CN214869496U - Large-size steel pipe groove machining device - Google Patents

Large-size steel pipe groove machining device Download PDF

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Publication number
CN214869496U
CN214869496U CN202120286132.0U CN202120286132U CN214869496U CN 214869496 U CN214869496 U CN 214869496U CN 202120286132 U CN202120286132 U CN 202120286132U CN 214869496 U CN214869496 U CN 214869496U
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arm
robot
steel pipe
stopper
size steel
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CN202120286132.0U
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王祥海
罗景龙
林森
王凯
李文强
刘文博
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Shandong Yiwei Automation Co Ltd
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Shandong Yiwei Automation Co Ltd
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Abstract

The utility model discloses a jumbo size steel pipe groove processingequipment, including processing platform, spacing hole, processing work piece, stopper, robot, polishing tool, laser sensor, switch board, processing platform opens the spacing hole that has the equidistance symmetric distribution for four sides rectangle structure and top, processing work piece has been placed on processing platform top middle part right side and has been fixed through the stopper, the robot is installed and passes through bolt fastening to processing work piece rear end, the robot top is connected with polishing tool and passes through bolt fastening, laser sensor is installed on the polishing tool top, the switch board is installed and just passes through electric wire connection to the robot right-hand member. The utility model discloses a processing efficiency that six joint robots were adopted to rationalize improves the steel pipe effectively and can reduce operating personnel's intensity of labour and guarantee operating personnel's safety.

Description

Large-size steel pipe groove machining device
Technical Field
The utility model relates to a steel pipe machining field especially relates to a jumbo size steel pipe groove preparation device.
Background
At present, in the process of machining the groove of the large-size steel pipe, the groove is machined by using a lathe, and for the small-size steel pipe, the purchase cost of the lathe is low, and the machining efficiency is high. But for the large-size steel pipe, the purchase cost of the lathe can be doubled or even multiplied by several times, and the equipment cost can be greatly reduced by adopting the novel mode for processing the groove of the large-size steel pipe, the working efficiency is improved, and the production cost of the workpiece is reduced. In addition, for the large-size steel pipe, the machining of the male and female grooves is generally required, the lathe obviously cannot process the male and female grooves, and the machining of the male and female grooves can be conveniently and rapidly completed by adopting the novel mode for machining the large-size steel pipe groove.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a jumbo size steel pipe groove preparation device to solve above-mentioned technical problem.
In order to realize the purpose, the utility model adopts the following technical scheme:
the utility model provides a jumbo size steel pipe groove processingequipment, includes processing platform, spacing hole, processing work piece, stopper, robot, grinding tool, laser sensor, switch board, processing platform opens the spacing hole that has the equidistance symmetric distribution for four sides rectangle structure and top, processing platform top middle part right side has been placed the processing work piece and has been fixed through the stopper, the robot is installed and passes through the bolt fastening to processing work piece rear end, the robot top is connected with grinding tool and passes through the bolt fastening, laser sensor is installed on the grinding tool top, the switch board is installed and passes through electric wire connection to the robot right-hand member.
On the basis of the technical scheme, the stopper includes stopper, spacing post, engaging lug, telescopic link, second telescopic joint, handle, the stopper is trapezium structure and bottom mid-mounting has spacing post, spacing post and spacing hole grafting cooperation, engaging lug and inboard threaded hole of opening are installed to stopper right-hand member bottom, telescopic link and telescopic link inboard second telescopic joint that has cup jointed sliding connection are installed to the screw hole inboard, the handle is installed on the telescopic joint top.
On the basis of the technical scheme, the robot comprises a first mechanical arm shaft, a second mechanical arm shaft, a third mechanical arm shaft, a fourth mechanical arm shaft, a fifth mechanical arm shaft and a sixth mechanical arm shaft, wherein the first mechanical arm shaft is arranged at the bottom of the robot, the second mechanical arm shaft is connected with the end of the first mechanical arm shaft, and the second mechanical arm shaft is connected with the third mechanical arm shaft and sequentially connected with the fourth mechanical arm shaft, the fifth mechanical arm shaft and the sixth mechanical arm shaft.
On the basis of the technical scheme, the polishing tool comprises a connecting flange, a protective shell rear cover, a protective shell front cover, a tension wheel, a pneumatic tension structure, a contact wheel, an abrasive belt, a driving wheel and a servo motor, wherein the connecting flange is of a cylindrical structure, the protective shell rear cover is fixed at the front end of the connecting flange through bolts, the protective shell front cover is fixed at the front end of the protective shell rear cover through bolts, the tension wheel, the contact wheel and the driving wheel are sequentially installed on the protective shell rear cover in a triangular structure and at the apex angle and are connected through the abrasive belt, the pneumatic tension structure is installed at the right end of the tension wheel and is connected through the bolts, and the servo motor is connected at the rear end of the driving wheel.
On the basis of the technical scheme, the laser sensor comprises a connecting disc, a box body, a cylindrical objective lens, a 2D Emostar objective lens and a cable, wherein the connecting disc is of a cylindrical structure, the middle of the top of the connecting disc is provided with the box body, the box body is of a four-side rectangular structure, the cylindrical objective lens is arranged at the top of the positive end face of the box body, the 2D Emostar objective lens is arranged below the cylindrical objective lens, and the middle of the rear end of the box body is connected with the cable.
On the basis of the technical scheme, the switch board includes the cabinet body, operator's panel, controller door, connector lid, heat dissipation window, landing leg and lifting eye, the cabinet body installs embedded operator's panel for four sides rectangle structure and positive terminal surface left side, the controller door is installed on operator's panel right side, the connector lid of rectangle structure is installed to controller door below, open at cabinet body right-hand member face middle part has rectangle heat dissipation window, landing leg and lifting eye are installed to cabinet body top and bottom.
A method for processing a groove of a large-size steel pipe comprises the following steps:
step 1, placing a workpiece in place manually, and roughly positioning the workpiece through a limiter;
step 2, inputting relevant information of the workpiece on an input panel of the controller, wherein the relevant information comprises information of the material of the workpiece, the diameter of the workpiece, the thickness of the workpiece plate, the angle of a groove to be polished and the like;
step 3, the control system generates a robot scanning program through the workpiece diameter information and sends the program to a robot control cabinet;
step 4, starting a robot program through a robot starting button, and scanning the position of a workpiece by a laser sensor carried by the robot;
step 5, after the scanning data of the laser sensor is processed by software of the laser sensor, the scanning data of the laser sensor is sent to a control system;
step 6, the control system receives data sent by the line laser sensor, accurately calculates the position of the workpiece according to the data, and fits the position of the circle center of the workpiece;
step 7, the control system automatically calculates grinding process parameters including grinding track number, grinding speed, grinding feed amount, motor rotating speed, grinding path and the like according to the material, diameter, plate thickness, groove angle and the like of the workpiece input in the step 2 through grinding process software, and sends the parameters to the robot and the grinding tool;
and 8, carrying the grinding tool by the robot, generating a grinding path along the step 7, combining parameters such as grinding track number, grinding speed, grinding feeding amount and the like, and rotating the grinding tool according to the generated motor rotating speed to finish grinding operation together.
Compared with the prior art, the utility model has the advantages of it is following: the utility model discloses a processingequipment's stopper adopts grafting cooperation and the convenient fixed vertebra burden that alleviates the user of telescopic link handle, and the robot adopts six arm loads big simultaneously, and the arm exhibition is long, and positioning accuracy height is favorable to improving machining efficiency and machining precision, carries out accurate control to whole system through the switch board in addition and reduces user of service's intensity of labour and avoids the bodily injury and the high automatic trend that accords with social development that direct contact caused.
Drawings
Fig. 1 is a schematic view of the appearance structure of the present invention.
Fig. 2 is a schematic view of the stopper structure of the present invention.
Fig. 3 is a diagram of the connection structure of the robot of the present invention.
Fig. 4 is the schematic view of the polishing tool of the present invention.
Fig. 5 is the appearance structure diagram of the laser sensor of the present invention.
Fig. 6 is the appearance structure diagram of the control cabinet of the present invention.
In the figure: 1. a processing platform, 2, a limiting hole, 3, a processing workpiece, 4, a limiter, 5, a robot, 6, a polishing tool, 7, a laser sensor, 8, a control cabinet, 9, a limiting block, 9-1, a limiting column, 9-2, a connecting lug, 10, a telescopic rod, 10-1, a second telescopic joint, 11, a handle, 12, a mechanical arm first shaft, 13, a mechanical arm second shaft, 14, a mechanical arm third shaft, 15, a mechanical arm fourth shaft, 16, a mechanical arm fifth shaft, 17, a mechanical arm sixth shaft, 18, a connecting flange, 19, a protective shell rear cover, 19-1, a protective shell front cover, 20, a tension wheel, 21, a pneumatic tension structure, 22, a contact wheel, 23, an abrasive belt, 24, a driving wheel, 25, a servo motor, 26, a connecting disc, 27, a box body, 28, a cylindrical objective, 29, 2D aerostar objective, 30, a cable, 31, a cabinet body, 32 and an operator panel, 33. controller door, 34, connector lid, 35, heat dissipation window, 36, landing leg and lifting eye.
Detailed Description
The invention is explained in further detail below with reference to the figures and the embodiments.
As shown in fig. 1-6, a jumbo size steel pipe groove processingequipment, including processing platform 1, spacing hole 2, processing work piece 3, stopper 4, robot 5, grinding tool 6, laser sensor 7, switch board 8, processing platform 1 is four sides rectangular structure and top open the spacing hole 2 that has the equidistance symmetric distribution, processing work piece 3 and fix through stopper 4 have been placed on 1 top middle part right side of processing platform, 3 rear ends of processing work piece are installed robot 5 and are passed through the bolt fastening, 5 tops of robot are connected with grinding tool 6 and are passed through the bolt fastening, laser sensor 7 is installed on 6 tops of grinding tool, 8 just pass through the connection of electric lines of switch board are installed to 5 right-hand members of robot.
Stopper 4 includes stopper 9, spacing post 9-1, engaging lug 9-2, telescopic link 10, second telescopic joint 10-1, handle 11, stopper 9 is trapezium structure and bottom mid-mounting has spacing post 9-1, spacing post 9-1 is pegged graft with spacing hole 2 and is cooperated, stopper 9 right-hand member bottom is installed engaging lug 9-2 and inboard division has the screw hole, telescopic link 10 is installed to the screw hole inboard and telescopic link 10 inboard has cup jointed sliding connection's second telescopic joint 10-1, handle 11 is installed on telescopic joint 10-1 top.
Robot 5 includes that one 12, two 13, the triaxial 14, the four-axis 15 of arm, five 16, the six 17 of arm, 5 bottoms of robot are one 12 of arm, one 12 end-to-end connections of arm have two 13 of arm, two 13 end-to-end connections of arm have arm three-axis 14 and have connected gradually arm four-axis 15, five 16, the six 17 of arm.
The polishing tool 6 comprises a connecting flange 18, a protective shell rear cover 19, a protective shell front cover 19-1, a tension wheel 20, a pneumatic tension structure 21, a contact wheel 22, an abrasive belt 23, a driving wheel 24 and a servo motor 25, wherein the connecting flange 18 is of a cylindrical structure, the protective shell rear cover 19 is fixed at the front end of the connecting flange 18 through bolts, the protective shell front cover 19-1 is fixed at the front end of the protective shell rear cover 19 through bolts, the protective shell rear cover 19 is of a triangular structure, the tension wheel 20, the contact wheel 22 and the driving wheel 24 are sequentially installed at the vertex angle of the protective shell rear cover 19 and are connected through the abrasive belt 23, the pneumatic tension structure 21 is installed at the right end of the tension wheel 20 and is connected through the bolts, and the servo motor 25 is connected at the rear end of the driving wheel 24.
Laser sensor 7 includes connection pad 26, box 27, post circle objective 28, 2D Emostar objective 29, cable 30, connection pad 26 is cylindrical structure and top mid-mounting has box 27, box 27 is four sides rectangular structure and positive terminal surface top installation post circle objective 28, 2D Emostar objective 29 is installed to post circle objective 28 below, box 27 rear end middle part is connected with cable 30.
The switch board 8 includes the cabinet body 31, operator's panel 32, controller door 33, connector lid 34, heat dissipation window 35, landing leg and lifting eye 36, the cabinet body 31 installs embedded operator's panel 32 for four sides rectangular structure and positive terminal surface left side, controller door 33 is installed on operator's panel 32 right side, the connector lid 34 of rectangular structure is installed to controller door 33 below, cabinet body 31 right-hand member face middle part is opened there is rectangle heat dissipation window 35, landing leg and lifting eye 36 are installed to cabinet body 31 top and bottom.
A method for processing a groove of a large-size steel pipe comprises the following steps:
step 1, placing a workpiece in place manually, and roughly positioning the workpiece through a limiter;
step 2, inputting relevant information of the workpiece on an input panel of the controller, wherein the relevant information comprises information of the material of the workpiece, the diameter of the workpiece, the thickness of the workpiece plate, the angle of a groove to be polished and the like;
step 3, the control system generates a robot scanning program through the workpiece diameter information and sends the program to a robot control cabinet;
step 4, starting a robot program through a robot starting button, and scanning the position of a workpiece by a laser sensor carried by the robot;
step 5, after the scanning data of the laser sensor is processed by software of the laser sensor, the scanning data of the laser sensor is sent to a control system;
step 6, the control system receives data sent by the line laser sensor, accurately calculates the position of the workpiece according to the data, and fits the position of the circle center of the workpiece;
step 7, the control system automatically calculates grinding process parameters including grinding track number, grinding speed, grinding feed amount, motor rotating speed, grinding path and the like according to the material, diameter, plate thickness, groove angle and the like of the workpiece input in the step 2 through grinding process software, and sends the parameters to the robot and the grinding tool;
and 8, carrying the grinding tool by the robot, generating a grinding path along the step 7, combining parameters such as grinding track number, grinding speed, grinding feeding amount and the like, and rotating the grinding tool according to the generated motor rotating speed to finish grinding operation together.
The utility model discloses grinding tool installs on the terminal ring flange of robot, and the sensor is installed on grinding tool, takes grinding tool to realize that different spatial position removes, gesture transform etc. by the robot. The sensor can realize the scanning confirmation of the position of the workpiece and transmit the position information of the workpiece to the robot control cabinet, so that the running track of the robot is corrected. Put into the processing platform top and fix through the grafting cooperation in stopper and spacing hole through hoist and mount processing work piece, drive grinding tool through the terminal arm sixth axis of switch board control robot simultaneously and polish processing work piece, and laser sensor is installed and the position through laser surveying's feedback to grinding tool is adjusted to the grinding tool top simultaneously. The grinding tool drives the driving wheel to rotate through the servo motor and drives the tension wheel and the contact wheel through the abrasive belt, and the abrasive belt is adjusted through the starting tension mechanism at the right end of the tension wheel.
The foregoing is a preferred embodiment of the present invention, and for those skilled in the art to understand the teaching of the present invention, the changes, modifications, replacements and variations to the embodiments will still fall within the protection scope of the present invention without departing from the principle and spirit of the present invention.

Claims (6)

1. The utility model provides a jumbo size steel pipe groove processingequipment, includes processing platform (1), spacing hole (2), processing work piece (3), stopper (4), robot (5), grinding tool (6), laser sensor (7), switch board (8), its characterized in that: processing platform (1) is opened spacing hole (2) that have the equidistance symmetric distribution for four sides rectangle structure and top, processing platform (1) top middle part right side has been placed and has been processed work piece (3) and fix through stopper (4), robot (5) and through the bolt fastening are installed to processing work piece (3) rear end, robot (5) top is connected with grinding tool (6) and through the bolt fastening, laser sensor (7) are installed on grinding tool (6) top, switch board (8) and through connection of electric lines are installed to robot (5) right-hand member.
2. The large-size steel pipe groove machining device according to claim 1, wherein: stopper (4) include stopper (9), spacing post (9-1), engaging lug (9-2), telescopic link (10), second telescopic joint (10-1), handle (11), stopper (9) are trapezium structure and bottom mid-mounting has spacing post (9-1), spacing post (9-1) and spacing hole (2) cooperation of pegging graft, engaging lug (9-2) and inboard threaded hole of opening are installed to stopper (9) right-hand member bottom, telescopic link (10) are installed to the threaded hole inboard and telescopic link inboard second telescopic joint (10-1) that has cup jointed sliding connection, handle (11) are installed on second telescopic joint (10-1) top.
3. The large-size steel pipe groove machining device according to claim 1, wherein: robot (5) are including one (12) of arm, two (13) of arm, arm triaxial (14), arm four-axis (15), five (16) of arm, six (17) of arm, robot (5) bottom is one (12) of arm, one (12) end-to-end connection of arm has two (13) of arm, two (13) end-to-end connection of arm have arm triaxial (14) and have connected gradually arm four-axis (15), five (16) of arm, six (17) of arm.
4. The large-size steel pipe groove machining device according to claim 1, wherein: the polishing tool (6) comprises a connecting flange (18), a protective shell rear cover (19), a protective shell front cover (19-1), a tension wheel (20), a pneumatic tension structure (21), a contact wheel (22), an abrasive belt (23), a driving wheel (24) and a servo motor (25), the connecting flange (18) is of a cylindrical structure, the front end of the connecting flange is fixed with a protective shell rear cover (19) through bolts, the front end of the protective shell rear cover (19) is fixed with a protective shell front cover (19-1) through bolts, the rear cover (19) of the protective shell is of a triangular structure, a tension wheel (20), a contact wheel (22) and a driving wheel (24) are sequentially arranged at the vertex angle and are connected through an abrasive belt (23), the pneumatic tensioning device is characterized in that a pneumatic tensioning structure (21) is mounted at the right end of the tensioning wheel (20) and connected through a bolt, and a servo motor (25) is connected to the rear end of the driving wheel (24).
5. The large-size steel pipe groove machining device according to claim 1, wherein: laser sensor (7) include connection pad (26), box (27), post circle objective (28), 2D Emostar objective (29), cable (30), connection pad (26) have box (27) for cylindrical structure and top mid-mounting, box (27) are four sides rectangular structure and positive terminal surface top installation post circle objective (28), 2D Emostar objective (29) are installed to post circle objective (28) below, box (27) rear end mid-connection has cable (30).
6. The large-size steel pipe groove machining device according to claim 1, wherein: switch board (8) are including the cabinet body (31), operator's panel (32), controller door (33), connector lid (34), heat dissipation window (35), landing leg and lifting eye (36), embedded operator's panel (32) is installed for four sides rectangle structure and positive terminal surface left side in the cabinet body (31), controller door (33) is installed on operator's panel (32) right side, connector lid (34) of rectangle structure are installed to controller door (33) below, open at cabinet body (31) right terminal surface middle part has rectangle heat dissipation window (35), landing leg and lifting eye (36) are installed to cabinet body (31) top and bottom.
CN202120286132.0U 2021-02-02 2021-02-02 Large-size steel pipe groove machining device Active CN214869496U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120286132.0U CN214869496U (en) 2021-02-02 2021-02-02 Large-size steel pipe groove machining device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120286132.0U CN214869496U (en) 2021-02-02 2021-02-02 Large-size steel pipe groove machining device

Publications (1)

Publication Number Publication Date
CN214869496U true CN214869496U (en) 2021-11-26

Family

ID=78860935

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202120286132.0U Active CN214869496U (en) 2021-02-02 2021-02-02 Large-size steel pipe groove machining device

Country Status (1)

Country Link
CN (1) CN214869496U (en)

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