CN111958374A - Frame-type four-axis pipeline inner weld surface grinding system - Google Patents
Frame-type four-axis pipeline inner weld surface grinding system Download PDFInfo
- Publication number
- CN111958374A CN111958374A CN202010824684.2A CN202010824684A CN111958374A CN 111958374 A CN111958374 A CN 111958374A CN 202010824684 A CN202010824684 A CN 202010824684A CN 111958374 A CN111958374 A CN 111958374A
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- Prior art keywords
- grinding
- supporting
- cylinder
- frame
- disc
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The invention relates to a frame-type four-axis pipeline inner weld surface grinding system which comprises a grinding actuating mechanism and a control assembly, wherein the grinding actuating mechanism is connected with the control assembly; the grinding actuating mechanism comprises a grinding mechanism, a front supporting disk, a rear supporting disk, a front-view camera and an inspection camera; the grinding mechanism is arranged between the front supporting disk and the rear supporting disk; the front supporting disc and the rear supporting disc respectively comprise a disc body, a cylinder supporting assembly and a walking wheel train; the plurality of groups of cylinder supporting assemblies are arranged on the disc body in an equally-spaced circumferential manner, and the traveling gear train is arranged on the edge of the disc body in a circumferential manner; the cylinder supporting assembly comprises a cylinder, a supporting frame and a rubber cushion pad, the output shaft of the cylinder is connected with the supporting frame, and the rubber cushion pad is arranged at the end part of the supporting frame. The invention is mainly used for trimming and polishing the high points of the welding seams which can not meet the requirements, so that the welding seams can meet the requirements of coating and joint coating, thereby greatly improving the efficiency of the whole work and shortening the project period.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a frame-type four-axis pipeline inner weld surface grinding system.
Background
In large-scale engineering fields such as petroleum pipeline laying, seawater desalination and the like, the pipeline is formed by welding a section of steel pipe. Liquids such as petroleum and seawater are highly corrosive, and in order to increase the service life of the pipeline, it is necessary to perform corrosion prevention treatment on the inside and outside of the pipeline. Before welding, each steel pipe is coated with an anticorrosive paint on the inner wall of the pipeline for internal coating and corrosion resistance treatment, and only one section of the steel pipe is reserved at two ends without a coating. After the two steel pipes are welded together, an inner coating joint coating technology is carried out on the welding joint on the construction site, and the inside of the whole pipeline is coated with the anticorrosive paint. Welding must be carried out outside the steel pipe, manual or mechanical welding is required, the welding seam in the pipeline must be neat and uniform, and the height of the welding seam is very strict and cannot exceed the standard. Otherwise, the coating at the welding seam is invalid, the anti-corrosion effect can not be achieved, and the service life of the whole pipeline is reduced. Therefore, the requirement on welding technology is high, the welding efficiency is low, and if one spot welding seam exceeds the standard, the whole welding seam must be discarded.
Currently, no effective technology can solve the problem internationally. For large pipe diameter, people can enter the pipe, and the pipe is manually polished after the people bring equipment into the pipe. This is dangerous and must be performed by trained professionals. For small pipe diameter, manual work cannot enter the pipe, and the pipe can only be cut and welded again until the requirement is met.
Disclosure of Invention
The invention provides a frame-type four-axis pipeline inner weld surface grinding system, which solves the technical problem that small-diameter workers cannot perform grinding treatment on the weld surface.
The technical scheme adopted by the invention is as follows:
the surface grinding system for the inner weld joint of the frame-type four-axis pipeline comprises a grinding actuating mechanism and a control assembly, wherein the grinding actuating mechanism is connected with the control assembly;
the grinding actuating mechanism comprises a grinding mechanism, a front supporting disc, a rear supporting disc, a front-view camera and an inspection camera;
the grinding mechanism is arranged between the front supporting disk and the rear supporting disk and comprises a grinding wheel, a brushless grinding motor, a connecting rod frame, a hollow rotary table, a servo motor, a transverse feeding electric cylinder and a longitudinal feeding electric cylinder; the connecting rod frame is formed by connecting two end plates and a plurality of connecting rods by bolts to form a frame structure; a grinding wheel is installed on an output shaft of the brushless grinding motor, the brushless grinding motor is arranged on a longitudinal feeding electric cylinder, the longitudinal feeding electric cylinder is arranged on a transverse feeding electric cylinder, and the transverse feeding electric cylinder is arranged on a connecting rod frame; the connecting rod frame is connected with the hollow rotary table, and the hollow rotary table is driven by the servo motor to rotate circumferentially;
the front supporting disc and the rear supporting disc respectively comprise a disc body, a cylinder supporting assembly and a traveling gear train; the plurality of groups of cylinder supporting assemblies are arranged on the disc body in an equally-spaced circumferential manner, and the traveling gear train is arranged on the edge of the disc body in a circumferential manner;
the cylinder supporting assembly comprises a cylinder, a supporting frame and a rubber cushion pad, the output shaft of the cylinder is connected with the supporting frame, and the rubber cushion pad is arranged at the end part of the supporting frame.
Further, the cylinder support assemblies are provided in three groups.
Further, the control assembly comprises a plurality of groups of controllers, drivers and monitoring control components; the front-view camera is arranged in the center of the front end of the front supporting disk, and the inspection camera is arranged on the connecting rod frame at the position of the grinding wheel.
Compared with the prior art, the invention has the beneficial effects that:
1. the grinding system solves the technical problem that no grinding equipment can be used for the small-caliber pipeline; the device realizes supporting and positioning through a plurality of groups of cylinder supporting assemblies, grinds the welding seam through four-axis linkage, controls transverse and longitudinal feeding and grinding wheel feed amount by adopting an electric cylinder, and has high grinding precision; the grinding process can be watched and monitored in real time through the camera.
2. The invention is mainly used for trimming and polishing high points of welding seams which can not meet the requirements, so that the welding seams can meet the requirements of coating joint coating. Therefore, the efficiency of the whole work can be greatly improved, and the project period is shortened.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a right side view of the present invention;
FIG. 3 is a cross-sectional view of the present invention;
in the figure, 1-a control component, 2-a servo motor, 3-a hollow rotary table, 4-a rear support disc, 5-a connecting rod frame, 6-a grinding wheel sheet, 7-a brushless coping motor, 8-an inspection camera, 9-a front support disc, 10-a front view camera, 11-a cylinder support component, 12-a walking wheel train, 13-a cylinder, 14-a rubber cushion pad, 15-a transverse feeding electric cylinder, 16-a longitudinal feeding electric cylinder, 17-a disc body and 18-a connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the frame-type four-axis pipeline inner weld surface grinding system comprises a grinding actuating mechanism and a control assembly 1, wherein the grinding actuating mechanism is connected with the control assembly 1;
the grinding actuating mechanism comprises a grinding mechanism, a front supporting disk 9, a rear supporting disk 4, a front-view camera 10 and an inspection camera 8;
the grinding mechanism is arranged between the front supporting disk 9 and the rear supporting disk 4 and comprises a grinding wheel 6, a brushless grinding motor 7, a connecting rod frame 5, a hollow rotary table 3, a servo motor 2, a transverse feeding electric cylinder 15 and a longitudinal feeding electric cylinder 16; the connecting rod frame 5 is formed by connecting two end plates and a plurality of connecting rods 18 by bolts to form a frame structure; a grinding wheel 6 is installed on an output shaft of the brushless grinding motor 7, the brushless grinding motor 7 is arranged on a longitudinal feeding electric cylinder 16, the longitudinal feeding electric cylinder 16 is arranged on a transverse feeding electric cylinder 15, and the transverse feeding electric cylinder 15 is arranged on the connecting rod frame 5; the connecting rod frame 5 is connected with the hollow rotary table 3, and the hollow rotary table 3 is driven by the servo motor 2 to rotate circumferentially;
the front supporting disc 9 and the rear supporting disc 4 respectively comprise a disc body 17, a cylinder supporting component 11 and a walking wheel train 12; the three groups of cylinder supporting assemblies 11 are arranged, the three groups of cylinder supporting assemblies 11 are circumferentially arranged on the disc body at equal intervals, and the traveling gear train 12 is circumferentially arranged at the edge of the disc body;
the cylinder supporting component comprises a cylinder, a supporting frame and a rubber cushion pad, an output shaft of the cylinder is connected with the supporting frame, and the end part of the supporting frame is provided with the rubber cushion pad 14.
The control assembly comprises a plurality of groups of controllers, drivers and monitoring control components; the front view camera 10 is arranged at the center of the front end of the front support plate 9, and the inspection camera is arranged on the connecting rod frame 5 at the position of the grinding wheel 6.
The working process of the invention is described below:
when the pipeline moves in, three groups of cylinder supporting assemblies 11 on the front supporting disk 9 and the rear supporting disk 4 are retracted, the walking wheel train 12 supports the whole system to move forwards and backwards in the pipeline, the front-view camera 10 can transmit a real-time image in the pipeline to an operator, after the image reaches a welding seam position, the inspection camera 8 firstly inspects the welding seam, and transmits an image of the welding condition of the welding seam to the operator for judging whether the welding seam at the position needs to be polished; if the grinding is needed, the three groups of cylinder supporting components 11 are supported, and the grinding work can be started after the whole grinding system is fixed.
An operator determines the width and height of a welding line to be ground and the corresponding three-dimensional angle of the welding line of a section to be ground on the whole circular welding line, sets corresponding parameters, and controls the component 1 to start the brushless grinding motor 7, so that the grinding system can automatically grind the welding line.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. Any partial modification or replacement within the technical scope of the present disclosure by a person skilled in the art should be included in the scope of the present disclosure.
Claims (3)
1. The grinding system for the inner weld surface of the frame-type four-axis pipeline is characterized by comprising a grinding actuating mechanism and a control assembly (1), wherein the grinding actuating mechanism is connected with the control assembly (1);
the grinding actuating mechanism comprises a grinding mechanism, a front supporting disc (9), a rear supporting disc (4), a front-view camera (10) and an inspection camera (8);
the grinding mechanism is arranged between the front supporting disk (9) and the rear supporting disk (4), and comprises a grinding wheel (6), a brushless grinding motor (7), a connecting rod frame (5), a hollow rotary table (3), a servo motor (2), a transverse feeding electric cylinder (15) and a longitudinal feeding electric cylinder (16); the connecting rod frame (5) is formed by connecting two end plates and a plurality of connecting rods (18) by bolts to form a frame structure; a grinding wheel (6) is installed on an output shaft of the brushless grinding motor (7), the brushless grinding motor (7) is arranged on a longitudinal feeding electric cylinder (16), the longitudinal feeding electric cylinder (16) is arranged on a transverse feeding electric cylinder (15), and the transverse feeding electric cylinder (15) is arranged on a connecting rod frame (5); the connecting rod frame (5) is connected with the hollow rotary table (3), and the hollow rotary table (3) is driven by the servo motor (2) to rotate circumferentially;
the front supporting disc (9) and the rear supporting disc (4) respectively comprise a disc body (17), a cylinder supporting assembly (11) and a traveling gear train (12); the multiple groups of cylinder supporting assemblies (11) are arranged, the multiple groups of cylinder supporting assemblies (11) are circumferentially arranged on the disc body at equal intervals, and the traveling gear train (12) is circumferentially arranged at the edge of the disc body;
the cylinder supporting assembly comprises a cylinder, a supporting frame and a rubber cushion pad, the output shaft of the cylinder is connected with the supporting frame, and the end part of the supporting frame is provided with the rubber cushion pad (14).
2. The system for grinding the inner weld surfaces of four-axis pipes according to claim 1, wherein said cylinder support assemblies (11) are provided in three groups.
3. The system for grinding the surface of the welding seam in the frame-type four-axis pipeline according to claim 1 or 2, wherein the control assembly comprises a plurality of groups of controllers, drivers and monitoring control components; the front-view camera (10) is arranged in the center of the front end of the front supporting disc (9), and the inspection camera is arranged on the connecting rod frame (5) at the position of the grinding wheel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010824684.2A CN111958374A (en) | 2020-08-17 | 2020-08-17 | Frame-type four-axis pipeline inner weld surface grinding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010824684.2A CN111958374A (en) | 2020-08-17 | 2020-08-17 | Frame-type four-axis pipeline inner weld surface grinding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111958374A true CN111958374A (en) | 2020-11-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010824684.2A Pending CN111958374A (en) | 2020-08-17 | 2020-08-17 | Frame-type four-axis pipeline inner weld surface grinding system |
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| Country | Link |
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| CN (1) | CN111958374A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476118A (en) * | 2020-11-25 | 2021-03-12 | 西安环海机器人科技有限公司 | Self-propelled four-axis pipeline inner weld joint and surface grinding system |
| CN117047582A (en) * | 2023-10-11 | 2023-11-14 | 太原理工大学 | Variable-diameter high-precision steel pipe inner wall coping robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001191244A (en) * | 2000-01-06 | 2001-07-17 | Nitta Ind Corp | Mobile grinder device |
| CN103433846A (en) * | 2013-09-05 | 2013-12-11 | 上海电气集团股份有限公司 | Inner wall polishing operation remote control equipment suitable for pipeline with wide-range pipe diameter |
| CN104149004A (en) * | 2014-08-14 | 2014-11-19 | 茂名重力石化机械制造有限公司 | Polishing device for inner pipe abutted seams of rapid-cooling heat exchanger |
| CN205703584U (en) * | 2016-06-17 | 2016-11-23 | 新疆石油工程建设有限责任公司 | Pipe inside weld automatic inspection device |
| CN205928124U (en) * | 2016-07-27 | 2017-02-08 | 浙江省特种设备检验研究院 | Automatic grinding device of pipeline under pressure inner wall |
| CN207695699U (en) * | 2017-12-11 | 2018-08-07 | 西安环海机器人科技有限公司 | A kind of pipeline girth weld sharpening machine |
| CN109794834A (en) * | 2019-01-30 | 2019-05-24 | 四川西南环保科技防腐股份有限公司 | Polishing derusting device in small-bore pipe |
| CN110421201A (en) * | 2019-07-19 | 2019-11-08 | 东华大学 | Spiral inside pipe wall weld grinding device |
-
2020
- 2020-08-17 CN CN202010824684.2A patent/CN111958374A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001191244A (en) * | 2000-01-06 | 2001-07-17 | Nitta Ind Corp | Mobile grinder device |
| CN103433846A (en) * | 2013-09-05 | 2013-12-11 | 上海电气集团股份有限公司 | Inner wall polishing operation remote control equipment suitable for pipeline with wide-range pipe diameter |
| CN104149004A (en) * | 2014-08-14 | 2014-11-19 | 茂名重力石化机械制造有限公司 | Polishing device for inner pipe abutted seams of rapid-cooling heat exchanger |
| CN205703584U (en) * | 2016-06-17 | 2016-11-23 | 新疆石油工程建设有限责任公司 | Pipe inside weld automatic inspection device |
| CN205928124U (en) * | 2016-07-27 | 2017-02-08 | 浙江省特种设备检验研究院 | Automatic grinding device of pipeline under pressure inner wall |
| CN207695699U (en) * | 2017-12-11 | 2018-08-07 | 西安环海机器人科技有限公司 | A kind of pipeline girth weld sharpening machine |
| CN109794834A (en) * | 2019-01-30 | 2019-05-24 | 四川西南环保科技防腐股份有限公司 | Polishing derusting device in small-bore pipe |
| CN110421201A (en) * | 2019-07-19 | 2019-11-08 | 东华大学 | Spiral inside pipe wall weld grinding device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476118A (en) * | 2020-11-25 | 2021-03-12 | 西安环海机器人科技有限公司 | Self-propelled four-axis pipeline inner weld joint and surface grinding system |
| CN117047582A (en) * | 2023-10-11 | 2023-11-14 | 太原理工大学 | Variable-diameter high-precision steel pipe inner wall coping robot |
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| PB01 | Publication | ||
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Application publication date: 20201120 |