CN112276748A

CN112276748A - Three-dimensional reducing support type pipeline polishing robot complete machine

Info

Publication number: CN112276748A
Application number: CN202011081501.9A
Authority: CN
Inventors: 农方照
Original assignee: Ningbo Lingfan Zhiyuan Electronic Equipment Co ltd
Current assignee: Ningbo Lingfan Zhiyuan Electronic Equipment Co ltd
Priority date: 2020-10-12
Filing date: 2020-10-12
Publication date: 2021-01-29

Abstract

The invention discloses a three-dimensional reducing support type pipeline polishing robot complete machine which comprises a polishing machine, a first bearing table, a second bearing table, a linear displacement mechanism, a mechanical claw and a polishing robot in a hexahedral frame structure, wherein the polishing machine is arranged on the first bearing table; the grinding robot is in a hexahedral frame structure and comprises four groups of scissor reducing support units, a revolution driving unit, a reducing driving unit, a rough grinding unit, an axial driving unit and a fine grinding unit, wherein the four groups of scissor reducing support units and the revolution driving unit are symmetrically distributed on four side surfaces of the hexahedral frame structure; the scissor reducing support units are hinged through right-angle hinge seats; the revolution driving unit is connected with the axial driving unit; the rough polishing unit and the fine polishing unit are respectively arranged on the polishing sliding block, and the polishing sliding block is connected to the right-angle hinge base in a floating mode; the right-angle hinged seat is provided with a ball wheel centering unit; the invention can improve the required radial rigid support, ensure the polishing precision and polishing efficiency, and the rough and fine polishing units are in floating elastic connection, so that the operation is more stable, the mechanical operation is realized, and the labor intensity is reduced.

Description

Three-dimensional reducing support type pipeline polishing robot complete machine

Technical Field

The invention relates to a three-dimensional reducing support type pipeline polishing robot complete machine.

Background

In the polishing processing link of the inner wall of the pipeline, in order to improve the adaptability of the pipeline polishing equipment to pipelines with various specifications, the flexibility and the applicability of the equipment are enhanced by adopting a mode of matching the reducing mechanism with the polishing mechanism.

However, the diameter changing mechanism in the existing pipeline polishing equipment is an independent connection structure, so that the polishing precision is not high due to poor rigidity, and meanwhile, the polishing efficiency is influenced because the poor rigidity cannot bear overlarge grinding force; and the diameter changing mechanism and the polishing mechanism are rigidly connected, so that when the polishing process encounters sudden increase of polishing resistance (if a welding beading protrusion exists), the whole polishing equipment is unstable, even the polishing equipment is damaged, and the surface of a pipeline is damaged.

Disclosure of Invention

The invention aims to overcome the defects and provide a three-dimensional reducing support type pipeline polishing robot complete machine.

In order to achieve the purpose, the invention adopts the following specific scheme:

the utility model provides a three-dimensional reducing supports formula pipeline polishing robot complete machine, is including beating the grinding machine, locating the first plummer of grinding bed one end, locating the second plummer on the grinding machine other end, locating the straight line displacement mechanism on second plummer top, locating the gripper on the output of straight line displacement mechanism and locating the polishing robot on the output of gripper.

The grinding robot is of a hexahedral frame structure and comprises four groups of scissor reducing support units, reducing drive units, rough grinding units, fine grinding units, axial drive units and revolution drive units;

the four groups of scissors reducing support units are symmetrically distributed on four side surfaces of the hexahedral frame structure, adjacent scissors reducing support units are connected through two right-angle hinge seat revolute pairs, and the right-angle hinge seats are distributed on the top points of the hexahedral frame structure;

the reducing drive unit, the rough polishing unit, the axial drive unit and the fine polishing unit are sequentially distributed on four lateral edges of the hexahedral frame structure along the circumferential direction and are respectively and correspondingly connected between two vertically opposite right-angle hinged seats, the rough polishing unit and the fine polishing unit are arranged in a central symmetry manner, and the revolution drive unit is connected to the axial drive unit and is in transmission connection with the axial drive unit;

the polishing device comprises a rough polishing unit, a fine polishing unit, a polishing slide rod and a buffer spring, wherein the rough polishing unit and the fine polishing unit are respectively fixed on one polishing slide rod; the rough grinding unit comprises a rough grinding disc, and the fine grinding unit comprises a fine grinding disc;

the right-angle hinge seats correspondingly connected with the variable-diameter driving unit, the rough polishing unit and the fine polishing unit are respectively provided with a ball wheel centering unit outwards;

the reducing driving unit is used for driving the four groups of scissors reducing supporting units to fold and move so as to change the diameter of an inscribed circle of the hexahedron frame structure;

the axial driving unit is used for driving the whole pipeline polishing device to move along the axial direction of the pipeline;

the revolution driving unit is used for driving the whole pipeline polishing device to do circular motion on the pipeline.

The ball wheel centering unit comprises a ball wheel column and a centering ball wheel, one end of the ball wheel column is fixed on the right-angle hinge seat, and the centering ball wheel is movably embedded in the free end of the ball wheel column and protrudes out of the surface of the ball wheel column.

The axial driving unit comprises an axial driving motor, a one-way gear, an axial driving screw rod, an axial nut block, a rolling magnet and an electromagnetic anchoring part, wherein the axial driving motor is correspondingly fixed on the outer side of the right-angle hinged seat, one end of the axial driving screw rod is movably connected to the inner side of the right-angle hinged seat and is connected with the output end of the axial driving motor, the one-way gear is fixedly sleeved at one end of the axial driving screw rod, the axial nut block is in threaded connection with the axial driving screw rod, the rolling magnet is fixed on the axial nut block through a magnet frame, and the electromagnetic anchoring part is fixed on the other opposite right-angle hinged seat; the axial driving unit further comprises a flexible height compensation pad, and the flexible height compensation pad is arranged between the axial nut block and the magnet frame.

The electromagnetic anchoring part comprises an anchoring fixing plate, an anchoring electromagnet and an anchoring micro-gasket, the anchoring fixing plate is connected to the right-angle hinged seat, the anchoring micro-gasket is arranged on the anchoring fixing plate, and the anchoring electromagnet is arranged on the anchoring micro-gasket.

The revolution driving unit comprises a revolution connecting plate, a revolution driving gear and a roller shaft, the revolution connecting plate is fixedly sleeved on the screw and located between the one-way gear and the right-angle hinge base, the roller shaft is rotatably connected onto the revolution connecting plate, the revolution driving gear is fixedly sleeved on the roller shaft and located between the revolution connecting plate and the roller shaft, the revolution driving gear is meshed with the one-way gear, the addendum circle diameter of the revolution driving gear is matched with the diameter of the roller shaft, a plurality of revolution rollers are axially connected onto the roller shaft in a circumferential array mode, the revolution rollers are radially arranged and are axially perpendicular to the radial direction of the roller shaft, and the outer circumferential surface of the revolution rollers outwards protrudes out of the outer circumferential surface of the roller shaft.

The polishing device comprises a coarse polishing unit, a fine polishing unit and a polishing device, wherein the coarse polishing unit and the fine polishing unit respectively comprise a piezoelectric micromotion piece, a polishing motor and an L-shaped polishing support, the piezoelectric micromotion piece is fixed on a polishing sliding block, one end of the polishing support is fixed on the piezoelectric micromotion piece, the polishing motor is fixed at the other end of the polishing support, the output end of the polishing motor of the coarse polishing unit penetrates through the polishing support and then is connected with a coarse polishing disc, and the output end of the polishing motor of the fine polishing unit penetrates through the polishing support and then is connected with the fine polishing disc.

The reducing drive unit comprises a reducing drive motor, a reducing screw rod and a reducing nut rod, the reducing drive motor is correspondingly fixed on the outer side of the right-angle hinge seat, one end of the reducing screw rod is rotatably connected to the inner side of the right-angle hinge seat and connected with the output end of the reducing drive motor, one end of the reducing nut rod is in threaded connection with the other end of the reducing screw rod, and the other end of the reducing nut rod is fixed on another right-angle hinge seat.

The invention has the beneficial effects that: compared with the prior art, the four groups of scissor reducing support units are sequentially hinged together along the axial direction to form a closed hexahedral frame structure, so that radial rigid support required by the rough polishing unit and the fine polishing unit in the polishing process is ensured, and the polishing precision and the polishing efficiency are ensured; simultaneously with the unit of polishing crudely and the unit elastic connection that finely polishes between two right angle hinge seats that float to make buffer spring for the unit of polishing crudely and the unit of finely polishing absorb impact energy at the in-process of polishing, play the cushioning effect, ensure the normal operating of the work of polishing.

The invention has the advantages of mechanical operation, improved pipeline polishing efficiency and reduced labor intensity.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a perspective view of the present invention in a deployed state;

FIG. 3 is a schematic view of the present invention in a collapsed condition, placed in a pipe;

FIG. 4 is a schematic diagram of the four sets of scissors variable diameter support units of the present invention;

FIG. 5 is a perspective view of the axial drive unit of the present invention;

fig. 6 is a perspective view of the revolution driving unit of the present invention;

FIG. 7 is a perspective view of a rough or fine sanding unit of the present invention;

description of reference numerals: grinding machine-a 1; a first carrier-a 2; a second carrier-a 3; a linear displacement mechanism-a 4; gripper-a 5; grinding robot-a 6;

a scissor reducing support unit-1; a right-angle hinge mount-11; a variable-diameter driving unit-2; a reducing drive motor-21; a variable diameter screw-22; a reducing nut rod-23; a rough grinding unit-3; a fine grinding unit-4; an axial drive unit-5; an axial drive motor-51; a one-way gear-52; an axial drive screw-53; an axial nut block-54; a rolling magnet-55; an electromagnetic anchor member-56; an anchoring fixing plate-561; an anchor electromagnet-562; anchoring a micro-spacer-563; magnet holder-57; a flexible height compensation pad-58; a revolution driving unit-6; revolution connecting plate-61; revolution driving gear-62; roller shaft-63; revolution roller-64; polishing the sliding block-7; polishing the slide bar-8; a buffer spring-9; a ball wheel centering unit-10; a ball column-101; a centering ball wheel-102; piezoelectric micromotion sheet-m 1; grinding motor m 2; bracket-m 3 was ground.

Detailed Description

The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.

As shown in fig. 1 to 7, the whole three-dimensional variable diameter support type pipeline polishing robot described in this embodiment includes a polishing bed a1, a first plummer a2 disposed at one end of a polishing machine a1, a second plummer a3 disposed at the other end of the polishing machine a1, a linear displacement mechanism a4 disposed at the top end of the second plummer a3, a gripper a5 disposed at the output end of the linear displacement mechanism a4, and a polishing robot a6 disposed at the output end of the gripper a 5.

In practical use, an external manipulator places a pipeline to be polished on a first bearing table a2 for fixing, then a linear displacement mechanism a4 drives a gripper a5 and a polishing robot a6 to move towards the pipeline until the polishing robot a6 extends into one end of the pipeline far away from a second bearing table a3, then the gripper a5 loosens the polishing robot a6 and places the polishing robot a6 in the pipeline, then the linear displacement mechanism a4 drives the gripper a5 to retract, then the polishing robot a6 polishes the inner wall of the pipeline in the pipeline, after polishing is completed, the linear displacement mechanism a4 drives the gripper a5 to extend into the pipeline again, then the gripper a5 grabs the polishing robot a6, then the linear displacement mechanism a4 drives the gripper a5 and the polishing robot a6 to extend out of the pipeline, then the external manipulator transfers the polished pipeline to a working area, and simultaneously moves another pipeline to be polished out of the first bearing table 539a 2, then repeating the process, and polishing the inner wall of the next pipeline; the mechanical operation improves the polishing efficiency of the pipeline and reduces the labor intensity.

Based on the above embodiment, further, the polishing robot a6 is in a hexahedral frame structure, and includes four sets of scissor diameter-changing support units 1, diameter-changing drive units 2, rough polishing units 3, fine polishing units 4, axial drive units 5, and revolution drive units 6;

the four groups of scissor reducing support units 1 are symmetrically distributed on four side surfaces of the hexahedral frame structure, adjacent scissor reducing support units 1 are connected through two right-angle hinge bases 11 revolute pairs, and the right-angle hinge bases 11 are distributed on the top point of the hexahedral frame structure;

the reducing drive unit 2, the rough grinding unit 3, the axial drive unit 5 and the fine grinding unit 4 are sequentially distributed on four side edges of the hexahedral frame structure along the circumferential direction and are respectively and correspondingly connected between two right-angle hinged seats 11 which are opposite up and down, the rough grinding unit 3 and the fine grinding unit 4 are arranged in a central symmetry manner, and the revolution drive unit 6 is connected on the axial drive unit 5 and is in transmission connection with the axial drive unit 5;

the rough polishing unit 3 and the fine polishing unit 4 are respectively fixed on a polishing sliding block 7, two ends of the polishing sliding block 7 are respectively and correspondingly connected to a right-angle hinge seat 11 through polishing sliding rods 8, one end of each polishing sliding rod 8 is fixed on the right-angle hinge seat 11, the other end of each polishing sliding rod 8 movably penetrates through the polishing sliding block 7, and each polishing sliding rod 8 is sleeved with a buffer spring 9; the rough grinding unit 3 comprises a rough grinding disc, and the fine grinding unit 4 comprises a fine grinding disc;

the right-angle hinged seats 11 correspondingly connected with the reducing driving unit 2, the rough polishing unit 3 and the fine polishing unit 4 are respectively provided with a ball wheel centering unit 10 outwards;

the reducing driving unit 2 is used for driving the four groups of scissors reducing supporting units 1 to fold and move so as to change the diameter of an inscribed circle of the hexahedron frame structure;

the axial driving unit 5 is used for driving the whole pipeline polishing device to move along the axial direction of the pipeline;

the revolution driving unit 6 is used for driving the whole pipeline polishing device to do circular motion on the pipeline.

The working mode of the embodiment is as follows: firstly, the reducing drive unit 2 drives the scissors reducing support unit 1 to perform folding motion to enable the whole grinding robot a6 to be in a folded state, then the mechanical claw a5 puts the whole grinding robot a6 into a pipeline to be ground, then the reducing drive unit 2 of the grinding robot a6 drives the scissors reducing support unit 1 to perform folding motion again to enable the whole grinding robot a6 to be unfolded outwards until the ball wheel centering units 10 on the right-angle hinged seats 11 are contacted with the inner wall of the pipeline to realize centering, multi-dimensional multi-point support is formed by the plurality of ball wheel centering units 10, the support of radial rigidity of the four groups of scissors reducing support units 1 is greatly improved, the grinding precision of the rough grinding unit 3 and the fine grinding unit 4 is ensured, meanwhile, the rough grinding disc of the rough grinding unit 3 is also contacted with the inner wall of the pipeline, then the axial drive unit 5 drives the whole grinding robot a6 to move along the axial direction of the pipeline, meanwhile, the axial driving unit 5 drives the revolution driving unit 6 to work, the revolution driving unit 6 drives the whole polishing robot a6 to do circular motion around a central axis seat of the pipeline, meanwhile, a rough polishing disc of the rough polishing unit 3 polishes the inner wall of the pipeline, and the rough polishing unit 3 and the fine polishing unit 4 are centrosymmetric, so that along with the movement of the whole polishing robot a6, the fine polishing disc of the fine polishing unit 4 is gradually contacted with the inner wall of the pipeline and performs fine polishing on the inner wall of the pipeline polished by the rough polishing disc, so that the rough and fine polishing are performed simultaneously, and the polishing efficiency is greatly improved; the unit 3 and the unit 4 of polishing of roughly polishing are at the in-process of polishing, because roughly polish unit 3 and finely polish unit 4 and install respectively on polishing slider 7, the buffer spring 9 subtend of polishing slider 7 both sides compresses tightly polishing slider 7, elasticity equals, be in when making roughly polish unit 3 and finely polish unit 4 free state and keep static, when the grinding in-process resistance suddenly increases, roughly polish unit 3 or finely polish unit 4 and drive slider 7 extrusion buffer spring 9 of polishing, buffer spring 9 compression absorbing impact ability, thereby unit 3 or finely polish unit 4 and play the guard action to roughly polish, external control mechanism also can adjust axial drive unit 5's feed rate through the elasticity situation of change of monitoring buffer spring 9 simultaneously, guarantee the pipeline inner wall quality of polishing.

In the embodiment, four groups of scissor reducing support units 1 are sequentially hinged together along the axial direction to form a closed hexahedron frame structure, so that radial rigid support required by a rough polishing unit 3 and a fine polishing unit 4 in the polishing process is ensured, and the polishing precision and the polishing efficiency are ensured; simultaneously with the unit 3 and the unit 4 unsteady elastic connection of polishing of roughly between two right angle hinge seats 11 to make buffer spring 9 for roughly polish unit 3 and the unit 4 of polishing of smart absorb impact energy at the in-process of polishing, play the cushioning effect, ensure the normal operating of the work of polishing.

In addition, this embodiment can also cooperate with external control mechanism, adjusts the feed rate of axial drive unit 5 through monitoring the elasticity situation of change of buffer spring 9, further guarantees the quality of polishing.

Based on the above embodiment, further, the ball wheel centering unit 10 includes a ball wheel column 101 and a centering ball wheel 102, one end of the ball wheel column 101 is fixed on the right-angle hinge seat 11, and the centering ball wheel 102 is movably embedded in the free end of the ball wheel column 101 and protrudes out of the surface of the ball wheel column 101. So set up, through centering ball wheel 102 and pipeline inner wall contact, reduce whole pipeline grinding device and pipeline's frictional force when axial displacement and circular motion, also do benefit to the pipe wall that the protection was polished and is accomplished.

Based on the above embodiment, further, the axial driving unit 5 includes an axial driving motor 51, a one-way gear 52, an axial driving screw 53, an axial nut block 54, a rolling magnet 55 and an electromagnetic anchoring component 56, the axial driving motor 51 is correspondingly fixed on the outer side of the right-angle hinge base 11, one end of the axial driving screw 53 is movably connected to the inner side of the right-angle hinge base 11 and connected to the output end of the axial driving motor 51, the one-way gear 52 is fixedly sleeved on one end of the axial driving screw 53, the axial nut block 54 is screwed on the axial driving screw 53, the rolling magnet 55 is fixed on the axial nut block 54 through a magnet holder 57, and the electromagnetic anchoring component 56 is fixed on the other opposite right-angle hinge base 11.

In this embodiment, the one-way gear 52 includes a cylindrical gear, a ratchet wheel, a pawl and a reed, one side of the cylindrical gear is provided with an accommodating groove matched with the ratchet wheel, the ratchet wheel is fixedly sleeved on the axial driving screw 53, the cylindrical gear is movably sleeved on the ratchet wheel, the cylindrical gear is matched with the axial driving screw 53 to limit the ratchet wheel in the accommodating groove, one end of the pawl is coupled in the accommodating groove of the cylindrical gear, the other end of the pawl is engaged with the ratchet wheel, one end of the reed is fixed on the cylindrical gear, and the other end of the reed is elastically pressed on the other end of the pawl, so that the pawl always keeps a tendency of being engaged with the ratchet wheel; with the arrangement, when the axial driving screw 53 is in forward transmission, the ratchet wheel transmits the rotation torque to the cylindrical gear through the pawl to drive the cylindrical gear to rotate, so as to drive the revolution driving unit 6 to work; when the axial driving screw 53 rotates reversely, the pawl cannot transmit the rotation torque to the cylindrical gear, namely, the ratchet rotates along with the axial driving screw 53, but the cylindrical gear does not rotate, so that the unidirectional power transmission is realized.

When the pipeline polishing device is in actual use, the reducing drive unit 2 drives the four shearing fork reducing support units 1 to gradually expand until the centering ball wheel 102 of each ball wheel centering unit 10 is in contact with the inner wall of a pipeline, then the rolling magnet 55 adsorbs the inner wall of the pipeline, then the axial drive motor 51 drives the axial drive screw 53 to rotate in the forward direction, and the axial nut block 54 is fixed in position, so that the axial drive screw 53 drives the whole pipeline polishing device to move in the axial direction, meanwhile, the axial drive screw 53 drives the one-way gear 52 to rotate, the one-way gear 52 drives the revolution drive unit 6 to work, the revolution drive unit 6 drives the whole pipeline polishing device to revolve, and thus, the whole pipeline polishing device does circular motion while moving in the axial direction, and the rough polishing unit 3 and the fine polishing unit 4 are driven to polish the inner wall of the pipeline; when the axial driving screw 53 finishes the stroke, a step displacement is finished, the rolling magnet 55 is released, the electromagnetic anchoring part 56 adsorbs the pipe wall, then the axial driving motor 51 drives the axial driving screw 53 to rotate reversely, at this time, the one-way gear 52 idles, that is, the one-way gear 52 does not transmit power to the revolution driving unit 6, and the axial driving screw 53 drives the axial nut block 54 to drive the rolling magnet 55 to move, so as to perform the next axial step displacement.

Based on the above embodiment, further, the axial driving unit 5 further includes a flexible height compensation pad 58, and the flexible height compensation pad 58 is disposed between the axial nut block 54 and the magnet frame 57. So set up to ensure that roll magnet 55 can with the pipeline inner wall contact and adsorb on the pipeline, avoid appearing rolling magnet 55 when declining because of the pipeline internal diameter and can't and pipeline contact and then influence whole pipeline grinding device's work, overall structure is more reliable.

Based on the above embodiment, further, the electromagnetic anchoring component 56 includes an anchoring fixing plate 561, an anchoring electromagnet 562 and an anchoring micro-motion pad 563, the anchoring fixing plate 561 is connected to the right-angle hinge base 11, the anchoring micro-motion pad 563 is disposed on the anchoring fixing plate 561, and the anchoring electromagnet 562 is disposed on the anchoring micro-motion pad 563. During the in-service use, anchoring fine motion gasket 563 work, the distance of lifting anchoring electro-magnet 562 and pipeline inner wall for anchoring electro-magnet 562 contacts the pipeline inner wall and adsorbs at the pipeline inner wall, thereby when being convenient for axial driving motor 51 drives axial drive screw 53 and reverses, axial nut piece 54 drives rolling magnet 55 and removes, realizes the change of rolling magnet 55 displacement, so that whole pipeline grinding device carries out next axial step displacement.

Based on the above-mentioned embodiments, further, the revolution driving unit 6 includes a revolution connecting plate 61, a revolution driving gear 62 and a roller shaft 63, the revolution connecting plate 61 is fixedly sleeved on the screw and is positioned between the one-way gear 52 and the right-angle hinge base 11, the roller shaft 63 is rotationally connected to the revolution connecting plate 61, the revolution driving gear 62 is fixedly sleeved on the roller shaft 63 and is positioned between the revolution connecting plate 61 and the roller shaft 63, the revolution driving gear 62 is meshed with the one-way gear 52, the diameter of the addendum circle of the revolution driving gear 62 is matched with the diameter of the roller shaft 63, a plurality of revolving rollers 64 are axially connected to the roller shaft 63 in a circumferential array, the revolving rollers 64 are radially arranged and the axial direction thereof is vertical to the radial direction of the roller shaft 63, the outer circumferential surface of the revolution roller 64 protrudes outward from the outer circumferential surface of the roller shaft 63.

In practical use, the four shearing fork reducing support units 1 are unfolded to enable each ball wheel centering unit 10 to be in contact with the inner wall of a pipeline, meanwhile, the roller shaft 63 is provided with a revolution roller 64 to be in contact with the inner wall of the pipeline, then when the axial drive unit 5 works, the one-way gear 52 drives the revolution drive gear 62 to rotate, the revolution drive gear 62 drives the roller shaft 63 to rotate, the roller shaft 63 drives the revolution rollers 64 to rotate, the revolution rollers 64 are sequentially in contact with the inner wall of the pipeline in a circulating manner, friction force is generated between the revolution rollers 64 and the inner wall of the pipeline, the friction force of the inner wall of the pipeline to the revolution rollers 64 drives the revolution drive unit 6 to perform revolution motion along the wall of the pipeline along with the continuous rotation of the roller shaft 63, the revolution drive unit 6 drives the whole pipeline polishing device to rotate, and accordingly, the rough polishing unit 3 and the fine polishing unit, the polishing treatment of the inner wall of the whole pipeline is realized.

On the basis of the above embodiment, further, the unit 3 of roughly polishing, the unit 4 of finely polishing all include piezoelectricity micromotion piece m1, the support m3 of polishing motor m2 and L shape, piezoelectricity micromotion piece m1 is fixed on the slider 7 of polishing, the one end of support m3 of polishing is fixed on piezoelectricity micromotion piece m1, the other end at support m3 of polishing is fixed to polishing motor m2, the output of the motor m2 of roughly polishing unit 3 is passed and is connected with the thick dish of polishing behind the support m3 of polishing, the output of the motor m2 of finely polishing unit 4 is passed and is connected with the dish of finely polishing behind the support m3 of polishing.

During the in-service use, the piezoelectricity micromotion piece m1 of unit 3 that coarsely polishes adjusts the interval of roughly polishing dish and pipeline inner wall, make roughly polish the dish and contact with the pipeline inner wall gradually, then roughly polish the rotation of unit 3's the coarse polishing dish of polishing motor m2 drive of unit 3, make roughly polish the dish and carry out the processing of roughly polishing to the pipeline inner wall along with axial displacement and revolution motion, and finely polish unit 4 lags roughly polish unit 3, along with axial displacement, finely polish unit 4 and get into the pipeline region after roughly polishing unit 3 polishes gradually, then finely polish unit 4's piezoelectricity micromotion piece m1 work, make finely polish the dish and contact through the pipeline inner wall of roughly polishing processing, then finely polish unit 4's the rotation of finely polishing dish of polishing motor m2 drive, finely polish the processing to the pipeline inner wall, so make roughly polish and go on simultaneously, improve the efficiency of polishing.

On the basis of the above embodiment, furthermore, reducing drive unit 2 includes reducing driving motor 21, reducing screw rod 22 and reducing nut rod 23, reducing driving motor 21 corresponds the outside of fixing at the articulated seat of right angle 11, the one end rotation of reducing screw rod 22 is connected in the inboard of articulated seat of right angle 11 and is connected with reducing driving motor 21's output, the one end threaded connection of reducing nut rod 23 is at the other end of reducing screw rod 22, the other end of reducing nut rod 23 is fixed on another articulated seat of right angle 11 relatively.

During the in-service use, reducing driving motor 21 is rotatory via reducing screw 22 and is driven reducing nut pole 23 along reducing screw 22's axial displacement, and then change the distance between two relative right angle articulated seats 11, two right angle articulated seats 11 drive corresponding scissors fork reducing support unit 1 and be folding motion, and this scissors fork reducing support unit 1 synchronous drive all the other three scissors fork reducing support unit 1 folding motion, and then make four groups of scissors fork reducing support unit 1 draw in or expand, realize the reducing of unit 3 and the unit 4 of polishing roughly, in order to adapt to current pipeline internal diameter.

Based on the above embodiment, further, the right-angle hinge seat 11 has an octagonal structure. By the arrangement, the four right-angle hinged seats 11 positioned on the same side can be combined and attached together when in a furled state, so that the furled volume of the whole pipeline polishing device is reduced, and the pipeline polishing device is suitable for pipelines with smaller pipe diameters; meanwhile, the hinging between the adjacent scissor reducing support units 1 is facilitated.

The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims

1. The utility model provides a three-dimensional reducing supports formula pipeline polishing robot complete machine which characterized in that: the automatic grinding machine comprises a grinding machine (a 1), a first bearing table (a 2) arranged at one end of the grinding machine (a 1), a second bearing table (a 3) arranged at the other end of the grinding machine (a 1), a linear displacement mechanism (a 4) arranged at the top end of the second bearing table (a 3), a mechanical claw (a 5) arranged at the output end of the linear displacement mechanism (a 4) and a grinding robot (a 6) arranged at the output end of the mechanical claw (a 5).

2. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 1, wherein: the grinding robot (a 6) is of a hexahedral frame structure and comprises four groups of scissor reducing support units (1), reducing drive units (2), a rough grinding unit (3), a fine grinding unit (4), an axial drive unit (5) and a revolution drive unit (6);

the four groups of scissor reducing support units (1) are symmetrically distributed on four side faces of the hexahedral frame structure, adjacent scissor reducing support units (1) are connected through two right-angle hinge seats (11) revolute pairs, and the right-angle hinge seats (11) are distributed on the top point of the hexahedral frame structure;

the reducing drive unit (2), the rough grinding unit (3), the axial drive unit (5) and the fine grinding unit (4) are sequentially distributed on four lateral edges of the hexahedral frame structure along the circumferential direction and are respectively and correspondingly connected between two vertically opposite right-angle hinged seats (11), the rough grinding unit (3) and the fine grinding unit (4) are arranged in a central symmetry manner, and the revolution drive unit (6) is connected to the axial drive unit (5) and is in transmission connection with the axial drive unit (5);

the polishing device is characterized in that the rough polishing unit (3) and the fine polishing unit (4) are respectively fixed on a polishing sliding block (7), two ends of the polishing sliding block (7) are respectively and correspondingly connected to a right-angle hinge seat (11) through polishing sliding rods (8), one end of each polishing sliding rod (8) is fixed on the right-angle hinge seat (11), the other end of each polishing sliding rod (8) movably penetrates through the polishing sliding block (7), and each polishing sliding rod (8) is sleeved with a buffer spring (9); the rough grinding unit (3) comprises a rough grinding disc, and the fine grinding unit (4) comprises a fine grinding disc;

the right-angle hinge seats (11) which are respectively and correspondingly connected with the reducing drive unit (2), the rough polishing unit (3) and the fine polishing unit (4) are outwards provided with ball wheel centering units (10);

the reducing driving unit (2) is used for driving the four groups of scissors reducing supporting units (1) to fold and move so as to change the diameter of an inscribed circle of the hexahedron frame structure;

the axial driving unit (5) is used for driving the whole pipeline polishing device to move along the axial direction of the pipeline;

the revolution driving unit (6) is used for driving the whole pipeline polishing device to do circular motion on the pipeline.

3. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 2, wherein: the ball wheel centering unit (10) comprises a ball wheel column (101) and a centering ball wheel (102), one end of the ball wheel column (101) is fixed on the right-angle hinged seat (11), and the centering ball wheel (102) is movably embedded in the free end of the ball wheel column (101) and protrudes out of the surface of the ball wheel column (101).

4. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 2, wherein: the axial driving unit (5) comprises an axial driving motor (51), a one-way gear (52), an axial driving screw (53), an axial nut block (54), a rolling magnet (55) and an electromagnetic anchoring part (56), the axial driving motor (51) is correspondingly fixed at the outer side of the right-angle hinged seat (11), one end of the axial driving screw rod (53) is movably connected to the inner side of the right-angle hinged seat (11) and is connected with the output end of the axial driving motor (51), the one-way gear (52) is fixedly sleeved at one end of the axial driving screw rod (53), the axial nut block (54) is in threaded connection with the axial driving screw rod (53), the rolling magnet (55) is fixed on the axial nut block (54) through a magnet frame (57), the electromagnetic anchoring element (56) is fixed on the other right-angle hinge seat (11) which is opposite to the electromagnetic anchoring element; the axial drive unit (5) further comprises a flexible height compensation pad (58), and the flexible height compensation pad (58) is arranged between the axial nut block (54) and the magnet frame (57).

5. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 4, wherein: the electromagnetic anchoring part (56) comprises an anchoring fixing plate (561), an anchoring electromagnet (562) and an anchoring micro-motion gasket (563), the anchoring fixing plate (561) is connected to the right-angle hinged seat (11), the anchoring micro-motion gasket (563) is arranged on the anchoring fixing plate (561), and the anchoring electromagnet (562) is arranged on the anchoring micro-motion gasket (563).

6. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 4, wherein: the revolution driving unit (6) comprises a revolution connecting plate (61), a revolution driving gear (62) and roller shafts (63), the revolution connecting plate (61) is fixedly sleeved on the screw rod and positioned between the one-way gear (52) and the right-angle hinge seat (11), the roller shafts (63) are rotatably connected on the revolution connecting plate (61), the revolution driving gear (62) is fixedly sleeved on the roller shafts (63) and positioned between the revolution connecting plate (61) and the roller shafts (63), the revolution driving gear (62) is meshed with the one-way gear (52), the diameter of the addendum circle of the revolution driving gear (62) is matched with the diameter of the roller shafts (63), a plurality of revolution rollers (64) are axially connected on the roller shafts (63) in a circumferential array, the revolution rollers (64) are radially arranged, and the axial direction of the revolution rollers (64) is perpendicular to the radial direction of the roller shafts (63), the outer circumferential surface of the revolving roller (64) protrudes outward from the outer circumferential surface of the roller shaft (63).

7. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claim 2, wherein: the unit (3) of polishing crudely, the unit (4) of polishing all include piezoelectricity micromotion piece (m 1), the support of polishing (m 3) of polishing motor (m 2) and L shape, piezoelectricity micromotion piece (m 1) is fixed on slider (7) of polishing, the one end of support of polishing (m 3) is fixed on piezoelectricity micromotion piece (m 1), the other end at support of polishing (m 3) is fixed in polishing motor (m 2), the output of the motor of polishing (m 2) of unit (3) of polishing crudely passes and polishes after support (m 3) and be connected with the thick dish of polishing, the output of the motor of polishing (m 2) of unit (4) of polishing passes and polishes behind support (m 3) and is connected with the fine dish of polishing.

8. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claims 1-7, which is characterized in that: reducing drive unit (2) are including reducing driving motor (21), reducing screw rod (22) and reducing nut pole (23), reducing driving motor (21) correspond the outside of fixing at the articulated seat in right angle (11), the one end rotation of reducing screw rod (22) is connected in the inboard of the articulated seat in right angle (11) and is connected with the output of reducing driving motor (21), the one end threaded connection of reducing nut pole (23) is at the other end of reducing screw rod (22), the other end of reducing nut pole (23) is fixed on articulated seat in another right angle (11) relatively.

9. The whole machine of the three-dimensional reducing support type pipeline grinding robot of claims 1-7, which is characterized in that: reducing drive unit (2) are including reducing driving motor (21), reducing screw rod (22) and reducing nut pole (23), reducing driving motor (21) correspond the outside of fixing at the articulated seat in right angle (11), the one end rotation of reducing screw rod (22) is connected in the inboard of the articulated seat in right angle (11) and is connected with the output of reducing driving motor (21), the one end threaded connection of reducing nut pole (23) is at the other end of reducing screw rod (22), the other end of reducing nut pole (23) is fixed on articulated seat in another right angle (11) relatively.