TWI890105B - Metal pipe processing system - Google Patents

Abstract

A metal pipe processing system includes a pipe-cutting equipment and a grinding equipment. The pipe-cutting equipment is used to cut a metal pipe, in order to make the pipe meet a standard length. The grinding equipment is used to grind the surface of the metal pipe that has already met the standard length, in order to remove any surface defects from the metal pipe.

Description

Metal pipe processing system

This invention relates to pipe cutting equipment and grinding equipment for metal pipe fittings.

Metal pipe fittings have been widely used in the production of various vehicles (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 forming device and usually has a complex shape and multiple curved surfaces. After this internal high-pressure tube is taken out of a forming mold of the hydraulic forming device, it usually needs to undergo some subsequent processing operations, such as surface grinding. These processing operations usually require a lot of manpower intervention. The more complex the surface shape and curvature of the pipe fitting, the more experienced and skilled personnel are needed to operate it. However, this type of processing typically produces a lot of noise and fine dust, which are harmful to health. Consequently, the number of people willing to engage in this field is decreasing, leading to frequent labor shortages in the industry. Therefore, how to reduce the human involvement in metal pipe processing operations to alleviate labor shortages has become a major concern in the industry in recent years.

The present invention provides a metal pipe processing system comprising a pipe cutting device and a grinding device. The pipe cutting device is used to cut a metal pipe to conform to a standard length. The grinding device is used to grind the surface of the metal pipe that has been conformed to the standard length.

The present invention also provides a pipe cutting device comprising a first multi-axis robotic arm and a pipe cutting machine. The first multi-axis robotic arm is used to transfer the metal pipe to the pipe cutting machine and perform a calibration operation. The pipe cutting machine is used to cut the metal pipe.

The present invention also provides a grinding apparatus comprising a second multi-axis robot and a grinding device. The second multi-axis robot is used to transfer the metal pipe from the pipe cutting machine to the grinding device for grinding.

1: Pipe cutting equipment

11: The first multi-axis robotic arm

110: Base

110a~110f: Limbs

111: Clamping Claws

12: First Holding Area

13: Pipe cutting machine

13a: Machine

131: Positioning mold

131a: First module

131b: Second module

131c: Third module

131d: Fourth module

131e:Substrate

132: Lower pressure part

133: Cutting tools

134: Optical Detection Device

134a, 134b: First receiving slot

134c, 134d: Second receiving slot

14: Waste material conveying device

141: Funnel

142: Conveyor belt

143: Vacuum cleaner

15: Second holding area

16: Third holding area

2: Grinding equipment

21: Second multi-axis robotic arm

210: Base

211~216: Limbs

22: Grinding device

221: Rotating Base

222: Belt Grinding Module

222a: First Power Unit

222b: Driving wheel

222c: Adjust the idler gear

222d: First swing idler pulley

222e: Second swing idler pulley

222f: Sanding Belt

222g: First crank

222h: Second crank

222k: Dustproof Box

222m: First air cylinder

222n: Second air cylinder

222p: Arm swing

222r: Piston rod

222s: Arm swing

222t: Piston rod

223: Grinding Wheel Grinding Module

223a: Second power unit

223b: Grinding wheel

23: Water curtain dust removal device

24: Clamping device

241: Bracket

242: Long Track

244: Carrier Board

245: First drive device

245a: Telescopic rod

245b: Pivot

246: Slide Rail

247: Skateboard

248: The First Support

248a: First clamping portion

248b: Axis

249: Second support bracket

249a: Second clamping portion

249b: Second drive device

249c: Transmission

249d: Axis

3: Fixing components

30: Support

31: Arm clamp

311, 312: Card Blocks

313: Upper Arm

314: Lower Arm

314a: First Axis

32: First linkage arm

32a: Second axis

33: Second linkage arm

33a: Third axis

34: Drive cylinder

34a: Fourth Axis

341: Telescopic rod

4: Base

5: Isolation Room

51, 32, 33: Window

9: Metal pipe fittings

901: First waiting position

902: Second waiting position

91: Residual Material Section

93, 94: Placement Segment

93a, 94a: Placement segment

90b: Second Mark

90a: First Mark

Figure 1 shows a schematic diagram (top view) of a preferred embodiment of the metal pipe processing system of the present invention.

Figure 2 shows a schematic diagram (front view) of the pipe cutting device 1 of the preferred embodiment of the present invention.

Figure 3 shows a three-dimensional external view of the pipe cutting machine 13 and the waste material conveying device 14 of the pipe cutting equipment 1 of the preferred embodiment of the present invention.

Figures 4 and 5 show schematic diagrams (top views) of the metal pipe 9 of the preferred embodiment of the present invention placed in the positioning mold 131.

Figure 6 shows a schematic diagram (side view) of the first multi-axis robotic arm 11 of the preferred embodiment of the present invention clamping or releasing the metal pipe 9.

Figure 7 shows a schematic diagram (front view) of the first multi-axis robot arm 11 of the preferred embodiment of the present invention placing the metal pipe 9 on the positioning mold 131.

Figures 8 to 10 show schematic diagrams (front view) of the cutting tool 133 of the preferred embodiment of the present invention cutting the metal pipe 9.

Figure 11 is a schematic diagram of the grinding apparatus 2 of the preferred embodiment of the present invention (front view).

Figure 12 shows a schematic diagram (top view) of a clamping device 24 of the preferred embodiment of the present invention in a clamping state.

Figure 13 shows a schematic three-dimensional appearance diagram of the clamping device 24 of the preferred embodiment of the present invention.

Figure 14 shows a schematic three-dimensional appearance diagram of the clamping device 24 of the preferred embodiment of the present invention from another angle.

Figure 15 shows a schematic three-dimensional view of the polishing device 22 of the preferred embodiment of the present invention.

Figure 16 shows a schematic three-dimensional view of one of the abrasive belt grinding modules 222 of the preferred embodiment of the present invention.

Figure 17 shows a schematic diagram (front view) of the belt grinding module 222 of the present invention.

Figures 18 and 19 show another schematic diagram (rear view) of the abrasive belt grinding module 222 of the present invention.

Figure 20 shows a schematic diagram of a grinding action of the abrasive belt grinding module 222 of the present invention.

Figure 21 shows a schematic diagram (side view) of the operation of an adjustment idler wheel 222c of the belt grinding module 222 of the present invention.

Figure 22 shows a schematic diagram of the grinding process of the grinding device 22 of the present invention (top view).

Figures 23 and 24 show schematic diagrams of the grinding operation of a metal pipe 9 clamped by the clamping device 24 of the present invention on the abrasive belt 21.

Figures 25 and 26 show schematic diagrams of the operation of a fixing assembly 3 of the polishing device 22 of the present invention.

Figure 1 shows a preferred embodiment of the metal pipe processing system of the present invention, which includes a pipe cutting device 1 and two grinding devices 2. The pipe cutting device 1 is used to cut a metal pipe 9 to a standard length. The two grinding devices 2 are used to grind the surface of the metal pipe 9 after it has been cut to the standard length, thereby polishing away surface defects and/or polishing the surface of the metal pipe 9. The two grinding devices 2 can be identical or different. Furthermore, the number of grinding devices 2 is not limited to two; that is, the present invention can also be configured with only one or more grinding devices 2.

In this preferred embodiment, the metal pipe 9 is an internal high-pressure pipe (or shaped pipe) formed using a hydraulic forming process, which can serve as part of a bicycle frame. During the forming process, such internal high-pressure pipes are prone to being longer than desired, often developing a less-than-smooth surface, and often exhibiting surface defects such as wormholes and/or orange peel. The metal pipe processing system of the present invention solves these problems with minimal or no human intervention, thereby reducing labor shortages.

In this preferred embodiment, the metal pipe processing system of the present invention further includes an isolation chamber 5, within which the pipe cutting apparatus 1 and the grinding apparatus 2 are located. The isolation chamber 5 is used to prevent dust and noise generated by the pipe cutting apparatus 1 and the grinding apparatus 2 from escaping during operation, thereby reducing dust and noise pollution outside the isolation chamber 5.

As shown in Figure 1, the pipe cutting apparatus 1 comprises at least a multi-axis robot (hereinafter referred to as the first multi-axis robot 11) and a pipe cutter 13. It preferably also includes a first temporary storage area 12, a second temporary storage area 15, and a third temporary storage area 16. It further preferably includes a waste material conveying device 14. Each grinding apparatus 2 comprises at least a multi-axis robot (hereinafter referred to as the second multi-axis robot 21) and a grinding device 22. It also preferably includes a dust collection device 23.

The first holding area 12 is used to store one or more metal pipes 9 to be processed. These pipes 9 are delivered to the first holding area 12 through a window 51 of the isolation chamber 5 by a worker or a transport device (not shown).

As shown in Figures 1 and 2, the first multi-axis robot 11 can transfer the metal pipe 9 from the first holding area 12 to the pipe cutter 13. After completing a first calibration operation above a first receiving area of the pipe cutter 13, the metal pipe 9 is placed in the first receiving area of the pipe cutter 13 (see the area occupied by the metal pipe 9 indicated by the dotted line in Figure 2). This allows the pipe cutter 13 to cut the metal pipe 9 from a predetermined first waiting position 901, thereby separating a residual section 91 of the metal pipe 9 from the metal pipe 9.

In this preferred embodiment, a second receiving area is arranged side by side next to the first receiving area (see numbers 134c and 134d in Figure 4). The first multi-axis robot arm 11 is also used to grab the metal pipe 9 without the residual material segment 91 and rotate it 180 degrees after completing the residual material cutting operation described in the previous paragraph, and complete a second calibration operation above the second receiving area of the pipe cutter 13 before placing the metal pipe 9 on the second receiving area of the pipe cutter 13, so that the pipe cutter 13 can cut the metal pipe 9 from a predetermined second cutting position 902, causing a residual material segment 91 of the metal pipe 9 to be cut off from the metal pipe 9. At this time, the metal pipe 9 meets the standard length. However, if the length of the metal pipe 9 without the remaining section 91 already meets the standard length, the aforementioned cutting operation of the remaining section 91 is unnecessary.

As shown in Figure 1, after completing the aforementioned front or rear stock cutting operations, the first multi-axis robot 11 continues to transfer the metal pipe 9 that meets the standard length from the pipe cutter 13 to the second holding area 15. The first multi-axis robot 11 then returns to the first holding area 12 and transfers the next metal pipe to be processed to the pipe cutter 13 for the aforementioned front and, optionally, rear stock cutting operations.

As shown in Figures 1 and 2 , the front and rear waste segments 91, 92 produced by the pipe cutter 13 fall into a hopper 141 of the waste conveying device 14 located next to the pipe cutter 13 and are collected by a conveyor belt 142 below the hopper 141. The conveyor belt 142 extends through another window 52 of the isolation chamber 5 and reaches above an external collection container (not shown). The front and rear waste segments 91, 92 from the hopper 141 are then transported by the conveyor belt 142 to the collection container. Furthermore, the waste conveying device 14 may include a vacuum cleaner 143 that extends through the window 52 and communicates with an external dust bag (not shown). The dust generated by the pipe cutter 13 during the cutting process of the metal pipe 9 can be sucked up by the vacuum cleaner 143 and discharged into the dust bag.

As shown in Figure 1 , the second multi-axis robot 21 of each grinding apparatus 2 is used to transfer metal pipes 9 that meet the standard length from the second holding area 15 to the grinding device 22 for grinding. During the grinding process, the second multi-axis robot 21 is controlled by a computer (not shown) and drives the metal pipes 9 to change position and/or rotate according to a grinding plan preset in the computer. Preferably, the second multi-axis robot 21 can also drive the metal pipes 9 to rotate about their long axis while driving the metal pipes 9 to change position and/or rotate. Therefore, under the control of the computer device, the second multi-axis robotic arm 21 can simulate the movements of a human hand holding the metal pipe 9 and grinding it on the grinding device 22, so that the surface of the metal pipe 9 can be well polished, free of defects and becoming smooth and fine, even if the metal pipe 9 has a complex shape and multiple curves.

After the grinding device 22 completes grinding, the second multi-axis robot 21 transfers the ground metal pipe 9 to the second holding area 15. It then transfers the next metal pipe 9 that meets the standard length from the second holding area 15 to the grinding device 22 for grinding. The first multi-axis robot 11 uses an idle time to transfer the ground metal pipe 9 from the second holding area 15 to the third holding area 16. A worker or another transfer device (not shown) can remove the ground metal pipe 9 from the third holding area 16 through a window 53 in the isolation chamber 5.

In addition, each grinding apparatus 2 also includes a water curtain dust collector 23. Dust generated by the grinding apparatus 22 grinding the metal pipe 9 is sucked into the water curtain dust collector 23 and flushed into a water collection tank (not shown). The water in the water collection tank is filtered and/or treated before being discharged to a discharge outlet.

As can be seen from the above description, while human intervention may be required to transport the metal pipe 9 into or out of the isolation chamber 5, the aforementioned cutting and grinding operations of the metal pipe 9 are completely unmanned. Therefore, the metal pipe processing method and system of the present invention can significantly reduce manpower usage and thus significantly alleviate labor shortage issues.

The following further details the preferred structural configuration of the pipe cutting device 1 and the grinding device 2 of the present invention.

As shown in Figure 2, the first multi-axis robot 11 is preferably a six-axis robot, comprising a base 110, multiple limbs 110a through 110f, and a gripper 111. The base 110 is located next to the pipe cutter 13. The first limb 110a is rotatably connected to the base 110, and the last limb 110f is connected to the gripper 111. The limbs 110a through 110e are rotatable relative to each other, with their rotation directions indicated by A to F in Figure 2.

As shown in Figures 2 and 3, the pipe cutting machine 13 preferably includes a machine base 13a, a positioning mold 131 mounted on the machine base 13a, a pressing portion 132, a cutting tool 133, and a light detection device 134. The positioning mold 131 includes a first mold block 131a and a second mold block 131b arranged in the Y direction and spaced a certain distance apart. It also preferably includes a third mold block 131c and a fourth mold block 131d arranged in the Y direction and spaced the certain distance apart. The third mold block 131c is aligned with the first mold block 131a, and the fourth mold block 131d is aligned with the second mold block 131b.

As shown in Figure 4, the first and second mold blocks 131a and 131b each have a first receiving slot 134a and 134b, respectively. These first receiving slots 134a and 134b form the aforementioned first receiving area. As shown in Figure 5, the third and fourth mold blocks 131c and 131d each have a second receiving slot 134c and 134d, respectively. These second receiving slots 134c and 134d form the aforementioned second receiving area.

As shown in Figures 4 and 5, the shapes of the two first receiving grooves 134a and 134b are respectively matched with the shapes of the two placement sections 93 and 94 of the metal pipe 9 of the remaining material segment 91 that has not been cut off, so that when the metal pipe 9 of the remaining material segment 91 that has not been cut off is placed in the first receiving area, the two placement sections 93 and 94 are just received by the two first receiving grooves 134a and 134b respectively, and are restricted by the two first receiving grooves 134a and 134b and cannot move in the X and Y directions, but can still move in the Z direction. The shapes of the two second receiving grooves 134c and 134d respectively match the shapes of the two placement sections 93a and 94a of the metal pipe 9 after the cut portion 91 of the front stock is placed in the second receiving area. When the metal pipe 9 after the cut portion 91 is placed in the second receiving area, its two placement sections 93a and 94b are precisely received by the two second receiving grooves 134c and 134d, respectively. Restricted by the two second receiving grooves 134c and 134d, the metal pipe 9 cannot move in the X and Y directions, but it can still move in the Z direction. In short, the shapes of the first receiving grooves 134a, 134b and the second receiving grooves 134c, 134d are determined by the shape of the metal pipe 9 and serve to restrict the movement of the metal pipe 9 in the X and Y directions.

In this preferred embodiment, as shown in Figures 3 and 4, the positioning mold 131 further includes a base plate 131e mounted on a top surface of the machine platform 13a. Base plate 131e is provided with numerous screw holes (not shown), allowing the mold blocks 131a-131d to be screwed to any location on base plate 131e using multiple bolts (not shown). Simply put, these bolts and screw holes facilitate the installation and repositioning of the mold blocks 131a-131d.

In this preferred embodiment, as shown in Figure 1, the first, second, and third temporary areas 12, 15, and 16 each contain multiple pairs of support modules (not shown). Each pair of support modules is used to support the two ends of a metal pipe 9, leaving the middle section of the pipe suspended. This allows the clamping claws 111 to easily grasp and release the pipe. The structural configuration of these support modules can be the same or similar to that of the first and second modules 131a, 131b described above, and will not be further described.

Figure 6 shows a gripper 111 of the first multi-axis robot 11 gripping or releasing the middle section of the metal tube 9. Figure 7 shows the first multi-axis robot 11 gripping the metal tube 9 with the gripper 111 and moving it in the Y direction (i.e., the length of the metal tube 9) above the first receiving area, i.e., above the first receiving slots 134a and 134b, to adjust its position, completing the first calibration operation. During the first calibration operation, the computer coupled to the pipe cutter 13 uses the pipe cutter's optical detection device 134 to detect a first mark 90a pre-formed on the metal pipe 9. Based on the position of the detected first mark 90a, the computer controls the movement of the first multi-axis robot 11, moving the metal pipe 9, gripped by the clamping jaws 111, along the Y-direction to a target position above the first receiving area. At this point, as shown in Figure 8, the first position 901 of the metal pipe 9 to be cut directly faces the cutting tool 133. Next, under the control of the computer, the first multi-axis robot 11 places the metal pipe 9 in the first receiving area (i.e., the first receiving slot 134a of the first module 131a and the first receiving slot 134b of the second module 131b).

It should be noted that during the placement of the metal tube 9 by the first multi-axis robot 11, the gripper 111 first releases the metal tube 9 when the first multi-axis robot 11 lowers it very close to the bottom of the first receiving area (at this point, the first position 901 of the metal tube 9 to be cut still faces the cutting tool 133), but does not release the metal tube 9. The computer then instructs the pressing member 132 to rotate to a pressing position (see Figure 8). During this process, the pressing portion 132 presses down on the metal tube 9 near the first position to be cut 901, thereby forcing the metal tube 9 to squeeze out the clamping claws 111 and fall to the bottom of the first receiving area. At this time, the pressing portion 132 still presses on the metal tube 9 near the first position to be cut 901, as shown in Figure 8, which prevents the metal tube 9 from moving arbitrarily in the Z direction. However, the aforementioned placement method for the metal tube 9 is merely an example. Other placement methods may also be used to place the metal tube 9 in the first receiving area. For example, when the first multi-axis robot arm 11 lowers the metal tube 9 to a position very close to the bottom of the first receiving area, the clamping jaws 111 directly open, allowing the metal tube 9 to fall to the bottom of the first receiving area. The computer then instructs the pressing portion 132 to rotate to the pressing position, thereby pressing the metal tube 9 near the first position to be cut 901.

As shown in Figures 8 and 9, when the lower pressing portion 132 is located within the first receiving area and pressed by the lower pressing portion 132, as described above, the metal tube 9 is constrained by the shape of the first receiving grooves 134a and 134b in the X and Y directions and prevented from moving freely. Furthermore, the metal tube 9 is also constrained by the pressure of the lower pressing portion 132 in the Z direction. Therefore, the cutting tool 133 can stably cut the first to-be-cut position 901 of the metal tube 9, completing the aforementioned excess material cutting operation. However, the above is only one preferred method for securing the metal tube 9 and is not intended to limit the present invention to this method. In other words, the present invention can also employ other methods for securing the metal tube 9.

The aforementioned process for the front stock cutting operation, including the placement, securing, and cutting of the metal tube 9, is also applicable to the rear stock cutting operation. The only difference is that during the rear stock cutting operation, the metal tube 9 is rotated 180 degrees and placed in the second receiving area (i.e., the second receiving slot 134c of the third mold 131c and the second receiving slot 134d of the fourth mold 131d), as shown in Figure 10. Furthermore, the second calibration operation performed during the rear stock cutting operation is based on a second mark 90b detected by the optical detection device 134.

In this preferred embodiment, the optical detection device 134 may be an image capture device that captures images of the first mark 90a and the second mark 90b on the metal tube 9, allowing the computer to control the first multi-axis robot 11 to perform the first and second calibration operations based on the first and second marks 90a, 90b. However, this is only one method for performing the first and second calibration operations and does not limit the present invention to this method. In other words, the present invention may also employ other methods to calibrate the Y-direction position of the metal tube 9.

In this preferred embodiment, the cutting tool 133 is preferably a circular saw blade that can be raised and lowered, but is not limited thereto. For example, a laser knife or an ultrasonic knife can also be used as the cutting tool 133 of the present invention.

As shown in Figure 11, the second multi-axis robot arm 21 is preferably a six-axis robot arm, comprising a base 210, multiple limbs 211-216, and a clamping device 24. The base 210 faces 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 211-216 are rotatable relative to each other, and their rotation directions are shown in Figures a to f in Figure 11.

As shown in Figures 12, 13, and 14, the clamping device 24 includes a bracket 241 connected to the last limb 216, a first support base 248 movably mounted on the bracket 241, a first driving device 245 mounted on the bracket 241 and configured to drive the first support base 248 to move, a first clamping portion 248a rotatably mounted on the first support base 248, a second support base 249 mounted on the bracket 241 and facing the first support base 248, a second clamping portion 249a rotatably mounted on the second support base 249, and a second driving device 249b mounted on the bracket 241 and configured to drive the second clamping portion 249a to rotate.

The first clamping portion 248a and the second clamping portion 249a are spaced apart. A rotation axis 248b of the first clamping portion 248a passes through the first support base 248 and is pivotally connected to the first support base 248. A rotation axis 249d of the second clamping portion 249a passes through the second support base 249 and is pivotally connected to the second support base 249. The rotating shaft 248b of the first clamping portion 248a and the rotating shaft 249d of the second clamping portion 249a are located on the same axis (i.e., the long axis L of the metal tube 9). The second drive device 249b is connected to the rotating shaft 249d of the second clamping portion 249a. Preferably, the second drive device 249b can be a servo motor, which can be connected to the rotating shaft 249d via a transmission box 249c. When the second drive device 249b is activated, the rotating shaft 249d begins to rotate through the transmission components (such as the worm and worm wheel, not shown) within the transmission box 249c, causing the second clamping portion 249a to rotate accordingly.

In this preferred embodiment, the first support 248 is movable toward and away from the second support 249 using two slide rails 246 and a slide plate 247 mounted on the bracket 241. Preferably, the first drive device 245 is a pneumatic cylinder or a hydraulic cylinder. A telescopic rod 245a of the first drive device 245 is preferably pivotally connected to the slide plate 247 via a pivot 245b.

When the telescopic rod 245a of the first drive device 245 extends forward, the slide 247 is pushed by the telescopic rod 245a and moves forward along the two slide rails 246. This in turn drives the first support 248 from its original position toward the second support 249 to a clamping position, as shown in Figure 12. At this point, the first clamping portion 248a and the second clamping portion 249a are respectively inserted into the opposite ends of the metal pipe 9. Once the second drive device 249b drives the second clamping portion 249a to rotate, the metal pipe 9 and the first clamping portion 248a rotate in conjunction with the rotation of the second clamping portion 249a.

When the telescopic rod 245a of the first drive device 245 retracts, the slide plate 247 is pulled by the telescopic rod 245a and moves rearward along the two slide rails 246, thereby driving the first support 248 from the clamping position back to its original position. At this time, the first clamping portion 248a is separated from the metal pipe 9 by a distance, allowing the metal pipe 9 to fall downward from the second clamping portion 249a.

Preferably, to accommodate metal pipes 9 of varying lengths, the bracket 241 further includes a long rail 242 and a carrier plate 244 movable on the long rail 242, as shown in Figures 12 to 14. The carrier plate 244 supports the two slide rails 246 and the first drive device 245 of the first support base 248. The position of the carrier plate 244 can be adjusted manually, for example, by moving the carrier plate 244 using a handwheel (not shown). The position of the carrier plate 244 can also be adjusted automatically, for example, by moving the carrier plate 244 using a servo motor (not shown). When the carrier plate 244 is adjusted to a predetermined position, a locking member, such as a screw (not shown), can be used to lock the carrier plate 244 in the predetermined position, thereby securing the carrier plate 244 in place.

As can be seen from the above description, the gripping device 24 has the function of gripping or releasing the metal pipe 9. This means that the second multi-axis robot 21, which includes the gripping device 24, can not only pick up metal pipes 9 that meet the standard length from the second holding area 15 and transfer them to the grinding device 22 for grinding, but can also transfer the ground metal pipes 9 from the grinding device 22 to the second holding area 15 for release. Furthermore, the second multi-axis robot 21 can drive the gripped metal pipe 9 to rotate about its long axis L.

As shown in Figure 15 , each grinding device 22 preferably includes a rotating base 221 and two belt grinding modules 222 mounted on the rotating base 221. The rotating base 221 is driven to rotate by a servo motor (not shown). The two belt grinding modules 222 are spaced apart by an angle and rotate with the rotation of the rotating base 221.

As shown in Figures 15 to 18, each belt grinding module 222 preferably includes a first drive unit 222a, a driving wheel 222b driven by the first drive unit 222a, an adjustment idler wheel 222c, a first oscillating idler wheel 222d, a second oscillating 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 adjustment idler wheel 222c, the first oscillating idler wheel 222d, and the second oscillating idler wheel 222e. The first crank 222g is pivotally connected to a swing arm 222p of the first swing idler 222d and a piston rod 222r of the first pneumatic cylinder 222m, respectively. The second crank 222h is pivotally connected to a swing arm 222s of the second swing idler 222e and a piston rod 222t of the second pneumatic cylinder 222n, respectively.

The first power device 222a can be a motor. As shown in Figure 17, when the first power device 222a drives the active wheel 222b to rotate, the rotating active wheel 222b drives the abrasive belt 222f to circulate along a circular path. When the metal pipe 9 on the second multi-axis robot arm 21 comes into contact with the circling abrasive belt 222f, the abrasive belt 222f grinds the metal pipe 9.

As shown in Figure 18, the first pneumatic cylinder 222m can drive the first crank 222g to rotate by a certain angle, thereby causing the first swing idler 222d to rotate to the desired position. The second pneumatic cylinder 222n can drive the second crank 222h to rotate by a certain angle, thereby causing the second swing idler 222e to rotate to the desired position. The distance between the first and second swing idlers 222d, 222e can be adjusted by changing the positions of the first and second swing idlers 222d, 222e. This distance also determines the length of the sanding belt 222f between the first and second swing idlers 222d, 222e.

Figure 18 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 fully extended. At this point, the first swing idler pulley 222d has fully swung in one direction via the linkage of the first crank 222g and the swing arm 222p, while the second swing idler pulley 222e has fully swung in the other direction via the linkage of the second crank 222h and the swing arm 222s. In this state, the first swing idler pulley 222d is at its farthest distance from the second swing idler pulley 222e.

Conversely, as shown in Figure 19, the telescopic rod of the first pneumatic cylinder 222m has been fully extended, and the telescopic rod of the second pneumatic cylinder 222n has been retracted. In this state, the first swing idler pulley 222d and the second swing idler pulley 222e are closest to each other.

Preferably, the first and second pneumatic cylinders 222m and 222n are each connected to an adjusting valve and/or a proportional valve (not shown). This allows the internal pressure of the first and second pneumatic cylinders 222m and 222n to be adjusted in accordance with the pressure on the first and second swing idler pulleys 222d and 222e. Therefore, as shown in FIG20 , when the force exerted by the metal pipe 9 on the sanding belt 222f increases, the sanding belt 222f does not stiffen but instead elastically retreats. Conversely, when the force exerted by the metal pipe 9 on the sanding belt 222f decreases, the sanding belt 222f immediately and elastically moves back. When the metal pipe 9 pushes the abrasive belt 222f to a certain depth, part of the curved surface of the metal pipe 9 can be covered by the abrasive belt 222f, forming a ground state.

Additionally, the idler wheel 222c can be manually adjusted to a certain angle. Figure 21 shows the left-right swing range of the idler wheel 222c, so that the sanding belt 222f is tilted accordingly. This is a known technique and will not be elaborated upon.

It should be noted that the cover (not shown) of the dustproof box 222k in Figures 15 and 18 has been removed. When the cover is in place, the first crank 222g, the second crank 222h, the first pneumatic cylinder 222m, and the second pneumatic cylinder 222n are all concealed within the dustproof box 222k. Protected by the dustproof box 222k, dust generated by the sanding belt 222f grinding the metal pipe 9 is less likely to enter the dustproof box 222k. This ensures smooth operation of the first crank 222g, the second crank 222h, the first pneumatic cylinder 222m, and the second pneumatic cylinder 222n, reducing the likelihood of malfunction.

As shown in Figures 1 and 15 , each grinding device 22 may further include a grinding wheel grinding module 223 mounted adjacent 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.

Figure 22 shows the process of the second multi-axis robot 21 transferring a metal pipe 9 to the grinding device 22 for grinding. As shown in Figure 22(A), the rotating base 221 is at a starting position (0 degrees). As shown in Figure 22(B), the rotating base 221 rotates counterclockwise, allowing the abrasive belt 222f of one of the belt grinding modules 222 to reach a work area. There, the abrasive belt 222f performs a grinding operation on the metal pipe 9, such as a coarse belt grinding operation to remove surface imperfections. After the rough belt grinding operation is completed, as shown in Figure 22(C), the rotating base 221 rotates clockwise by an angle, allowing the sanding belt 222f of the other sanding belt grinding module 222 to enter the work area and perform another grinding operation on the metal pipe 9 in the work area, such as a fine belt grinding operation to polish the surface of the metal pipe 9. After the fine belt grinding operation is completed, as shown in Figure 22(D), the rotating base 221 rotates clockwise by an angle further, allowing the other sanding belt grinding module 222 to leave the work area, thereby making maximum space for the second multi-axis robot arm 21 to transfer the metal pipe 9 to the grinding wheel grinding module 223, where the grinding wheel 223b performs a grinding operation on the metal pipe 9.

When the second multi-axis robot arm 21 transfers the metal pipe 9 to either the belt grinding module 222 or the grinding wheel grinding module 223 for grinding, the second multi-axis robot arm 21, under the control of the computer device, can drive the movement and rotation of the clamping device 24 to enable the metal pipe 9 to reach the desired position and assume the desired posture at that position, and move or rotate within that posture. As shown in Figure 23, the metal pipe 9 can maintain a horizontal posture during the grinding process, or it can be rotated from the horizontal posture to an inclined posture (left higher, right lower, or left lower, right higher) due to the drive of the second multi-axis robot arm 21. Furthermore, regardless of whether the metal pipe 9 is in the horizontal or tilted position, it can continue to move back and forth under the control of the second multi-axis robotic arm 21, such as up and down, horizontally left and right, or diagonally.

During the grinding process, the clamping device 24 can also, under the control of the computer, activate its second drive device 249b to rotate the second clamping portion 249a, causing the metal pipe 9 to rotate about its longitudinal axis L, as shown in Figure 24. This means that all sides of the metal pipe 9 can be ground by either the belt grinding module 222 or the grinding wheel grinding module 223.

In this preferred embodiment, when the swivel base 221 is in the positions shown in Figures 22(A) to (D), one or more fixing assemblies 3 can be used to secure the swivel base 221, as shown in Figure 26. When the swivel base 221 is desired to be rotated, the one or more fixing assemblies 3 can be released from the swivel base 221, as shown in Figure 25. More specifically, as shown in Figures 25 and 26, the fixing assembly 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 swivel base 221 can rotate relative to the base 4. The clamping arm 31 has two locking blocks 311 and 312, one in front of the other and spaced apart. One locking block 311 is located at the front end of a lower arm 314 of the clamping arm 31, and the other locking 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 the top of the support 30, allowing it to swing on the support 30 about a first pivot 314a. The first linkage arm 32 has two ends pivoted to the lower arm 314 and one end of the second linkage arm 33, respectively. The other end of the second linkage arm 33 is pivoted to the 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 a single point. Therefore, the first linkage arm 32 swings on the support 30 about a second pivot 32a. The second linkage arm 33 swings on the lower arm 314 about a third pivot 33a. The first linkage arm 32 and the second linkage arm 33 swing relative to each other about a fourth pivot 34a. When the drive cylinder 34 extends the telescopic rod 341, as shown in Figure 26, the swivel base 221 is secured by the fixing assembly 3. Conversely, when the drive cylinder 34 retracts the telescopic rod 341, as shown in Figure 27, the swivel base 221 is released from the fixing assembly 3 and can rotate.

As can be seen from the above description, the second multi-axis robot 21 is used to transfer the metal tube 9 to the grinding device 22. While the metal tube 9 is being ground by the grinding tool (e.g., abrasive belt 222f) in the grinding device 22, it can perform movement and/or rotation to change the position and angle of the metal tube 9 relative to the grinding tool. Furthermore, the second multi-axis robot 21 is also used to transfer the metal tube 9 to a defect detection device (not shown) for inspection. During both the grinding and inspection processes, the second multi-axis robot 21 can drive the metal tube 9 to rotate about its long axis L.

Preferably, before the polishing device 22 begins polishing, the computer device can use the defect detection equipment to perform defect detection on the metal pipe 9 to identify any defects on the metal pipe 9 and record the type and location of the defects. The computer device can then control the operation of the polishing device 22 based on the recorded defect type and location to efficiently remove the defects on the metal pipe 9. During the polishing process, the computer device can also use the defect detection equipment to perform defect detection on the metal pipe 9 and determine whether polishing is complete based on the defect detection results. If the defect detection result indicates that there are still defects, the computer device instructs the grinding device 22 to continue grinding the metal tube 9. Conversely, if the defect detection result indicates that there are no defects, the computer device instructs the second multi-axis robot arm 21 to move the metal tube 9 to the second holding area 15.

1: Pipe cutting equipment

11: The first multi-axis robotic arm

12: First Holding Area

13: Pipe cutting machine

14: Waste material conveying device

15: Second holding area

16: Third holding area

2: Grinding equipment

21: Second multi-axis robotic arm

22: Grinding device

221: Rotating Base

222: Belt Grinding Module

223: Grinding Wheel Grinding Module

23: Dust collection device

5: Isolation Room

51, 32, 33: Window

9: Metal pipe fittings

Claims (8)

A metal pipe processing system includes: a pipe cutting device for cutting a metal pipe so that the metal pipe meets a standard length, wherein the pipe cutting device includes a first multi-axis robot arm and a pipe cutter, the pipe cutter has a first receiving area, and the first multi-axis robot arm is used to transfer the metal pipe to the pipe cutter and place the metal pipe in the first receiving area of the pipe cutter after completing a first calibration operation above the first receiving area of the pipe cutter, so that the pipe cutter can cut the metal pipe from a first to-be-cut position; a grinding device for grinding the surface of the metal pipe that meets the standard length; and a computer device coupled to the pipe cutter and using the A light detection device of the pipe cutting machine detects a first mark pre-formed on the metal pipe and controls the first multi-axis robot to perform the first calibration operation based on the position of the detected first mark. When the first multi-axis robot lowers the metal pipe to a position very close to the bottom of the first receiving area, the computer device first causes a clamping jaw of the first multi-axis robot to release the metal pipe without releasing it. The computer device then rotates a pressing portion of the pipe cutting machine to a pressing position. During the rotation process, the pressing portion presses down on the metal pipe near the first position to be cut, thereby forcing the metal pipe to squeeze through the clamping jaw and fall to the bottom of the first receiving area. The metal pipe processing system of claim 1, wherein the pipe cutting machine has a second receiving area parallel to the first receiving area, wherein the first multi-axis robot arm is further configured to pick up the cut metal pipe and rotate it 180 degrees, and only after completing a second calibration operation above the second receiving area of the pipe cutting machine, place the metal pipe in the second receiving area of the pipe cutting machine, so that the pipe cutting machine can cut the metal pipe from a second to-be-cut position. The metal pipe processing system of claim 2, wherein the computer device utilizes the optical detection device of the pipe cutting machine to detect a second mark pre-formed on the metal pipe, and controls the first multi-axis robot arm to perform the second calibration operation based on the position of the detected second mark. The metal pipe processing system according to any one of claims 1 to 3, wherein the grinding apparatus comprises a second multi-axis robot and a grinding device, wherein the second multi-axis robot is used to transfer the metal pipe meeting the standard length from the pipe cutting apparatus to the grinding device for grinding. A metal pipe processing system includes: a pipe cutting device for cutting a metal pipe to conform to a standard length; and a grinding device for grinding the surface of the metal pipe that has been conformed to the standard length. The grinding device includes a multi-axis robot arm and a grinding device. The multi-axis robot arm includes: a base facing the grinding device; a plurality of limbs that are rotatable relative to each other, with the first limb rotatably connected to the base; and a A frame connected to the last limb; a first support base movably disposed on the frame; a first driving device for driving the first support base to move; a first clamping portion rotatably disposed on the first support base; a second support base disposed on the frame and facing the first support base; a second clamping portion rotatably disposed on the second support base; and a second driving device disposed on the frame and for driving the second clamping portion to rotate. The metal pipe processing system of claim 5, wherein the grinding device comprises a rotatable rotating base, two abrasive belt grinding modules mounted on the rotating base, and a fixing assembly, wherein the two abrasive belt grinding modules are separated by an angle and rotate with the rotation of the rotating base, and the fixing assembly is used to fix or release the rotating base. The metal pipe processing system of claim 6, wherein the grinding device includes a grinding wheel grinding module mounted adjacent to the rotating base. The rotating base can rotate to a certain angle so that the two belt grinding modules leave a space sufficient for the multi-axis robot to transfer the metal pipe to the grinding wheel grinding module for grinding. The metal pipe processing system of claim 6, wherein each of the abrasive belt grinding modules comprises a first power device, a driving wheel driven for rotation by the first power device, an adjusting 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, a second pneumatic cylinder, and a dustproof box, wherein the abrasive belt is wound around the driving wheel, the adjusting idler wheel, the first swing idler wheel, and the second swing idler wheel. The first crank has two ends pivotally connected to a swing arm of the first swing idler wheel and a piston rod of the first pneumatic cylinder, respectively. The second crank has two ends pivotally connected to a swing arm of the second swing idler wheel and a piston rod of the second pneumatic cylinder, respectively.