CN218984209U

CN218984209U - Automatic blunting device

Info

Publication number: CN218984209U
Application number: CN202223606917.5U
Authority: CN
Inventors: 任将; 易伟平; 柳志诚; 孙得凤; 李志坚; 崔宇琳
Original assignee: Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Current assignee: Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2023-05-09
Anticipated expiration: 2032-12-28

Abstract

The utility model relates to an obtuse device, and discloses an automatic obtuse device which comprises a multi-degree-of-freedom moving device and an obtuse device, wherein the multi-degree-of-freedom moving device can move along a first direction, move along a second direction and rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the obtuse device is connected with the multi-degree-of-freedom moving device and is used for obtuse the end face of a pipe. The automatic blunting device can meet the requirements of blunting of the sections of the pipes with different specifications, has higher efficiency and better polishing quality, and is suitable for automatic production.

Description

Automatic blunting device

Technical Field

The utility model relates to an abating device, in particular to an automatic abating device.

Background

Along with the continuous development of the modern industrial process, the requirements on the cutting quality and precision of the pipe are continuously improved due to the daily and monthly variation of the high and new technology, the requirements on the production efficiency and the production cost are improved, the requirement on the high-intelligent automatic cutting function is also improved, and the pipe processing industry is also developed towards the directions of high processing efficiency and high processing precision. The laser pipe cutting machine gradually replaces the traditional metal cutting equipment due to the advantages of high precision, rapid cutting and the like.

The laser pipe cutting machine is mainly used for cutting pipes such as round pipes and rectangular pipes, takes the rectangular pipes as an example, after the laser pipe cutting machine is adopted for cutting, the cross section of the rectangular pipe is a right-angle surface, the side of the cross section is small in paint adhesion force due to the right-angle effect, and the cross section of the rectangular pipe is easy to rust after paint, so that the cross section of the rectangular pipe needs to be subjected to dulling. Traditional work of dulling is usually accomplished by the manual work, adopts milling tools to carry out the work of dulling of the section of rectangular pipe, and inefficiency, the quality of polishing is relatively poor, is not applicable to automated production.

Thus, there is a great need to develop an blunting apparatus for use in a blunting work.

Disclosure of Invention

The utility model aims to solve the technical problem of providing an automatic blunting device which can meet the requirements of the blunting of the sections of pipes with different specifications, has higher efficiency and better polishing quality, and is suitable for automatic production.

In order to solve the technical problems, the utility model provides an automatic blunting device which comprises a multi-degree-of-freedom moving device and a blunting device, wherein the multi-degree-of-freedom moving device can move along a first direction, move along a second direction and rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the blunting device is connected with the multi-degree-of-freedom moving device and is used for blunting the end face of a pipe.

In some embodiments, the pipe handling system further comprises a handling gripping device for handling pipes, the handling gripping device being connected to the multiple degree of freedom motion device.

In some embodiments, the blunting device is integral with the handling gripping device.

In some embodiments, the handling gripping device is a magnetically attractable handling gripper.

In some embodiments, the multi-degree of freedom motion device is a six-axis robot.

In some embodiments, the multi-degree of freedom motion device is bottom mounted with a base.

In some embodiments, a securing device for securing the tubing is also included.

In some embodiments, the securing apparatus includes a clamping mechanism for clamping the pipe and a mount mounted to a bottom of the clamping mechanism.

In some embodiments, the clamping mechanism includes a pair of oppositely disposed clamping members.

In some embodiments, the blunting device comprises a sanding head and a floating drive device connected to the sanding head, the floating drive device being mounted on the multiple degree of freedom motion device.

Through the technical scheme, the utility model has the following beneficial effects:

the multi-degree-of-freedom motion device can move along a first direction, move along a second direction and rotate around a third direction, so that the multi-degree-of-freedom motion device is driven to move, and the end part of the pipe is subjected to the dulling operation. The polishing machine can automatically adapt to the pipes with various specifications, has better polishing quality and higher efficiency, and can realize automatic dulling of the end faces of the pipes together with other equipment.

Additional features and advantages of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the description serve to explain, without limitation, the utility model. In the drawings:

FIG. 1 is a schematic view of an automatic blunting apparatus according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a multi-degree of freedom motion device according to an embodiment of the utility model;

FIG. 3 is a schematic view of an integrated structure of an blunting device and a handling gripping device according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a fixing device in an embodiment of the present utility model.

Description of the reference numerals

1 multi-freedom degree movement device 11 base

2 blunting device 21 head of polishing

3 carrying grabbing device 4 fixing equipment

41 mounting seat 42 clamping piece

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the utility model and are not intended to limit the scope of the utility model, which may be embodied in many different forms and not limited to the specific embodiments disclosed herein, but rather to include all technical solutions falling within the scope of the claims.

These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.

In the description of the present utility model, unless otherwise indicated, the meaning of "plurality of" means greater than or equal to two; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present utility model and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present utility model. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

Furthermore, the use of the terms first, second, third and the like in the present utility model do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

It should also be noted that, in the description of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art. When a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device.

All terms used herein have the same meaning as understood by one of ordinary skill in the art to which the present utility model pertains, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.

As shown in fig. 1 to 3, the utility model provides an automatic blunting device, which comprises a multi-degree-of-freedom moving device 1 and a blunting device 2, wherein the multi-degree-of-freedom moving device 1 at least can move along a first direction, move along a second direction and rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the blunting device 2 is connected with the multi-degree-of-freedom moving device 1 and is used for blunting the end surface of a pipe.

The multi-degree-of-freedom motion device 1 has multiple degrees of freedom, can achieve the blunting of the cross sections of the pipes with different specifications, has higher efficiency and better polishing quality, and can be suitable for automatic production.

In some embodiments, the multi-degree-of-freedom motion device 1 may be a six-axis industrial robot, where the industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, and has a certain automaticity, and can implement various industrial processing and manufacturing functions by depending on its own power source and control capability. The six-axis industrial robot has multiple degrees of freedom, different dulling programs can be written for different pipes, the flexibility is high, automatic dulling of the pipe materials with different specifications can be achieved, and for a person skilled in the art, after knowing the dulling requirements for specific pipes, the person can write corresponding dulling programs, and the corresponding dulling programs belong to the conventional technology and control the six-axis industrial robot to carry out dulling operation.

It should be noted that the first direction, the second direction, and the third direction are set to facilitate description of the ability of the multiple degree of freedom motion device 1 to have multiple degrees of freedom motion, and as a specific example, the first direction may refer to a left-right direction of the multiple degree of freedom motion device 1, the second direction may refer to an up-down direction of the multiple degree of freedom motion device 1, the third direction may refer to a front-back direction of the multiple degree of freedom motion device 1, and the front direction of the multiple degree of freedom motion device 1 refers to a direction in which the multiple degree of freedom motion device 1 is normally operated.

In some embodiments, the blunting device 2 may be a floating polishing head, specifically, the device comprises a polishing head 21 and a floating driving device, the floating driving device is installed on the multi-degree-of-freedom motion device 1, the floating driving device is used for driving the polishing head 21 to rotate, the polishing head 21 may be an alloy tool bit, the floating driving device may be a floating motor, the floating motor may detect the pressure of the polishing head 21, different pressures are provided according to the abrasion condition of the tool bit, and the consistency of the blunting angle is ensured. Alternatively, a servo motor can be used in combination with a sensor to feed back pressure information at the polishing head 21, so that the driving part is adjusted in real time to generate constant force, and floating is realized.

In some embodiments, the polishing head 21 may be provided with a contact sensor, and after the contact sensor recognizes that the contact workpiece is contacted, the controller receives a contact signal to control the polishing head 21 to start rotating, and simultaneously control the multi-degree-of-freedom motion device 1 to slowly move the polishing head 21 along the outer contour of the pipe section, so as to perform the contour surface dulling. The touch sensor belongs to a conventional technology in the control technical field, such as a laser sensor, an ultrasonic sensor, an infrared sensor and the like, and a person skilled in the art can select the touch sensor according to needs on the basis of knowing the technical scheme of the utility model, and the details are not repeated here.

In some embodiments, as shown in fig. 1 and 3, a handling gripping device 3 is further provided, the handling gripping device 3 is used for handling pipes, and the handling gripping device 3 is connected with the multi-degree-of-freedom movement device 1. The carrying grabbing device 3 can be a magnetic carrying grabbing device, and comprises a carrying grabbing support and an electromagnet, wherein the electromagnet is arranged on the outer side face of the carrying grabbing support and is used for giving an electromagnet signal, the electromagnet is electrified and magnetized to attract pipes, after the pipe is piled up, the robot gives the electromagnet signal again, the electromagnet is demagnetized, the electromagnet is provided with power-off protection, namely, the electromagnet is powered off suddenly, the electromagnet can still keep magnetism, and the pipe is prevented from falling to cause a safety accident. Or, the carrying grabbing device 3 can also be a vacuum adsorption device, and comprises a carrying gripper bracket and a vacuum chuck, wherein the vacuum chuck is arranged on the outer side surface of the carrying gripper bracket, and is used for sucking out air in the vacuum chuck, so that the pipe is sucked up, and after reaching a stacking position, air is injected into the vacuum chuck, so that the stacking of workpieces is realized.

It should be noted that, in the embodiment shown in fig. 1, a rectangular pipe is taken as an example for illustration, and the pipe is not limited to the rectangular pipe, but may be a pipe with another shape, such as a round pipe. In a preferred case, the contact surface between the electromagnet of the handling gripping device 3 and the pipe may be consistent with the specific shape of the pipe, for example, when the pipe is a rectangular pipe, the contact surface between the electromagnet of the handling gripping device 3 and the pipe may be a plane, and when the pipe is a round pipe, the contact surface between the electromagnet of the handling gripping device 3 and the pipe may be an arc surface.

In some specific embodiments, the blunting device 2 and the carrying grabbing device 3 are both installed on the tail shaft of the multi-degree-of-freedom moving device 1, the blunting device 2 is installed on a carrying grabbing bracket of the carrying grabbing device 3, and the requirements of blunting and stacking can be met simultaneously, equipment investment is reduced, cost is saved, the carrying grabbing bracket is provided with a flange, the carrying grabbing bracket is installed on the tail shaft of the multi-degree-of-freedom moving device 1 through the flange, and the blunting and stacking work can be realized through the change of the posture of the multi-degree-of-freedom moving device 1.

In some embodiments, the base 11 is installed at the bottom of the multi-degree of freedom motion device 1, and the base 11 can ensure that the multi-degree of freedom motion device 1 meets the working height.

In some embodiments, a fixing device 4 is also provided, the fixing device 4 being used for fixing the pipe. As shown in fig. 4, the fixing device 4 includes a clamping mechanism and a mount 41, the mount 41 is mounted at the bottom of the clamping mechanism, and the clamping mechanism is used for clamping a pipe. The clamping mechanism can be formed by a pair of oppositely arranged clamping pieces 42, the clamping pieces 42 are driven by the air cylinder to clamp pipes, the stroke of the air cylinder can meet the clamping requirements of rectangular pipes with different specifications, the air cylinder is provided with a signal sensor, after the air cylinder is clamped, a clamping signal is transmitted to the multi-degree-of-freedom moving device 1, after the multi-degree-of-freedom moving device 1 receives the signal, the multi-degree-of-freedom moving device 1 starts to perform the dulling operation, after the dulling operation is completed, the multi-degree-of-freedom moving device 1 transmits the signal to the air cylinder, and the air cylinder is opened. The contact surface between the clamping member 42 and the pipe is also adapted to the outer contour of the pipe, for example, when the pipe is rectangular, the contact surface between the clamping member 42 and the pipe may be a plane, and when the pipe is circular, the contact surface between the clamping member 42 and the pipe may be an arc surface.

In order to better understand the technical idea of the present utility model, the following description is made in connection with relatively comprehensive technical features.

As shown in fig. 1 to 4, the preferred embodiment of the present utility model provides an automatic blunting device, which includes a multiple degree of freedom motion device 1, a blunting device 2, a carrying grabbing device 3 and a fixing device 4, wherein the multiple degree of freedom motion device 1 can move at least along a first direction, move along a second direction and rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, the multiple degree of freedom motion device 1 can be a six-axis industrial robot, and a base 11 is installed at the bottom of the multiple degree of freedom motion device 1. The blunting device 2 comprises a polishing head 21 and a floating driving device, the floating driving device can be a floating motor, the floating motor can detect the pressure of the polishing head 21, different pressures are provided according to the abrasion condition of a cutter head, the consistency of the blunting angle is guaranteed, the carrying grabbing device 3 comprises a carrying grabbing bracket and an electromagnet, the electromagnet is arranged on one side of the carrying grabbing bracket, a flange is arranged on the other side of the carrying grabbing bracket, the blunting device 2 is arranged on the top of the carrying grabbing bracket, and the blunting device 2 and the carrying grabbing device 3 are arranged on the tail shaft of the multi-degree-of-freedom motion device 1 through the flange. The fixing device 4 comprises a clamping mechanism and a mounting seat 41, wherein the mounting seat 41 is arranged at the bottom of the clamping mechanism, and the clamping mechanism is used for clamping the pipe. The clamping mechanism may be formed by a pair of oppositely disposed clamping members 42, the clamping members 42 being driven by a cylinder to effect clamping of the tubing.

The working process of the automatic blunting device is as follows:

the multi-degree-of-freedom moving device 1 places a rectangular pipe on the fixing equipment 4 through the carrying grabbing device 3;

the multi-degree-of-freedom motion device 1 confirms the model of a rectangular tube and automatically invokes a corresponding dulling program according to the model of the rectangular tube;

the multi-degree-of-freedom motion device 1 moves forwards until the polishing head 21 contacts the end surface of the rectangular tube after adjusting the gesture;

the multi-degree-of-freedom moving device 1 moves the polishing head 21 to be attached to the end face of the rectangular pipe, after the induction contact sensor on the polishing head 21 recognizes that the workpiece is contacted, the polishing head 21 starts to rotate, and meanwhile, the multi-degree-of-freedom moving device 1 slowly moves the polishing head 21 along the outer contour of the rectangular pipe to carry out the dulling of the outer contour face;

after the external profile is blunted, the multi-degree-of-freedom moving device 1 continuously adjusts the gesture, slowly moves along the inner contour of the rectangular tube, and blunts the inner contour;

when the inner and outer contours of one end of the rectangular pipe are completely inverted, the rectangular pipe is loosened by the fixing device 4, the posture of the multi-degree-of-freedom moving device 1 is adjusted, the rectangular pipe is grabbed by the carrying grabbing device 3 and rotated 180 degrees, the rectangular pipe is placed in the fixing device 4 again, and the rectangular pipe is fixed by the fixing device 4;

the multi-degree-of-freedom movement device 1 repeats the previous dulling action again, and dulls the inner and outer contours of the other end of the rectangular tube;

after the blunting is completed, the rectangular pipe is loosened by the fixing equipment 4, and is grabbed by the carrying grabbing device 3 for adjusting the posture of the multi-degree-of-freedom moving device 1, placed on a material frame and simultaneously piled.

According to the technical scheme, the multi-degree-of-freedom motion device 1 adopts a six-axis industrial robot, and can automatically adapt to the blunting of the cross sections of the pipes with various specifications; moreover, the device can run fully automatically without manual work; the blunting device 2 adopts a floating polishing head, has high blunting precision and good effect, and can not appear excessive blunting. Saving a large amount of labor cost, and realizing full automation of rectangular pipe blanking by matching with other production equipment.

The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present utility model within the scope of the technical concept of the present utility model, and all the simple modifications belong to the protection scope of the present utility model.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the utility model are not described in detail in order to avoid unnecessary repetition.

Moreover, any combination of the various embodiments of the utility model can be made without departing from the spirit of the utility model, which should also be considered as disclosed herein.

Claims

1. The automatic blunting device is characterized by comprising a multi-degree-of-freedom moving device (1) and a blunting device (2), wherein the multi-degree-of-freedom moving device (1) can move along a first direction, move along a second direction and rotate around a third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the blunting device (2) is connected with the multi-degree-of-freedom moving device (1) and is used for blunting the end face of a pipe.

2. The automatic dulling apparatus according to claim 1, further comprising a handling gripping device (3) for handling pipes, said handling gripping device (3) being connected to said multiple degree of freedom movement device (1).

3. The automatic dulling apparatus according to claim 2, wherein said dulling apparatus (2) is integrated with said handling gripping apparatus (3).

4. The automatic dulling apparatus as claimed in claim 2, wherein the handling gripping means (3) is a magnetically attracted handling grip.

5. The automatic blunting apparatus according to any one of claims 1 to 4, wherein the multi-degree of freedom motion apparatus (1) is a six-axis robot.

6. The automatic blunting apparatus according to claim 5, wherein a base (11) is mounted at the bottom of the multiple degree of freedom motion apparatus (1).

7. The automatic dulling apparatus as claimed in any one of claims 1 to 4, further comprising a securing device (4) for securing the tubing.

8. The automatic dulling apparatus as claimed in claim 7, wherein said fixing device (4) comprises a clamping mechanism for clamping said tube and a mounting seat (41) mounted at the bottom of said clamping mechanism.

9. The automatic blunting apparatus of claim 8, wherein the clamping mechanism comprises a pair of oppositely disposed clamping members (42).

10. The automatic dulling apparatus according to any one of claims 1 to 4, wherein said dulling apparatus (2) comprises a grinding head (21) and a floating drive means connected to said grinding head (21), said floating drive means being mounted on said multiple degree of freedom movement apparatus (1).