Burr removing device
By combining a dual six-axis industrial robot with a flange and gasket driven by a hydraulic cylinder to seal the port of a round steel pipe, the problem of cleaning iron filings inside the pipe is solved, achieving efficient burr removal and iron filings cleaning.
Patent Information
- Application Number
- CN202423027751.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-12-09
AI Technical Summary
In existing technologies, when six-axis industrial robots remove burrs from the inside and outside of round steel pipes, it is difficult to clean the iron filings inside the pipe, and traditional methods cannot effectively seal the pipe opening, resulting in a large amount of cleaning work.
A dual six-axis industrial robot, along with a hydraulic cylinder-driven flange and gasket, is used to seal the end of the round steel pipe. The gasket is used to press against the inner wall of the pipe to seal the pipe opening during the grinding process. After grinding, the gasket is used to scrape off the iron filings, reducing the amount of cleaning work.
It achieves automatic sealing of the pipe opening during the grinding process, reducing the workload of cleaning iron filings, improving cleaning efficiency, and reducing cleaning difficulty.
Smart Images
Figure CN223477187U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of steel processing technology, and specifically relates to a burr removal device. Background Technology
[0002] Round steel pipes, widely used in construction, machinery, automobiles, power, shipbuilding, and other fields, are exported both domestically and internationally. Especially as a crucial component in pipeline transportation, they can withstand high pressure and can be used directly after cutting and coating, eliminating the need for a separate mold production line. However, the cut round steel pipes often have burrs, particularly at the ends, which require separate burr removal.
[0003] With the gradual maturation of industrial robot technology, the traditional method of grinding round steel pipes using a spindle-driven grinding head has become outdated and is gradually being replaced by six-axis industrial robots. This is mainly reflected in the high processing precision of industrial robots, resulting in a more uniform surface roughness after deburring, with fewer scratches or uneven areas.
[0004] For round steel pipes with large spans, a six-axis industrial robot needs to grind each pipe opening individually and remove burrs along a circular path. However, the iron filings that fall off the inner wall of the pipe opening often fall into the pipe, some of them penetrating deep into the pipe and exceeding the range of motion of the six-axis industrial robot. In addition, the round steel pipe has a large span, and even if an air gun is used to blow air, it is impossible to cross the round steel pipe, making it difficult to clean the residual iron filings inside the pipe on site. Utility Model Content
[0005] The purpose of this invention is to provide a burr removal device that closes the round steel pipe during grinding and deburring, and scrapes off the iron filings after grinding, eliminating the need to clean the iron filings across the entire round steel pipe, thus effectively reducing workload.
[0006] The specific technical solution adopted by this utility model is as follows:
[0007] A burr removal device includes two six-axis industrial robots and a grinding head rotatably mounted on the output end of the six-axis industrial robots. A support frame is horizontally positioned between the two robots. A hydraulic cylinder is horizontally fixed to the upper edge of the support frame. A movable component is fixed to the output end of the hydraulic cylinder. The movable component includes a flange and a steel rod welded axially to the center of the flange. The end face of the steel rod is axially fixed to the output end of the hydraulic cylinder. A ring-shaped rubber gasket is adhered to the outer side of the flange. A guide rod is fixed to the side of the flange near the hydraulic cylinder, parallel to the steel rod. A round steel pipe is lifted and moved onto the support frame. The hydraulic cylinder is then activated to push the movable component forward into the round steel pipe, causing the outer edge of the rubber gasket to make an interference fit with the inside of the round steel pipe, completing the internal sealing of that end of the round steel pipe. Then, the two six-axis industrial robots are activated to rotate the grinding head to grind and polish the round steel pipe, removing burrs. Iron filings fly outwards and inwards from the round steel pipe. Those inside the round steel pipe are blocked by the flange and the rubber gasket. A six-axis industrial robot drives the grinding head away from the round steel pipe, and then controls the hydraulic cylinder to pull the moving parts in the opposite direction to detach from the round steel pipe. The iron filings are scraped off by the part of the rubber pad that contacts the round steel pipe. There is no need to clean the iron filings across the entire round steel pipe, which reduces the amount of iron filings cleaning work after burr removal.
[0008] As a preferred embodiment, the upper surface of the support frame is fixed with a trapezoidal plate with a central hole. The central hole of the mounting base is penetrated by a steel rod, and the mounting base is also provided with a sliding hole through which a guide rod passes. The sliding hole of the mounting base vertically supports the guide rod, and the central hole vertically supports the steel rod, which guides the flange and facilitates the flange to be aligned with the round steel pipe.
[0009] As a preferred embodiment, the outer edge of the rubber pad is bent toward the hydraulic cylinder, and an annular rib is bonded to the outer arc surface of the rubber pad. The annular rib can be made of steel wire. In particular, when the rubber pad is subjected to friction and partially deforms, the annular rib is used to tighten it circumferentially, reducing the tearing of the rubber pad.
[0010] As a preferred embodiment, two material rollers are rotatably mounted on the upper surface of the support frame away from the hydraulic cylinder. Both material rollers are parallel to the steel bar, and the number of material rollers can be increased axially to support the long round steel pipe, so that the round steel pipe can be aligned with the hydraulic cylinder when placed flat on the support frame.
[0011] As a preferred embodiment, a collection pool is also embedded in the upper surface of the support frame. The collection pool is located between the mounting base and the two material rollers, with the collection pool facing upwards and aligned with the end of the round steel pipe, so as to catch the flying and scraped iron filings and collect them in a centralized manner.
[0012] As a preferred embodiment, a cutting fluid spray pipe is fixedly connected to the mounting base above the steel bar. The outlet of the cutting fluid spray pipe faces the rubber pad. During grinding, the cutting fluid pump is started to draw cutting fluid from the storage tank and spray it along the cutting fluid spray pipe toward the nozzle. The cutting fluid cools the nozzle and washes away the iron filings, which fall into the collection pool, promoting the recovery of iron filings.
[0013] As a preferred embodiment, baffles are welded to both sides of the collection pool. The two baffles extend towards the two material rollers respectively, blocking the splashing cutting fluid from both sides and causing the cutting fluid to fall into the collection pool along the inclined surface of the baffles, thus avoiding waste.
[0014] The technical effects achieved by this utility model are as follows:
[0015] This invention lifts a round steel pipe and moves it onto a support frame. Then, a hydraulic cylinder is activated to push a movable component forward into the round steel pipe, causing the outer edge of the rubber pad to make an interference fit with the inside of the round steel pipe, thus sealing the internal end of the pipe. Next, two six-axis industrial robots rotate grinding heads to grind and polish the round steel pipe, removing burrs. Iron filings fly both inside and outside the round steel pipe; those inside are blocked by the flange and rubber pad. The six-axis industrial robots move the grinding heads away from the round steel pipe, and then control the hydraulic cylinder to pull the movable component in the opposite direction, detaching it from the pipe. The contact area between the rubber pad and the round steel pipe scrapes off the iron filings, eliminating the need to clean the iron filings across the entire round steel pipe, thus reducing the workload of cleaning iron filings after burr removal.
[0016] The annular reinforcing bar of this invention can be made of steel wire. In particular, when the rubber pad is subjected to friction, it deforms in part and is tightened circumferentially by the annular reinforcing bar, which reduces the tearing of the rubber pad and increases the thickness of the rubber pad as an outer protective layer, so as to resist the impact of iron filings. Attached Figure Description
[0017] Figure 1 This is a front view of a burr removal device according to this utility model;
[0018] Figure 2 This is a top view of the support frame of this utility model;
[0019] Figure 3 This is a top view of the hydraulic cylinder of this utility model;
[0020] Figure 4 This is the front view of the mounting base of this utility model.
[0021] In the accompanying drawings, the components represented by the reference numerals are as follows:
[0022] 1. Six-axis industrial robot; 2. Grinding head; 3. Bearing frame; 4. Hydraulic cylinder; 5. Moving parts; 6. Rubber pad; 7. Guide rod; 8. Mounting base; 9. Sliding hole; 10. Circular rib; 11. Carrying roller; 12. Collection tank; 13. Cutting fluid spray nozzle; 14. Baffle. Detailed Implementation
[0023] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.
[0024] like Figure 1-Figure 4 As shown, a burr removal device includes a six-axis industrial robot 1 and a grinding head 2 rotatably mounted on the output end of the six-axis industrial robot 1. The six-axis industrial robot 1 can be a RB-10-001 model six-axis robot. There are two six-axis industrial robots 1. A support frame 3 is horizontally arranged between the two six-axis industrial robots 1. The legs of the support frame 3 are all grounded by bolts. A hydraulic cylinder 4 is horizontally fixed to the upper edge of the support frame 3 by a steel frame. A movable part 5 is fixed to the output end of the hydraulic cylinder 4. The movable part 5 includes a flange and a steel rod welded axially in the middle of the flange. The end face of the steel rod is fixed to the output end of the hydraulic cylinder 4 axially by a coupling. A ring-shaped rubber gasket 6 is glued to the outside of the flange. The rubber gasket 6 can be made of wear-resistant fluororubber. A guide rod 7 is fixed to the side of the flange near the hydraulic cylinder 4 by screws. The guide rod 7 is parallel to the steel rod.
[0025] During the loading stage, the two ends of the round steel pipe are tied with nylon ropes, and then lifted by a gantry crane and moved to the support frame 3, maintaining a specified distance from the hydraulic cylinder 4. After the round steel pipe is lowered, the ends are aligned with the flange and distributed in a straight line with the steel bar.
[0026] During the processing stage, hydraulic cylinder 4 is activated to push moving part 5 into the round steel pipe in the forward direction. This causes the outer edge of rubber gasket 6 to make an interference fit with the inside of the round steel pipe. Guide rod 7 vertically supports the flange, relieving the vertical load on hydraulic cylinder 4, allowing it to extend and retract only axially. At this point, the outer edge of rubber gasket 6 is tightly against the inner wall of the round steel pipe, completing the internal sealing of that end of the pipe. Then, two six-axis industrial robots 1 are activated to rotate grinding heads 2, grinding and polishing the inner and outer edges and end faces of the round steel pipe sequentially along a semicircle to remove burrs. Iron filings fly outwards and inwards from the round steel pipe; those inside the pipe are blocked by the flange and rubber gasket 6.
[0027] In the final stage, after the end of the round steel pipe is polished, the six-axis industrial robot 1 drives the polishing head 2 away from the round steel pipe, and then controls the hydraulic cylinder 4 to pull the movable part 5 in the opposite direction to disengage from the round steel pipe. During this process, the iron filings are scraped off by the part of the rubber pad 6 that is in contact with the round steel pipe, without having to cross the entire round steel pipe to clean the iron filings, thus reducing the workload of cleaning iron filings after burr removal.
[0028] Among them, the bearing frame 3 and the round steel pipe have a sufficiently large static friction force, so that the round steel pipe will not move whether it is grinding or inserting and removing the rubber pad 6, so that the round steel pipe is stationary on the bearing frame 3 relative to the hydraulic cylinder 4.
[0029] Refer to the attached Figure 1 and Figure 4 The upper surface of the support frame 3 is fixed with a trapezoidal plate with a central hole by bolts. The central hole of the mounting base 8 is penetrated by a steel rod. The mounting base 8 also has a sliding hole 9 through which the guide rod 7 passes. The sliding hole 9 of the mounting base 8 vertically supports the guide rod 7, and the central hole vertically supports the steel rod, which guides the flange and makes it easy for the flange to be aligned with the round steel pipe.
[0030] Refer to the attached Figure 1 and Figure 3 The outer edge of the rubber pad 6 is bent toward the hydraulic cylinder 4. The outer arc surface of the rubber pad 6 is bonded with an annular rib 10. The annular rib 10 can be made of steel wire. In particular, when the rubber pad 6 is subjected to friction, it is partially deformed. The annular rib 10 is used to tighten it circumferentially, reducing the tearing of the rubber pad 6. It also increases the thickness of the rubber pad 6 as an outer protective layer, which can resist the impact of iron filings.
[0031] Refer to the attached Figure 1 , Figure 2 and Figure 2 Two material rollers 11 are rotatably mounted on the upper surface of the support frame 3 away from the hydraulic cylinder 4 via bearing seats. Both material rollers 11 are parallel to the steel bar. The number of material rollers 11 can be increased axially to support longer round steel pipes, so that the round steel pipes can be aligned with the hydraulic cylinder 4 when placed flat on the support frame 3.
[0032] Refer to the attached Figure 1 and Figure 2 The upper surface of the support frame 3 is also embedded with a collection pool 12. The upper edge of the collection pool 12 is fixed to the upper surface of the support frame 3 by bolts. The lower surface of the collection pool 12 is connected to a wastewater pipe. The collection pool 12 is located between the mounting base 8 and the two material rollers 11. The collection pool 12 faces upward and is aligned with the end of the round steel pipe, which can catch the flying and scraped iron filings and collect them in a centralized manner.
[0033] Refer to the attached Figure 1 and Figure 2A cutting fluid nozzle 13 is installed above the steel rod and is fixedly connected to the mounting base 8 by a clamp. The outlet of the cutting fluid nozzle 13 faces the rubber pad 6. The inlet of the cutting fluid nozzle 13 is connected to a chip liquid pump. During grinding, the chip liquid pump is started to draw the chip liquid from the storage tank and spray the cutting fluid along the cutting fluid nozzle 13 toward the nozzle opening. The cutting fluid cools the nozzle opening and washes away the iron chips, which fall into the collection pool 12, promoting the recovery of iron chips.
[0034] Refer to the attached Figure 1 and Figure 2 Both sides of the collection pool 12 are welded with baffles 14. The two baffles 14 extend toward the two material rollers 11 respectively, blocking the splashing cutting fluid from both sides, so that the cutting fluid falls into the collection pool 12 along the inclined surface of the baffles 14, avoiding waste.
[0035] The working principle of this utility model is as follows: During operation, the round steel pipe is lifted and moved onto the support frame 3, with the end aligned with the flange. Then, the hydraulic cylinder 4 is activated to push the movable part 5 into the round steel pipe in the forward direction, causing the outer edge of the rubber pad 6 to be interference-fitted with the inside of the round steel pipe. At this time, the outer edge of the rubber pad 6 is tightly attached to the inner wall of the round steel pipe, completing the internal sealing of that end of the round steel pipe.
[0036] Then, two six-axis industrial robots 1 are started to rotate the grinding head 2, which grinds and polishes the inner and outer edges and end faces of the round steel pipe along the semicircle to remove burrs. Iron filings fly outwards and inwards from the round steel pipe, while those inside the round steel pipe are blocked by the flange and rubber gasket 6.
[0037] After the end of the round steel pipe is polished, the six-axis industrial robot 1 drives the polishing head 2 away from the round steel pipe, and then controls the hydraulic cylinder 4 to pull the movable part 5 in the opposite direction to disengage from the round steel pipe. During this process, the iron filings are scraped off by the part of the rubber pad 6 that is in contact with the round steel pipe. It is not necessary to clean the iron filings across the entire round steel pipe, which reduces the workload of cleaning iron filings after burr removal.
[0038] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.
Claims
1. A burr removal device, comprising a six-axis industrial robot (1) and a grinding head (2) rotatably mounted on the output end of the six-axis industrial robot (1), characterized in that: The number of six-axis industrial robots (1) is two. A support frame (3) is horizontally arranged between the two six-axis industrial robots (1). A hydraulic cylinder (4) is horizontally fixed on the upper edge of the support frame (3). A movable part (5) is fixed at the output end of the hydraulic cylinder (4). The movable part (5) includes a flange and a steel rod welded axially in the middle of the flange. The end face of the steel rod is fixedly connected to the output end of the hydraulic cylinder (4) axially. A ring-shaped rubber gasket (6) is glued to the outside of the flange. A guide rod (7) is fixed on the side of the flange near the hydraulic cylinder (4). The guide rod (7) is parallel to the steel rod.
2. The burr removal device according to claim 1, characterized in that: The upper surface of the support frame (3) is fixed with a mounting base (8) that is trapezoidal and has a central hole. The central hole of the mounting base (8) is penetrated by a steel rod. The mounting base (8) is also provided with a sliding hole (9) through which a guide rod (7) penetrates.
3. The burr removal device according to claim 1, characterized in that: The outer edge of the rubber pad (6) is bent toward the hydraulic cylinder (4), and the outer arc surface of the rubber pad (6) is bonded with annular ribs (10).
4. The burr removal device according to claim 2, characterized in that: Two material rollers (11) are rotatably mounted on the upper surface of the support frame (3) away from the hydraulic cylinder (4), and both material rollers (11) are parallel to the steel bar.
5. The burr removal device according to claim 4, characterized in that: The upper surface of the support frame (3) is also embedded with a collection pool (12), which is located between the mounting base (8) and the two material rollers (11).
6. The burr removal device according to claim 2, characterized in that: A cutting fluid nozzle (13) is fixedly connected to the mounting base (8) above the steel rod, and the outlet of the cutting fluid nozzle (13) faces the rubber pad (6).
7. The burr removal device according to claim 5, characterized in that: Both sides of the collection pool (12) are welded with baffles (14), and the two baffles (14) extend toward the two material rollers (11) respectively.