rotating bracket 22 also rises and falls synchronously. The lifting drive mechanism can be a hydraulic cylinder, an electric cylinder

[0031] In order to prevent the pipe 60 from rolling down from the first side when the second side 24 is lifted and lowered, a plurality of vertical protection plates 25 are provided on the rotating bracket 22. Each vertical protection plate 25 is perpendicular to the conveying direction, and the height of the top edge thereof gradually decreases from the first side 23 of the rotating bracket 22 to the V-shaped roller set 21. In this embodiment, the rotating bracket 22 is rotatably connected to the frame 10 through the vertical protection plates 25.

[0032] Each V-shaped roller set 21 is installed between the first side 23 and the second side 24 of the rotating bracket 22. The second side 24 of the rotating bracket 22 is provided with a transmission mechanism, and the two rollers of each V-shaped roller set 21 are connected to the power device through the transmission mechanism. In this embodiment, each V-shaped roller set 21 includes two rollers distributed in a V shape, and the two rollers are respectively used to support the bottom sides of the pipe 60. The transmission mechanism of the second side 24 can adopt a chain sprocket mechanism.

[0033] A plurality of drive wheel groups 40 are fixedly mounted on the frame 10, and each drive wheel group 40 is arranged at intervals along the conveying direction and is located in the intervals of the V-shaped roller group 21. Each drive wheel group 40 includes two wheel discs 41 whose rotation axis directions are parallel to the conveying direction, and at least one wheel disc 41 is connected to the driving mechanism in a transmission manner. In this embodiment, the rotation axis of each wheel disc 41 is connected to the transmission shaft through a sprocket, and the transmission shaft is driven by a motor.

[0034] In this embodiment, when the lifting roller conveyor mechanism 20 is in a low position (the second side 24 of the rotating bracket 22 is in a low position), the pipe 60 on the lifting roller conveyor mechanism 20 is carried by at least two driving wheel groups 40, and the circumferential surfaces of the two wheel discs 41 of the driving wheel group 40 are respectively in contact with the bottom sides of the pipe 60. When the wheel disc 41 rotates, the pipe 60 can be driven to rotate along its axial direction, so as to facilitate the robot rust removal mechanism 51 to perform rust removal. When the lifting roller conveyor mechanism 20 is in a high position (the second side 24 of the rotating bracket 22 is in a high position), the pipe 60 is carried by the V-shaped roller group 21, and when the roller rotates, the pipe 60 moves along its axial direction.

[0035] like Figure 1 , Figure 3 As shown, the walking mechanism 50 walks on a robot walking rail 52 parallel to the conveying direction, on which a robot rust removal mechanism 51 for removing rust from the pipe 60 is carried. The robot walking rail 52 includes a frame, a linear rail and a rack mounted on the frame; the walking mechanism 50 is slidably arranged on the linear rail through a slider matched with the linear rail, and is driven to walk along the linear rail by a gear matched with the rack and a gear driving mechanism.

[0036] The walking mechanism 50 is also provided with a dust removal system 53 for absorbing dust generated by grinding. In some embodiments, an inclined guide plate 11 is provided in the frame 10, and the inclined guide plate 11 is inclined toward one side of the frame 10. The weight generated by grinding and rust removal is large and cannot float up. The particle residue falls to the upper surface of the inclined guide plate 11 and rolls down on the side of the frame 10 for subsequent cleaning.

[0037] like Figure 3 , Figure 4 As shown, in this embodiment, a pipe fitting port positioning mechanism 15 is provided on the frame 10, and the pipe fitting port positioning mechanism 15 includes a vertical lifting mechanism 16 and a limiting roller 17 located at the top of the vertical lifting mechanism 16; when the vertical lifting mechanism 16 is in a raised state, the limiting roller 17 is used to contact the pipe wall end surface of the pipe fitting 60 to limit the axial movement of the pipe fitting 60. During the rotation of the pipe fitting 60, the limiting roller 17 can rotate freely. The vertical lifting mechanism 16 is a cylinder or an electric cylinder, and the pipe fitting port positioning mechanism 15 is located at the end of the lifting roller conveying mechanism 20.

[0038] like Figures 1 to 4 As shown, during use, the pipe 60 is transported from the starting end to the end of the lifting roller conveyor mechanism 20; at this time, the vertical lifting mechanism 16 is in a raised state, and when the end face of the frontmost pipe 60 approaches the pipe port positioning mechanism 15, the lifting roller conveyor mechanism 20 stops conveying; the pipe port positioning mechanism 15 can limit the axial position of the frontmost pipe 60. After stopping, the lifting roller conveyor mechanism 20 turns from a high position to a low position, each driving wheel group 40 carries the pipe 60 and drives the pipe 60 to rotate, while the walking mechanism 50 walks along the robot walking ground rail 52, and the robot rust removal mechanism 51 removes rust from the groove of the pipe end face.

[0039] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A roller bed type pipe end beveling robot laser rust removal machine, characterized in that: include: A lifting roller conveying mechanism (20) is connected to the lifting drive mechanism and is used to convey the pipe (60) along the axial direction of the pipe (60), and comprises a plurality of V-shaped roller groups (21) spaced apart along the conveying direction; A plurality of drive wheel groups (40), each of the drive wheel groups (40) being arranged at intervals along the conveying direction and being located in the intervals of the V-shaped roller groups (21); each drive wheel group (40) comprising two wheel discs (41) whose rotation axis directions are parallel to the conveying direction, at least one of the wheel discs (41) being in transmission connection with a driving mechanism; when the lifting roller conveying mechanism (20) is in a low position, the pipe fittings (60) on the lifting roller conveying mechanism (20) are carried by at least two of the drive wheel groups (40), and the circumferential surfaces of the two wheel discs (41) of the drive wheel group (40) are respectively in contact with two sides of the bottom of the pipe fittings, so as to drive the pipe fittings (60) to rotate along the axial direction thereof; The walking mechanism (50) walks on a robot walking ground rail (52) parallel to the conveying direction, and carries a robot rust removal mechanism (51) for removing rust from the pipe (60).

2. A roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 1, characterized in that: The lifting roller conveying mechanism (20) and the driving wheel set (40) are both installed on the frame (10); The lifting roller conveying mechanism (20) comprises a rotating bracket (22), and each of the V-shaped roller groups (21) is mounted on the rotating bracket (22); a first side edge (23) of the rotating bracket (22) parallel to the conveying direction is rotatably connected to the frame (10), and a second side edge (24) of the rotating bracket (22) opposite to the first side edge (23) is connected to the lifting drive mechanism; when the lifting drive mechanism drives the second side edge (24) of the rotating bracket (22) to move up and down, the V-shaped roller groups (21) on the rotating bracket (22) are also synchronously lifted and lowered.

3. A roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 2, characterized in that: The rotating bracket (22) is provided with a plurality of vertical protective plates (25), the vertical protective plates (25) are perpendicular to the conveying direction, and the height of the top edge thereof gradually decreases from the first side edge (23) of the rotating bracket (22) to the V-shaped roller set (21).

4. A roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 2, characterized in that: Each of the V-shaped roller groups (21) is installed between a first side edge (23) and a second side edge (24) of the rotating bracket (22); the second side edge (24) of the rotating bracket (22) is provided with a transmission mechanism, and the two rollers of each of the V-shaped roller groups (21) are transmission-connected to the power device via the transmission mechanism.

5. The roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 2, characterized in that: The frame (10) is provided with a pipe fitting port positioning mechanism (15), and the pipe fitting port positioning mechanism (15) comprises a vertical lifting mechanism (16) and a limiting roller (17) located at the top end of the vertical lifting mechanism (16); when the vertical lifting mechanism (16) is in a raised state, the limiting roller (17) is used to contact the end surface of the pipe wall of the pipe fitting (60) to limit the axial movement of the pipe fitting (60).

6. A roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 5, characterized in that: The vertical lifting mechanism (16) is a pneumatic cylinder or an electric cylinder.

7. The roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 1, characterized in that: The robot walking track (52) comprises a frame, a linear track and a rack mounted on the frame; the walking mechanism (50) is slidably arranged on the linear track via a slider matched with the linear track, and the walking mechanism (50) is driven to walk along the linear track via a gear matched with the rack and a gear driving mechanism.

8. The roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 1, characterized in that: The walking mechanism (50) is also provided with a dust removal system (53) for absorbing dust generated by grinding.

9. The roller bed type pipe end beveling robot laser rust removal machine as claimed in claim 1, characterized in that: The robot rust removal mechanism (51) comprises a robot arm and a laser rust removal device located at the end of the robot arm.

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