CN112476118A - Self-propelled four-axis pipeline inner weld joint and surface grinding system - Google Patents
Self-propelled four-axis pipeline inner weld joint and surface grinding system Download PDFInfo
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- CN112476118A CN112476118A CN202011333733.9A CN202011333733A CN112476118A CN 112476118 A CN112476118 A CN 112476118A CN 202011333733 A CN202011333733 A CN 202011333733A CN 112476118 A CN112476118 A CN 112476118A
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- assembly
- grinding
- control module
- main control
- distance sensor
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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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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- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to a self-propelled four-axis pipeline inner weld joint and surface grinding system, which comprises a moving platform, a rotating assembly, a telescopic assembly, a grinding assembly, a laser scanner, a camera assembly, a distance sensor and a main control module connected with the camera assembly and the distance sensor; the grinding assembly, the laser scanner, the distance sensor and the camera assembly are arranged on the telescopic assembly, the telescopic assembly is arranged on the rotating assembly, and the rotating assembly is fixed on the moving platform; the moving platform is of a moving trolley structure, and the grinding assembly is provided with a grinding blade. The grinding system provided by the invention makes up the problem that the current grinding system needs to rely on manual inspection to detect the processing error; the efficiency, the quality and the precision of the weld grinding are improved, and the repair of the fixed point of the weld realizes the saving of electric energy, blade grinding and working procedures; the whole process of computer analysis and processing, operation, control and use are simpler and more convenient; less grinding waste material, and the environmental pollution in the pipeline is reduced.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a self-propelled four-axis pipeline inner weld joint and 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.
Under the traditional grinding technology, grinding equipment can only uniformly and evenly grind due to various uneven weld surface shapes, but phenomena of coating sagging caused by unsatisfactory weld shape, poor adsorption force and the like exist, so that an intelligent grinding system which is self-adaptive according to the weld shape rule is required.
Disclosure of Invention
The invention provides a self-propelled four-axis pipeline inner weld joint and surface grinding system, which solves the problems that the existing grinding equipment cannot be intelligently adapted to the shape rule of a weld joint, and grinding depends on manual inspection, so that the grinding effect is poor.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the self-propelled four-axis pipeline inner weld joint and surface grinding system comprises a moving platform, a rotating assembly, a telescopic assembly, a grinding assembly, a laser scanner, a camera assembly, a distance sensor, a power supply and a main control module, wherein the power supply and the main control module are connected with the camera assembly and the distance sensor; the grinding assembly, the laser scanner, the distance sensor and the camera assembly are arranged on the telescopic assembly, the grinding assembly is arranged on the outermost edge of the telescopic assembly, measuring ends of the laser scanner and the distance sensor are opposite to the inner wall of the pipeline, and the camera assembly is arranged on the laser scanner and is opposite to the advancing front end; the telescopic assembly is arranged on the rotating assembly, and the rotating assembly is fixed on the moving platform; the movable platform is of a movable trolley structure with a power module, and the grinding assembly is provided with a grinding blade.
Furthermore, the main control module is a control board taking an STM32 single chip microcomputer as a core, the power module comprises two servo motors and two drivers, and the two servo motors and the two drivers are controlled by the main control module to complete the moving action of the moving trolley;
the rotating assembly comprises a servo motor and a driver, and the servo motor and the driver are connected and controlled by the main control module to complete the all-round scanning action of the camera assembly and the laser scanner on the welding line and the sawing action of the grinding assembly on the welding line with the corresponding angle;
the telescopic assembly comprises a servo motor and a driver, and the servo motor and the driver are controlled by the main control module and the distance sensor to complete telescopic action;
the grinding assembly comprises a brushless motor and a driver, and the brushless motor and the driver are controlled by the master control module to drive the grinding blade to finish grinding.
Furthermore, the power supply is two direct current lithium batteries.
Furthermore, the main control module is connected with a wireless module, and the wireless module completes distance signal transmission between the upper computer and the main control module.
Compared with the prior art, the invention has the beneficial effects that:
the grinding system provided by the invention makes up the problem that the current grinding system needs to rely on manual inspection to detect the processing error; the efficiency, the quality and the precision of the weld grinding are improved, and the repair of the fixed point of the weld realizes the saving of electric energy, blade grinding and working procedures; the whole process of computer analysis and processing, operation, control and use are simpler and more convenient; and less grinding waste materials are used, so that the environmental pollution in the pipeline is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic circuit diagram of a main control module according to the present invention;
in the figure, 1-a mobile platform, 2-a rotating assembly, 3-a telescopic assembly, 4-a grinding assembly, 5-a laser scanner, 6-a camera assembly, 7-a distance sensor, 8-a main control module, 9-a power supply and 10-a wireless module.
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.
The basic idea of the invention is to integrate a three-dimensional laser scanning system into the traditional grinding equipment, calculate an ideal grinding track according to the scanning data of the shape of the welding seam, guide the equipment to carry out precision machining and change the defect that the existing equipment cannot have the ideal machining track.
The self-propelled four-axis pipeline inner weld joint and surface grinding system described with reference to fig. 1 comprises a moving platform 1, a rotating assembly 2, a telescopic assembly 3, a grinding assembly 4, a laser scanner 5, a camera assembly 6, a distance sensor 7 and a main control module 8 connected with the camera assembly 6 and the distance sensor; the grinding assembly 4, the laser scanner 5, the distance sensor 7 and the camera assembly 6 are arranged on the telescopic assembly 3, the grinding assembly 4 is arranged on the outermost edge of the telescopic assembly 3, measuring ends of the laser scanner 5 and the distance sensor 7 are opposite to the inner wall of the pipeline, and the camera assembly 6 is arranged on the camera assembly 6, and a camera end of the camera assembly is opposite to the advancing front end; the telescopic assembly 3 is arranged on the rotating assembly 2, and the rotating assembly 2 is fixed on the moving platform 1; the moving platform is of a moving trolley structure, and the grinding assembly 4 is provided with a grinding blade.
Referring to fig. 2, the main control module 8 is a control board using an STM32 single chip microcomputer as a core, and is mainly used for controlling the operation of the whole system and detecting related signals; the power module consists of two servo motors and two drivers, and is controlled by the main control module 8 to finish the movement of the whole vehicle; the rotating assembly 2 consists of a servo motor and a driver, is controlled by the main control module 8, is matched with the camera assembly 6 and the laser scanner 5 to finish the inspection and scanning actions of the welding seam, and is matched with the grinding assembly 4 to finish the centering and cutting actions of the welding seam with a corresponding angle; the telescopic component 3 consists of a servo motor and a driver, and is controlled by the main control module 8 to cooperate with the distance sensor 7 to complete telescopic action so as to ensure that the distance between the scanner and the pipe wall is within a scanning range; the grinding component 4 consists of a brushless motor and a driver, is controlled by the main control module 8 and mainly completes grinding action; the power supply 9 is two direct current lithium batteries and is responsible for supplying power to all electrical appliance modules on the whole system; the wireless module 10 mainly completes signal transmission between the upper computer and the main control module 8 so as to ensure the distance control of the upper computer to the whole system.
The working process is that the main control module 8 moves the whole system to the welding seam needing to be cut according to the movement control signal sent by the upper computer, an operator aligns the scanner to the welding seam according to the image sent back by the camera, the inspection and scanning are started (detailed process: the main control module 8 controls the rotating motor to rotate 360 degrees at a certain speed, the rotating starts to work when the scanning starts, in the rotating process, the main control module 8 controls the telescopic motor to act according to the real-time distance between the pipe wall sent back by the distance sensor and the scanner so as to ensure the effective working range of the scanner), the 360-degree rotation ends, the scanning result is sent to the upper computer through the wireless module 10, the operator judges the actual condition of the welding seam according to the scanning data and the related standard, if no abnormity exists, the next welding seam can be worked, and if the welding seam is abnormal, the operator controls the grinding system to start grinding (detailed process: the control module controls the rotating to rotate and grind according to the data of the abnormal welding seam The motor rotates the trimming module to (the angle or the angle range of abnormal welding, the trimming motor is opened, at the moment, the telescopic motor can be controlled to gradually extend out according to a certain distance until the trimming is started when the grinding spark is seen from the operation interface of the upper computer, an operator judges the grinding effect according to the relevant standard and the judgment of the grinding image, if the standard is met, the grinding is finished)
The working process of the self-propelled four-axis pipeline inner welding line and surface grinding system is as follows:
the blade dress of polishing is on grinding subassembly 4, and four dress of grinding subassembly 4, laser scanner 5, distance sensor 7 and camera subassembly 6 are on flexible subassembly 3, fixes on 2 of rotating assembly above the subassembly, then fixes on a moving platform 1 above the subassembly, and flexible subassembly 3 control coping moves forward and retreats the action, and rotating assembly makes whole bistrique rotatory round the pipeline welding seam, and moving platform control pipe wall axial distance.
An inspection scanning mechanism composed of the laser scanner 5, the distance sensor 7 and the camera assembly 6 firstly rotates around a weld joint to collect three-dimensional size data of the weld joint, then an operator analyzes an area to be ground according to a processed image and coordinates, and then an instruction is sent to the main control module 8 to guide the grinding assembly 4 to act; after the grinding component 4 finishes grinding, the inspection scanning mechanism firstly rotates around the welding line again to collect three-dimensional size data of the welding line, checks whether the grinding of the welding line meets the coating requirement, and guides the adjustment of the grinding path next time.
The direct-current 24V power supply 9 provides all module electric quantity, the upper computer sends an instruction to transmit a signal to the main control module 8 through the wireless module 10 and then transmits the signal to the servo drivers of all the power modules, and finally, the accurate control of the motor motion is realized, so that the welding seam is precisely ground
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 (4)
1. The self-propelled four-axis pipeline inner weld joint and surface grinding system is characterized by comprising a moving platform (1), a rotating assembly (2), a telescopic assembly (3), a grinding assembly (4), a laser scanner (5), a camera assembly (6), a distance sensor (7), a power supply (9) and a main control module (8) which are connected with the camera assembly (6) and the distance sensor; the grinding assembly (4), the laser scanner (5), the distance sensor (7) and the camera assembly (6) are arranged on the telescopic assembly (3), the grinding assembly (4) is arranged at the outermost edge of the telescopic assembly (3), measuring ends of the laser scanner (5) and the distance sensor (7) are opposite to the inner wall of the pipeline, and the camera assembly (6) is arranged on the laser scanner (5) and is opposite to the advancing front end; the telescopic component (3) is arranged on the rotating component (2), and the rotating component (2) is fixed on the moving platform (1); the moving platform is of a moving trolley structure with a power module, and the grinding assembly (4) is provided with a grinding blade.
2. The self-propelled four-axis pipeline inner weld joint and surface grinding system according to claim 1, wherein the main control module (8) is a control panel with an STM32 single chip microcomputer as a core, the power module comprises two servo motors and two drivers, and the two servo motors and the two drivers are controlled by the main control module (10) to complete the moving action of the moving trolley;
the rotating assembly (2) comprises a servo motor and a driver, and the servo motor and the driver are controlled by the main control module (10) to complete the circular scanning action of the camera assembly (6) and the laser scanner (5) on the weld joint and the sawing action of the grinding assembly (4) on the weld joint with the corresponding angle;
the telescopic component (3) comprises a servo motor and a driver, and the servo motor and the driver are controlled by the main control module (10) and the distance sensor (7) to complete telescopic action;
the grinding assembly (4) comprises a brushless motor and a driver, and the brushless motor and the driver are controlled by the master control module to drive the grinding blades to finish grinding.
3. The self-propelled four-axis pipeline internal weld and surface grinding system according to claim 1 or 2, wherein the power supply (9) is two direct current lithium batteries.
4. The self-propelled four-axis pipeline internal weld and surface grinding system according to claim 3, wherein the main control module (8) is connected with a wireless module (10), and the wireless module (10) is used for transmitting distance signals between an upper computer and the main control module (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011333733.9A CN112476118A (en) | 2020-11-25 | 2020-11-25 | Self-propelled four-axis pipeline inner weld joint and surface grinding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011333733.9A CN112476118A (en) | 2020-11-25 | 2020-11-25 | Self-propelled four-axis pipeline inner weld joint and surface grinding system |
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| Publication Number | Publication Date |
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| CN112476118A true CN112476118A (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011333733.9A Pending CN112476118A (en) | 2020-11-25 | 2020-11-25 | Self-propelled four-axis pipeline inner weld joint and surface grinding system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122182A (en) * | 2022-07-26 | 2022-09-30 | 北京市热力集团有限责任公司 | Intraductal spiral weld equipment of polishing and insulating tube production system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985601A (en) * | 1995-09-25 | 1997-03-31 | Nkk Corp | Finishing method for repair weld zone of welded steel pipe internal surface |
| CN205465546U (en) * | 2016-04-12 | 2016-08-17 | 新疆石油工程建设有限责任公司 | Pipeline inside weld defect grinding device |
| CN207703735U (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 scanning inspection device |
| CN108500771A (en) * | 2018-05-15 | 2018-09-07 | 高阳 | A kind of efficient welding seam grinding device in steel pipe |
| CN208644929U (en) * | 2018-08-15 | 2019-03-26 | 潍坊高航机械科技有限公司 | Hand-held pipeline-weld interface grinding device |
| CN111390710A (en) * | 2020-02-28 | 2020-07-10 | 宝鸡宇喆工业科技有限公司 | Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe |
| CN111958374A (en) * | 2020-08-17 | 2020-11-20 | 西安环海机器人科技有限公司 | Frame-type four-axis pipeline inner weld surface grinding system |
-
2020
- 2020-11-25 CN CN202011333733.9A patent/CN112476118A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0985601A (en) * | 1995-09-25 | 1997-03-31 | Nkk Corp | Finishing method for repair weld zone of welded steel pipe internal surface |
| CN205465546U (en) * | 2016-04-12 | 2016-08-17 | 新疆石油工程建设有限责任公司 | Pipeline inside weld defect grinding device |
| CN207703735U (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 scanning inspection device |
| CN108500771A (en) * | 2018-05-15 | 2018-09-07 | 高阳 | A kind of efficient welding seam grinding device in steel pipe |
| CN208644929U (en) * | 2018-08-15 | 2019-03-26 | 潍坊高航机械科技有限公司 | Hand-held pipeline-weld interface grinding device |
| CN111390710A (en) * | 2020-02-28 | 2020-07-10 | 宝鸡宇喆工业科技有限公司 | Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe |
| CN111958374A (en) * | 2020-08-17 | 2020-11-20 | 西安环海机器人科技有限公司 | Frame-type four-axis pipeline inner weld surface grinding system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122182A (en) * | 2022-07-26 | 2022-09-30 | 北京市热力集团有限责任公司 | Intraductal spiral weld equipment of polishing and insulating tube production system |
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