TWI860012B - Intelligent robot grinding and defect inspection system for bicycle tubes - Google Patents

Abstract

A metal pipe grinding and defect inspection system including a multi-axis robotic arm, a grinding equipment, and a defect inspection equipment. The multi-axis robotic arm is used to transport the metal pipe to the grinding equipment for grinding process using a grinding tool, and to execute the movement/rotation of the metal pipe during the grinding process, in order to change the position and angle of the metal pipe relative to the grinding tool. Moreover, the multi-axis robotic arm further transports the grinded metal pipe to the defect inspection equipment for inspection, if the grinded metal pipe fails to meet the requirement during inspection, the multi-axis robotic arm will transport the defected metal pipe back to the grinding equipment for further processing. The aforementioned grinding and inspection operations can be executed one or multiple times until the defect inspection equipment no longer detects any defects that do not meet the requirements on the metal pipe.

Description

Intelligent Robot Polishing Defect Detection System for High-Voltage Pipes in Bicycles

The present invention relates to the grinding and detection of workpieces, and in particular to a metal pipe grinding and defect detection system.

Metal pipe fittings have been widely used in the production of various means of transportation (such as bicycles, airplanes, cars, and motorcycles), metal furniture, and other metal products. Take an internal high-pressure tube used in a bicycle frame as an example. The internal high-pressure tube is formed by a hydraulic molding device, and it usually has a complex shape and multiple curved surfaces. After this internal high-pressure tube is taken out of a molding mold of the hydraulic molding device, there are usually some defects, so surface grinding is required to remove these defects. However, the aforementioned defects are usually found visually by experienced personnel, and then the defects found are ground, which is a very labor-intensive process. Therefore, how to reduce the involvement of manpower in the grinding and testing of metal pipe fittings has become an important topic of concern to the industry in recent years.

The present invention provides a metal pipe grinding and defect detection system, which mainly includes a defect detection device, a grinding device and a multi-axis robot arm. The defect detection device is used to perform defect detection on the outer surface of a metal pipe to find out the defects on the outer surface of the metal pipe. The grinding device is used to grind the metal pipe to grind off the defects on the outer surface of the metal pipe. The multi-axis robot arm is used to transfer the metal pipe to the defect detection device and the grinding device.

In a preferred embodiment, the multi-axis robot arm of the metal pipe grinding and defect detection system of the present invention first transfers the metal pipe to the defect detection equipment for defect detection, and then transfers the metal pipe to the grinding equipment, and the grinding equipment grinds the metal pipe according to the defect detection result of the defect detection equipment.

In a preferred embodiment, the multi-axis robot arm of the metal pipe grinding and defect detection system of the present invention first transfers the metal pipe to the grinding equipment for grinding, and then transfers the ground metal pipe to the defect detection equipment for defect detection.

In a preferred embodiment, the defect detection equipment of the metal pipe grinding and defect detection system of the present invention includes a chamber, an image capture module and a profile scanning module located in the chamber, and a transfer platform. An entrance and exit of the chamber is located on one side of the multi-axis robot arm, and the multi-axis robot arm can send the metal pipe into or out of the chamber through the entrance and exit. The image capture module is used to capture the image of the metal pipe that has been located in a detection area. The profile scanning module is used to scan the metal pipe that has been located in the detection area. The image capture module and the profile scanning module are located on the transfer platform. The transfer platform is located at one side of the detection area and can move back and forth along a straight line path parallel to the long axis of the metal pipe, so that the image capture module and the contour scanning module can scan the metal pipe.

The bicycle internal high-pressure tube intelligent robot polishing defect detection system of the present invention is used to grind an internal high-pressure tube and perform defect detection on the internal high-pressure tube after grinding. The internal high-pressure tube can be used as a part of a bicycle frame, but this is only one of its applications. The internal high-pressure tube is a metal pipe made using a hydraulic molding process. It usually has complex shapes and curved surfaces, so it is also called a special-shaped tube. Such internal high-pressure tubes often produce surface defects such as wormholes and/or orange peel during the molding process. The system of the present invention removes one or more defects on the outer surface of the metal tube by grinding, and detects whether the outer surface of the metal tube after grinding still has defects that do not meet the requirements.

FIG1 shows a preferred embodiment of the metal pipe grinding and defect detection system of the present invention, which includes a defect detection device 1, a multi-axis robot 21 and a grinding device 22. The defect detection device 1 and the grinding device 22 are located within the reach of the multi-axis robot 21, so that the multi-axis robot 21 can grab a metal pipe 9 and transfer it to the defect detection device 1 for detection, and transfer it to the grinding device 22 for grinding. In more detail, the system of the present invention can perform a grinding detection operation, which includes the following steps:

Step a: The multi-axis robot arm 21 transfers the metal pipe 9 to the defect detection device 1, and the defect detection device 1 performs defect detection on the outer surface of the metal pipe 9 and records the position and type of the detected defects in a detection record.

Step b: Then, the multi-axis robot 21 transfers the metal pipe 9 from the defect detection device 1 to the grinding device 22, and the grinding device 22 grinds the metal pipe 9 according to the detection record so that the defects on the metal pipe 9 are ground away.

Preferably, the grinding inspection operation includes step c: the multi-axis robot arm 21 transfers the ground metal pipe 9 to the defect detection device 1 for another defect inspection. The defect detection device 1 also determines whether the ground metal pipe 9 meets the standard based on the result of this defect inspection. If the judgment result is "yes", it means that the outer surface of the metal pipe 9 no longer has defects that do not meet the requirements. At this time, the defect detection device 1 instructs the multi-axis robot arm 21 to transfer the metal pipe 9 that has met the standard to a temporary area for release, and transfers the next metal pipe to be inspected and ground to the defect detection device 1. However, if the judgment result is "no", it means that there are still defects that do not meet the requirements on the outer surface of the metal pipe 9. At this time, the defect detection device 1 records the defect location and defect type obtained in this defect detection in another detection record, and instructs the multi-axis robot 21 to transfer the non-standard metal pipe 9 to the grinding device 22, and the grinding device 22 grinds it again according to the other detection record. Then, step c is repeated. In short, the ground metal pipe 9, whether it has been ground once or multiple times, as long as it is detected that there are still defects, will be sent back to the grinding device 22 and the defect detection device 1 for rework (i.e., grinding and detection again) until no defects are detected, or until the grinding and detection operation is forcibly interrupted.

In another embodiment, the multi-axis robot 21 first transfers the metal pipe 9 to the grinding device 22 for grinding, and then transfers the ground metal pipe 9 to the defect detection device 1, where the defect detection device 1 performs defect detection and determines whether the ground metal pipe 9 meets the standard based on the defect detection result. The subsequent operations are the same as those described in the previous paragraph and will not be described in detail.

In addition, when the ground metal pipe 9 is judged to be non-compliant, in addition to the above-mentioned rework strategy, the multi-axis robot 21 can be directly used to move the non-compliant metal pipe 9 to a waste area. Preferably, the defect detection device 1 can accumulate the number of times the same metal pipe 9 is judged to be non-compliant, and after the number reaches a preset threshold, the multi-axis robot 21 moves the non-compliant metal pipe 9 to the waste area.

In this preferred embodiment, the defect detection device 1 is a machine vision inspection chamber, as shown in FIG. 2 , which includes a chamber 11, an image capture module 12 and a profile scanning module 13 located in the chamber 11. An entrance 110 of the chamber 11 is located on one side of the multi-axis robot 21, and the multi-axis robot 21 can send or remove the metal pipe 9 from the chamber 11 through the entrance 110. The image capture module 12 is used to capture the image of the metal pipe 9 already located in an inspection area 10. The image capture module 12 preferably includes a commercially available industrial camera and an optical lens. The profile scanning module 13 is used to scan the metal pipe 9 already located in the inspection area 10. The profile scanning module 13 can preferably be a commercially available laser profile sensor. The image capture module 12 and the profile scanning module 13 are located on a transfer platform 14. The transfer platform 14 is located on one side of the detection area 10 and can move back and forth along a straight line path R parallel to the long axis L of the metal pipe 9, so that the image capture module 12 and the profile scanning module 13 scan the metal pipe 9. Each time the image capture module 12 scans, the image data of a length range of the outer surface of the metal pipe 9 is obtained, and the profile scanning module 13 obtains the profile data of the length range of the outer surface of the metal pipe 9, and the image data and the profile data are stored synchronously. The metal pipe 9 can also rotate about its long axis L (described in detail later), so each time the image capture module 12 and the contour scanning module 13 complete a scan, the metal pipe 9 rotates by an angle, so that the other outer surfaces that have not been scanned are turned to a position facing the image capture module 12 and the contour scanning module 13. In this way, the entire outer surface of the metal pipe 9 is scanned, and thus the image data and contour data sufficient for a computer device to construct a three-dimensional contour of the metal pipe 9 are generated.

In order to construct a pipe defect detection model based on machine learning, the image capture module 12 of the defect detection device 1 can be used to take pictures of defects on the metal pipe 9 clamped by the multi-axis robot arm 21 to obtain multiple images containing defects (such as orange peel or wormholes), and more images are augmented from these images using data augmentation. After the locations and ranges of the defects in these images are marked and the types are defined, part of them are used as training data for the pipe defect detection model, and the other part is used as test data for evaluating the pipe defect detection model. In short, the defect detection device 1 performs defect detection on the metal pipe 9 by using the computer device and the trained and tested pipe defect detection model.

The metal pipe 9 located in the inspection area is preferably still clamped by the multi-axis robot 21, but it can also be placed on a carrier in the inspection area. In this case, the multi-axis robot 21 needs to withdraw from the chamber after placing the metal pipe 9 on the carrier, and wait until the defect detection equipment 1 completes the defect detection of the metal pipe 9 before transferring the metal pipe 9 from the chamber to the grinding equipment 22, the temporary storage or waste area.

The following describes the preferred structural configuration of the multi-axis robot 21 and the grinding equipment 22.

As shown in FIG3 , the multi-axis robot 21 is preferably a six-axis robot, which includes a base 210, a plurality of limbs 211 to 216, and a clamping device 24. The base 210 is opposite to the grinding device 22, the first limb 211 is rotatably connected to the base 210, and the last limb 216 is connected to the clamping device 24. The limbs 211 to 216 can rotate relative to each other, and their rotation directions are shown in a to f in FIG3 .

As shown in FIG. 3 to FIG. 6 , the clamping device 24 is used to clamp a metal pipe 9 and drive the metal pipe 9 to rotate about its long axis L. In this preferred embodiment, the clamping device 24 includes a bracket 241 connected to the last limb 216, a first support seat 248 movably disposed on the bracket 241, a first driving device 245 disposed on the bracket 241 and used to drive the first support seat 248 to move, a first clamping portion 248a rotatably disposed on the first support seat 248, a second support seat 249 disposed on the bracket 241 and opposite to the first support seat 248, a second clamping portion 249a rotatably disposed on the second support seat 249, and a second driving device 249b disposed on the bracket 241 and used to drive the second clamping portion 249a to rotate.

The first clamping portion 248a and the second clamping portion 249a are separated by a distance. A rotation axis 248b of the first clamping portion 248a passes through the first support seat 248 and is pivoted to the first support seat 248. A rotation axis 249d of the second clamping portion 249a passes through the second support seat 249 and is pivoted to the second support seat 249. The rotation axis 248b of the first clamping portion 248a and the rotation axis 249d of the second clamping portion 249a are located on the same axis (i.e., a long axis L of the metal pipe 9). The second drive device 249b is connected to the rotating shaft 249d of the second clamping part 249a. Preferably, the second drive device 249b can be a servo motor, and the servo motor can be connected to the rotating shaft 249d through a transmission box 249c. When the second drive device 249b is started, the rotating shaft 249d starts to rotate through the transmission components (such as worm and worm wheel, not shown in the figure) in the transmission box 249c, so that the second clamping part 249a rotates accordingly.

In this preferred embodiment, the first support seat 248 can move toward the second support seat 249 and in the opposite direction by means of two slide rails 246 and a slide plate 247 disposed on the bracket 241. Preferably, the first driving device 245 can be a pneumatic cylinder or a hydraulic cylinder. A telescopic rod 245a of the first driving device 245 is preferably pivotally connected to the slide plate 247 via a pivot 245b.

When the telescopic rod 245a of the first driving device 245 extends forward, the slide plate 247 is pushed by the telescopic rod 245a and moves forward along the two slide rails 246, thereby driving the first support seat 248 to move from an original position to a clamping position in the direction of the second support seat 249, as shown in Figure 3. At this time, the first clamping part 248a and the second clamping part 249a are respectively inserted into the two ends of the metal pipe 9. Once the second driving device 249b drives the second clamping part 249a to rotate, the metal pipe 9 and the first clamping part 248a will rotate with the rotation of the second clamping part 249a.

When the telescopic rod 245a of the first driving device 245 retracts, the slide plate 247 is pulled by the telescopic rod 245a and moves backward along the two slide rails 246, thereby driving the first support seat 248 to return from the clamping position to the original position. At this time, the first clamping portion 248a leaves the metal pipe 9 for a distance so that the metal pipe 9 can fall downward from the second clamping portion 249a.

Preferably, in order to adapt to metal pipes 9 of different lengths, as shown in Figures 3 to 6, the bracket 241 also has a long rail 242 and a carrier plate 244 that can move on the long rail 242. The carrier plate 244 is the two slide rails 246 and the first driving device 245 that carry the first support seat 248. The position adjustment of the carrier plate 244 can be manually performed, for example, by driving the carrier plate 244 to move with a hand wheel (not shown in the figure). The position adjustment of the carrier plate 244 can also be automatically performed, for example, by driving the carrier plate 244 to move with a servo motor (not shown in the figure). When the carrier plate 244 is adjusted to a predetermined position, a locking member, such as a screw (not shown in the figure), can be used to lock the carrier plate 244 at the predetermined position so that the carrier plate 244 is fixed.

As can be seen from the above description, the clamping device 24 has the function of clamping or releasing the metal pipe 9, which means that the multi-axis robot arm 21 including the clamping device 24 can not only grab the metal pipe 9 and transfer it to the grinding device 22 for grinding, but also transfer the ground metal pipe 9 from the grinding device 22 to the testing device 1 for testing. In addition, the multi-axis robot arm 21 can also drive the clamped metal pipe 9 to rotate about its long axis L, so that the entire outer surface of the metal pipe 9 can be scanned by the above-mentioned image capture module and contour scanning module.

As shown in FIG7 , each grinding device 22 preferably includes a rotating base 221 and two belt grinding modules 222 disposed on the rotating base 221. The rotating base 221 is driven to rotate by a servo motor (not shown in the figure), and the two belt grinding modules 222 are separated by an angle and rotate with the rotation of the rotating base 221.

As shown in FIGS. 8 to 10 , each abrasive belt grinding module 222 preferably includes a first power device 222a, a driving wheel 222b driven to rotate by the first power device 222a, an adjusting idler wheel 222c, a first swing idler wheel 222d, a second swing idler wheel 222e, an abrasive belt 222f, a first crank 222g, a second crank 222h, a first pneumatic cylinder 222m, a second pneumatic cylinder 222n and a dustproof box 222k. The abrasive belt 222f is wound around the driving wheel 222b, the adjusting idler wheel 222c, the first swing idler wheel 222d and the second swing idler wheel 222e. The two ends of the first crank 222g are respectively pivoted to a swing arm 222p of the first swing idler 222d and a piston rod 222r of the first pneumatic cylinder 222m. The two ends of the second crank 222h are respectively pivoted to a swing arm 222s of the second swing idler 222e and a piston rod 222t of the second pneumatic cylinder 222n.

The first power device 222a can be a motor. As shown in FIG8 , when the first power device 222a drives the driving wheel 222b to rotate, the rotating driving wheel 222b drives the sanding belt 222f to circulate along a circular path. When the metal pipe 9 on the multi-axis robot arm 21 contacts the circling sanding belt 222f, the sanding belt 222f grinds the metal pipe 9.

As shown in FIG10 , the first pneumatic cylinder 222m can drive the first crank 222g to swing at an angle so that the first swing idler 222d can swing to a predetermined position. The second pneumatic cylinder 222n can drive the second crank 222h to swing at an angle so that the second swing idler 222e can swing to a predetermined position. The distance between the first swing idler 222d and the second swing idler 222e can be adjusted by changing the positions of the first swing idler 222d and the second swing idler 222e, and this distance also determines the length of the sanding belt 222f between the first swing idler 222d and the second swing idler 222e.

FIG10 shows that the piston rod 222r of the first pneumatic cylinder 222m has been retracted, and the piston rod 222t of the second pneumatic cylinder 222n has been extended to the end. At this time, the first swing idler 222d is swung to the end in one direction through the linkage of the first crank 222g and the swing arm 222p, and the second swing idler 222e is swung to the end in the other direction through the linkage of the second crank 222h and the swing arm 222s. In this state, the first swing idler 222d and the second swing idler 222e are farthest apart.

On the contrary, as shown in FIG. 11 , the piston rod 222r of the first air cylinder 222m has been extended to the end, and the telescopic rod 222t of the second air cylinder 222n has been retracted to its original position. In this state, the first swing idler wheel 222d and the second swing idler wheel 222e are closest to each other.

Preferably, the first pneumatic cylinder 222m and the second pneumatic cylinder 222n can be connected to an adjusting valve and/or a proportional valve (not shown) respectively, so that the internal pressure of the first pneumatic cylinder 222m and the second pneumatic cylinder 222n can be adjusted in size corresponding to the pressure borne by the first swing idler 222d and the second swing idler 222e. Therefore, as shown in FIG12, when the force of the metal pipe 9 pushing the sanding belt 222f increases, the sanding belt 222f will not become stiff, but will move back elastically. On the contrary, when the force of the metal pipe 9 pushing the sanding belt 222f decreases, the sanding belt 222f will immediately move back elastically. When the metal pipe 9 pushes the abrasive belt 222f to a certain depth, part of the curved surface of the metal pipe 9 may be covered by the abrasive belt 222f to form a covered state.

In addition, the idler wheel 222c can be manually adjusted to an angle (FIG. 13 shows the left-right swing amplitude of the idler wheel 222c) so that the sanding belt 222f is tilted at an angle accordingly. This is a known technique and will not be elaborated on.

It should be noted that the cover plate (not shown) of the dustproof box 222k in FIG. 7 and FIG. 10 has been removed. In the general situation where the cover plate is not removed, the first crank 222g, the second crank 222h, the first pneumatic cylinder 222m and the second pneumatic cylinder 222n are all hidden in the dustproof box 222k. Under the shielding or protection of the dustproof box 222k, the dust generated when the sanding belt 222f grinds the metal pipe 9 is not easy to invade the dustproof box 222k, which can ensure that the first crank 222g, the second crank 222h, the first pneumatic cylinder 222m and the second pneumatic cylinder 222n operate smoothly and reduce the probability of failure.

As shown in FIG. 1 and FIG. 7 , each grinding device 22 may further include a grinding wheel grinding module 223 mounted next to the rotating base 221. The grinding wheel grinding module 223 includes a second power device 223a and a grinding wheel 223b. The second power device 223a is used to drive the grinding wheel 223b to rotate. The second power device 223a may be a motor.

FIG. 14 shows a process in which the multi-axis robot 21 transfers the metal pipe 9 to the grinding device 22 for grinding. As shown in FIG. 14 (A), the rotating base 221 is located at a starting position (0 degrees). As shown in FIG. 14 (B), the rotating base 221 rotates counterclockwise by an angle so that the sanding belt 222f of one of the sanding belt grinding modules 222 comes to a working area and performs a grinding operation on the metal pipe 9 in the working area, such as a coarse sanding belt grinding operation that can remove surface defects of the metal pipe 9. After the rough grinding operation of the abrasive belt is completed, then, as shown in FIG. 14 (C), the rotating base 221 rotates clockwise by an angle so that the abrasive belt 222f of another abrasive belt grinding module 222 comes to the working area and performs another grinding operation on the metal pipe 9 in the working area, such as a fine abrasive belt grinding operation that can polish the surface of the metal pipe 9. After the fine abrasive belt grinding operation is completed, then, as shown in FIG. 14 (D), the rotating base 221 continues to rotate clockwise by an angle so that the other abrasive belt grinding module 222 leaves the working area and leaves the maximum space to allow the multi-axis robot 21 to transfer the metal pipe 9 to the grinding wheel grinding module 223, and the grinding wheel 223b performs a grinding wheel grinding operation on the metal pipe 9.

When the multi-axis robot 21 transfers the metal pipe 9 to any of the abrasive belt grinding modules 222 or the grinding wheel grinding modules 223 for grinding, the multi-axis robot 21 can drive the clamping device 24 to move and rotate under the control of the computer device, so that the metal pipe 9 can reach the desired position, present a desired posture at the position, and move or rotate in the posture. As shown in FIG. 15 , the metal pipe 9 can maintain a horizontal posture during the grinding process, or rotate from the horizontal posture to a tilted posture (high on the left and low on the right or low on the left and high on the right) due to the driving of the multi-axis robot 21. In addition, no matter the metal pipe 9 is in the horizontal position or the inclined position, it can still continue to move back and forth under the drive of the multi-axis robot arm 21, such as moving back and forth up and down, moving back and forth horizontally left and right, or moving back and forth diagonally.

In the above grinding process, the clamping device 24 can also start its second driving device 249b to drive the second clamping part 249a to rotate under the control of the computer device, so that the metal pipe 9 rotates around its long axis L, as shown in Figure 16. This means that each side surface of the metal pipe 9 can be ground by any belt grinding module 222 or grinding wheel grinding module 223.

In this preferred embodiment, when the rotating base 221 is located at the positions shown in FIG. 14 (A) to (D), the rotating base 221 can be fixed by one or more fixing components 3 as shown in FIG. 18. When the rotating base 221 is to be rotated, the one or more fixing components 3 can be released from the rotating base 221 as shown in FIG. 17. In this preferred embodiment, as shown in FIG. 17 and FIG. 18, the fixing component 3 includes a support 30, a clamping arm 31, a first linkage arm 32, a second linkage arm 33, and a drive cylinder 34. The support 30 is fixed to a base 4, and the rotating base 221 can rotate relative to the base 4. The clamping arm 31 has two clamping blocks 311 and 312, one in front and one in the back and separated by a distance. One of the clamping blocks 311 is located at the front end of a lower arm 314 of the clamping arm 31, and the other clamping block 312 is located at the front end of an upper arm 313 of the clamping arm 31. The lower arm 314 is pivoted to a top of the support 30, so it can swing on the support 30 with a first pivot 314a as the axis. The two ends of the first linkage arm 32 are pivoted to the lower arm 314 and one end of the second linkage arm 33 respectively, and the other end of the second linkage arm 33 is pivoted to a bottom of the support 30. A telescopic rod 341 of the drive cylinder 34, the first linkage arm 32 and the second linkage arm 33 are pivoted at one point. Therefore, the first linkage arm 32 swings on the support 30 with a second pivot 32a as the axis. The second linkage arm 33 swings on the lower arm 314 with a third pivot 33a as an axis. The first linkage arm 32 and the second linkage arm 33 swing relative to each other with a fourth pivot 34a as an axis. When the drive cylinder 34 drives the telescopic rod 341 to extend, as shown in FIG18 , the rotating base 221 is fixed by the fixing assembly 3. On the contrary, when the drive cylinder 34 drives the telescopic rod 341 to retract, as shown in FIG17 , the rotating base 221 is released by the fixing assembly 3 and can be rotated.

As can be seen from the above description, the multi-axis robot arm 21 is used to transfer the metal pipe 9 to the grinding device 22, and can perform movement and/or rotation during the grinding process of the metal pipe 9 by the grinding tool (such as the abrasive belt 222f) of the grinding device 22, so as to change the position and angle of the metal pipe 9 relative to the grinding tool. In addition, the multi-axis robot arm 21 is also used to transfer the metal pipe 9 to the defect detection device 1 for detection. During the grinding and detection process, the multi-axis robot arm 21 can drive the metal pipe 9 to rotate around its long axis L.

In this preferred embodiment, as shown in FIG1 , the system of the present invention further includes an isolation chamber 5, in which the aforementioned defect detection device 1, multi-axis robot 21 and grinding device 22 are all located. The isolation chamber 5 is used to prevent the dust and noise caused by the grinding device 22 from overflowing during operation, so as to reduce the dust pollution and noise pollution outside the isolation chamber 5. In addition, the present invention may also preferably include a water curtain dust removal device 23. The dust generated by the grinding device 22 when grinding a workpiece can be sucked in by the water curtain dust removal device 23, and flushed into a water collection tank (not shown in the figure) by the water curtain in the water curtain dust removal device 23. The water in the water collection tank is filtered and/or treated for water quality, and then discharged to a discharge port for discharge.

1: Defect detection equipment

10: Testing area

11: Cabin

110: Import and export

12: Image capture module

13: Contour scanning module

14: Transfer platform

21: Multi-axis robotic arm

210: Base

211~216: Limbs

22: Grinding equipment

221: Rotating base

222: Belt grinding module

222a: First power device

222b: driving wheel

222c: Adjust the idler wheel

222d: First swing idler wheel

222c: Second swing idler wheel

222f: Sanding belt

222g: First crank

222h: Second crank

222k: Dustproof box

222m: First air cylinder

222n: Second air cylinder

222p: swing arms

222r: Piston rod

222s: swing arms

222t: Piston rod

223: Grinding wheel grinding module

223a: Second power device

223b: Grinding wheel

23: Water curtain dust removal equipment

24: Clamping device

241: Bracket

242: Long track

244:Carrier board

245: First drive device

245a: Telescopic rod

245b: Axis

246: Slide rail

247: Skateboard

248: The first support

248a: First clamping part

248b: Rotating axis

249: The second support

249a: Second clamping part

249b: Second drive device

249c: Transmission box

249d: Rotation axis

3:Fixed components

30: Support

31: Clamping arms

311, 312: Card block

313: Upper arm

314: Lower arm

314a: First axis

32: First linkage arm

32a: Second axis

33: Second linkage arm

33a: The third axis

34: Driving cylinder

34a: The fourth axis

341: Telescopic rod

4: Base

5: Isolation room

9:Metal pipe fittings

FIG1 shows a schematic diagram of the configuration of a preferred embodiment of the metal pipe grinding and defect detection system of the present invention (top view). FIG2 shows a schematic diagram of the defect detection device 1 of the preferred embodiment of the present invention (top view). FIG3 shows a schematic diagram of the grinding device 22 of the preferred embodiment of the present invention (front view). FIG4 shows a schematic diagram of a clamping device 24 of the preferred embodiment of the present invention in a clamping state (top view). FIG5 shows a three-dimensional appearance schematic diagram of the clamping device 24 of the preferred embodiment of the present invention. FIG6 shows a three-dimensional appearance schematic diagram of the clamping device 24 of the preferred embodiment of the present invention at another angle. FIG7 shows a three-dimensional appearance schematic diagram of the grinding device 22 of the preferred embodiment of the present invention. FIG8 shows a schematic diagram of the three-dimensional appearance of one of the abrasive belt grinding modules 222 of the preferred embodiment of the present invention. FIG9 shows a schematic diagram of the abrasive belt grinding module 222 of the present invention (front view). FIG10 and FIG11 show another schematic diagram of the abrasive belt grinding module 222 of the present invention (rear view). FIG12 shows a schematic diagram of a grinding action of the abrasive belt grinding module 222 of the present invention. FIG13 shows a schematic diagram of the action of an adjustment idler wheel 222c of the abrasive belt grinding module 222 of the present invention (side view). FIG14 shows a schematic diagram of the grinding process of the grinding device 22 of the present invention (top view). FIG15 and FIG16 show schematic diagrams of the action of the metal pipe 9 clamped by the clamping device 24 of the present invention being ground on the abrasive belt 21. Figures 17 and 18 show schematic diagrams of the operation of a fixed component 3 of the grinding device 22 of the present invention.

1: Defect detection equipment

21: Multi-axis robotic arm

22: Grinding equipment

221: Rotating base

222: Belt grinding module

223: Grinding wheel grinding module

23: Water curtain dust removal equipment

5: Isolation room

Claims (8)

A metal pipe grinding and defect detection system includes: a defect detection device for performing defect detection on the outer surface of a metal pipe to find defects on the outer surface of the metal pipe; a grinding device for grinding the metal pipe to grind away the defects on the outer surface of the metal pipe; and a multi-axis robot arm for transferring the metal pipe to the defect detection device and the grinding device; wherein the grinding device includes a rotatable rotating base, two abrasive belt grinding modules arranged on the rotating base, and a fixed assembly, wherein the two abrasive belt grinding modules are separated by an angle and rotate with the rotation of the rotating base, and the fixed assembly is used to fix or release the rotating base. As described in claim 1, the metal pipe grinding and defect detection system, wherein the multi-axis robot first transfers the metal pipe to the defect detection device for defect detection, and then transfers the metal pipe to the grinding device, and the grinding device grinds the metal pipe according to the defect detection result of the defect detection device. As described in claim 1, the metal pipe grinding and defect detection system, wherein the multi-axis robot first transfers the metal pipe to the grinding device for grinding, and then transfers the ground metal pipe to the defect detection device for defect detection. The metal pipe grinding and defect detection system as described in claim 1, wherein the defect detection equipment includes a chamber, an image capture module and a profile scanning module located in the chamber, and a transfer platform; an entrance and exit of the chamber is located on one side of the multi-axis robot arm, and the multi-axis robot arm can send the metal pipe into or out of the chamber through the entrance and exit, and the image capture module is used to detect the metal pipe that has been located in a detection area. The image of the metal pipe in the detection area is captured, and the contour scanning module is used to scan the metal pipe already in the detection area, wherein the image capture module and the contour scanning module are located on the transfer platform, and the transfer platform is located on one side of the detection area and can move back and forth along a straight line path parallel to the long axis of the metal pipe, so that the image capture module and the contour scanning module scan the metal pipe. The metal pipe grinding and defect detection system as described in claim 1, wherein the grinding equipment includes a grinding wheel grinding module mounted next to the rotating base, and the rotating base can rotate at an angle so that the two abrasive belt grinding modules make room for a space sufficient for the multi-axis robot to transfer the metal pipe to the grinding wheel grinding module for grinding. The metal pipe grinding and defect detection system as described in claim 1, wherein each of the abrasive belt grinding modules includes a first power device, a driving wheel driven to rotate by the first power device, an adjustment idler wheel, a first swing idler wheel, a second swing idler wheel, an abrasive belt, a first crank, a second crank, a first pneumatic cylinder, and a second pneumatic cylinder, wherein the abrasive belt is wound around the driving wheel, the adjustment idler wheel, the first swing idler wheel, and the second swing idler wheel, and the two ends of the first crank are respectively connected to a swing arm of the first swing idler wheel and a piston rod of the first pneumatic cylinder, and the two ends of the second crank are respectively connected to a swing arm of the second swing idler wheel and a piston rod of the second pneumatic cylinder. The metal pipe grinding and defect detection system as described in claim 6 includes a dustproof box, and the first crank, the second crank, the first pneumatic cylinder and the second pneumatic cylinder are all hidden in the dustproof box. A metal pipe grinding and defect detection system as described in any one of claims 1 to 7, wherein the multi-axis robot arm comprises: a base, facing the grinding device; a plurality of limbs, which can rotate relative to each other, and the first limb is rotatably connected to the base; a bracket, connected to the last limb; a first support seat, movably disposed on the bracket; a first driving device, used to drive the first support seat to move; a first clamping part, rotatably disposed on the first support seat; a second support seat, disposed on the bracket and facing the first support seat; a second clamping part, rotatably disposed on the second support seat; and a second driving device, disposed on the bracket and used to drive the second clamping part to rotate.

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