CN115229637A - Submarine pipeline weld joint polishing device and polishing method thereof - Google Patents
Submarine pipeline weld joint polishing device and polishing method thereof Download PDFInfo
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- CN115229637A CN115229637A CN202210922894.4A CN202210922894A CN115229637A CN 115229637 A CN115229637 A CN 115229637A CN 202210922894 A CN202210922894 A CN 202210922894A CN 115229637 A CN115229637 A CN 115229637A
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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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
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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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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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
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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
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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
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/067—Work supports, e.g. adjustable steadies radially supporting workpieces
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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
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/06—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by liquid or gas pressure only
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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
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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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
- B24B49/003—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 acoustic 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
- 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
- B24B49/10—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 electrical 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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/12—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces both externally and internally with several grinding wheels
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Birds (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention discloses a submarine pipeline weld polishing device and a polishing method thereof, relates to the technical field of pipeline weld polishing, and aims to solve the problems that in order to meet the polishing requirements of inner and outer welds, guide rails need to be erected inside and outside a pipeline firstly, the inner and outer welds can be polished by a rail trolley, and the submarine pipeline is difficult to construct in the mode, time-consuming and labor-consuming. The self-moving trolley is arranged below the inner seam polishing mechanism, wheels are arranged on two sides of the self-moving trolley, and the number of the wheels is four; the first hydraulic rod is installed at the upper end of the self-moving trolley, a double-head hydraulic cylinder is installed at the output end of the first hydraulic rod, and arc-shaped stabilizing frames are installed at the output ends of the two sides of the double-head hydraulic cylinder; the motor cabinet, it is installed on the outer wall of double-end pneumatic cylinder, step motor is installed to the front end of motor cabinet, install the second hydraulic stem on step motor's the output.
Description
Technical Field
The invention relates to the technical field of pipeline weld polishing, in particular to a submarine pipeline weld polishing device and a submarine pipeline weld polishing method.
Background
During the process of erecting the submarine pipeline, a plurality of sections are usually welded and combined for use, and after the pipeline is welded, the welding seam is required to be polished;
in the prior art, a welding seam polishing device is shown as a pipeline inner and outer welding seam polishing device with the application number of CN216265050U, and comprises a fixing device, a connecting device, a driving device, a moving device and a polishing device, wherein the fixing device is formed by matching a pipeline and a sliding rail fixing sleeve, a sliding rail fastening sleeve is arranged on one side of the pipeline opposite to a welding seam, a rail base is arranged on the inner side of the sliding rail fastening sleeve, a sliding rail is arranged on the rail base, a rail trolley is arranged on the sliding rail, and the moving device is connected to the rail base through the sliding rail by the rail trolley; and a hydraulic cylinder is installed below the small rail car, and an inner welding seam polishing head is installed on one side, far away from the hydraulic cylinder, of the connecting rod.
However, in order to meet the polishing requirements of the inner and outer welding seams, the inner and outer welding seams can be polished by the rail trolley only by erecting guide rails inside and outside the pipeline, and the method has high construction difficulty for the submarine pipeline, and wastes time and labor; therefore, we propose a grinding device for welding seams of submarine pipelines and a grinding method thereof so as to solve the problems proposed in the above.
Disclosure of Invention
The invention aims to provide a submarine pipeline weld joint polishing device and a polishing method thereof, and aims to solve the problems that in order to meet the polishing requirements of inner and outer weld joints, the inner and outer weld joints can be polished by a rail trolley only by erecting guide rails inside and outside a pipeline, and the submarine pipeline is difficult to construct in the mode, and wastes time and labor.
In order to achieve the purpose, the invention provides the following technical scheme: a submarine pipeline weld joint polishing device comprises an inner joint polishing mechanism and an outer joint polishing mechanism, wherein the inner joint polishing mechanism and the outer joint polishing mechanism are respectively arranged on the inner part and the outer wall of a submarine pipeline;
further comprising:
the self-moving trolley is arranged below the inner seam polishing mechanism, and the two sides of the self-moving trolley are provided with four wheels;
the first hydraulic rod is installed at the upper end of the self-moving trolley, a double-head hydraulic cylinder is installed at the output end of the first hydraulic rod, and arc-shaped stabilizing frames are installed at the output ends of two sides of the double-head hydraulic cylinder;
the motor base is arranged on the outer wall of the double-head hydraulic cylinder, a stepping motor is arranged at the front end of the motor base, a second hydraulic rod is arranged at the output end of the stepping motor, and an inner seam polishing seat is arranged at the output end of the second hydraulic rod;
the hood is arranged above the outer seam polishing mechanism, and an outer seam polishing seat is arranged on the bottom surface of the hood;
the ultrasonic probe is arranged at the front end of the outer seam polishing seat;
and the ultrasonic receiver is arranged at the front end of the internal seam polishing seat, and the output end of the ultrasonic probe is connected with the input end of the ultrasonic receiver.
Preferably, both sides of the first hydraulic rod are provided with driven guide pillars, and both ends of each driven guide pillar are fixedly connected with the self-moving trolley and the double-head hydraulic cylinder respectively.
Preferably, the outer wall of the arc-shaped stabilizing frame is provided with two pipe wall guide wheels, and the two pipe wall guide wheels are rotatably connected with the arc-shaped stabilizing frame through guide wheel frames.
Preferably, the inside at inseam polishing seat both ends all installs the electro-magnet, the magnetism suction disc is all installed to the bottom surface at overseam polishing seat both ends, the magnetic force adsorbs between electro-magnet and the magnetism suction disc to be connected, the support is all installed to the both sides at overseam polishing seat both ends, universal guide pulley is installed to the bottom of support.
Preferably, the outer wall of one side of the outer seam polishing seat is provided with an anti-falling bandage, and one end of the anti-falling bandage is connected with the other side of the outer seam polishing seat through a bandage buckle.
Preferably, the spring damping rod is installed to the intermediate position department of the internal joint seat of polishing, first asynchronous machine is installed to the one end of spring damping rod, install first polishing head on the output of first asynchronous machine, install flexible cover on the outer wall of spring damping rod, the intermediate position department of the external joint seat of polishing installs electric putter, second asynchronous machine is installed to electric putter's output, install the second on the output of second asynchronous machine and polish the head.
Preferably, the top of aircraft bonnet is installed the camera under water, slewing mechanism is installed with the junction of aircraft bonnet to the camera under water, the outer wall of aircraft bonnet all installs the ultrasonic wave around and drives the fish ware, and the ultrasonic wave drives the fish ware and is provided with four.
Preferably, there are singlechip chip, hydraulic pressure station, power module, GPS orientation module, wireless data transmission module, first motor drive module and wheel driving motor from the internally mounted of travelling car, the two-way electric connection of singlechip chip and wireless data transmission module, the output of singlechip chip and hydraulic pressure station, first motor drive module and ultrasonic receiver's input electric connection, the output of hydraulic pressure station is connected with the input of first hydraulic stem, double-end pneumatic cylinder and second hydraulic stem, the output of first motor drive module and wheel driving motor, first asynchronous machine and step motor's input electric connection, power module and GPS orientation module's output all with singlechip chip's input electric connection.
Preferably, the internally mounted of aircraft bonnet has microcontroller, battery pack, second motor drive module and supersonic generator, battery pack's output and microcontroller's input electric connection, the output of microcontroller and camera, second motor drive module and supersonic generator's input electric connection under water, second motor drive module's output and slewing mechanism, electric putter and second asynchronous machine's input electric connection, supersonic generator's output and ultrasonic probe and ultrasonic wave drive fish ware's input electric connection.
Preferably, the grinding method of the grinding device for the welding seam of the submarine pipeline comprises the following steps:
the method comprises the following steps: the inner seam polishing mechanism is arranged inside a submarine pipeline, a hydraulic station drives a first hydraulic rod, a double-head hydraulic cylinder and a second hydraulic rod to operate one by one, the double-head hydraulic cylinder is driven by the first hydraulic rod to reach the height of the circle center of the pipeline, then the double-head hydraulic cylinder drives arc stabilizing frames on two sides to extend out, pipe wall guide wheels on the outer walls of the arc stabilizing frames are made to be in contact with the inner wall of the submarine pipeline, preliminary positioning of the inner seam polishing mechanism is achieved, and finally the second hydraulic rod extends out, so that an inner seam polishing seat is attached to the top surface of the inner wall of the submarine pipeline;
step two: the underwater worker places the outer seam polishing mechanism at the upper end of the outer wall of the submarine pipeline, starts two groups of electromagnets on the inner seam polishing seat to enable the inner seam polishing seat to adsorb the magnetic suction plate on the bottom surface of the outer seam polishing seat through the two groups of electromagnets, loosens the outer seam polishing mechanism after the underwater worker senses the suction force, buckles an anti-falling bandage on the side edge of the outer seam polishing mechanism with a bandage buckle on the other side of the outer seam polishing mechanism around a pipe for one circle, and completes the positioning work of the outer seam polishing mechanism;
step three: the wheel driving motor is driven to drive wheels to rotate by the wheel driving motor, so that the inner seam polishing mechanism advances along the inside of a submarine pipeline, when the inner seam polishing seat advances, the inner seam polishing seat drives the outer seam polishing mechanism outside the pipeline to move together by means of magnetic attraction generated by an electromagnet, in the process, an underwater camera on the outer seam polishing mechanism monitors an underwater environment in real time, an ultrasonic generator drives an ultrasonic fish driver around the outer wall of the outer seam polishing mechanism and an ultrasonic probe at the front end to operate, the ultrasonic fish driver sends ultrasonic waves with specific frequency to drive fish swarms around a device, ultrasonic signals are sent to an ultrasonic receiver at the front end of the inner seam polishing seat inside the pipeline by the ultrasonic probe, and the position relation between the inner seam polishing mechanism and the ultrasonic receiver when the inner seam polishing seat advances is confirmed;
step four: in the moving process, the ultrasonic probe can further detect the wall thickness of the pipeline, when the ultrasonic probe reaches a welding seam, a detection signal of the ultrasonic probe is transmitted to the ultrasonic receiver, the ultrasonic receiver feeds back a signal to the single chip microcomputer chip, after the GPS positioning module confirms that the position information of the welding seam is correct, the single chip microcomputer chip feeds back a signal to the first motor driving module and the second motor driving module to drive the first asynchronous motor, the electric push rod and the second asynchronous motor to operate, the first asynchronous motor is attached to the inner wall of the welding seam of the submarine pipeline at the spring damping rod to drive the first polishing head at the output end to polish the inner seam, the second asynchronous motor is attached to the outer wall of the welding seam of the submarine pipeline through the electric push rod to drive the second polishing head at the output end to polish the outer seam, in the process, the stepping motor drives the inner seam polishing seat to rotate around the pipeline for one circle, the outer seam polishing mechanism is driven to rotate around the pipeline outside the pipeline under the magnetic attraction effect to synchronously finish the polishing work of the inner and outer welding seams.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention polishes the inner and outer welding seams of the submarine pipeline by the cooperation of the inner seam polishing mechanism and the outer seam polishing mechanism, when in use, the inner seam polishing mechanism is arranged in the submarine pipeline, the first hydraulic rod, the double-head hydraulic cylinder and the second hydraulic rod are driven by the hydraulic station to operate one by one, the double-head hydraulic cylinder is driven by the first hydraulic rod to reach the circle center height of the pipeline, then the double-head hydraulic cylinder drives the arc stabilizing frames at two sides to extend out, a pipe wall guide wheel at the outer wall of the arc stabilizing frame is contacted with the inner wall of the submarine pipeline, the primary positioning of the inner seam polishing mechanism is realized, finally the second hydraulic rod extends out, the inner seam polishing seat is attached to the top surface of the inner wall of the submarine pipeline, after finishing, the outer seam polishing mechanism is arranged at the upper end of the outer wall of the submarine pipeline by an underwater worker, two groups of electromagnets on the inner seam polishing seat are started, and the inner seam polishing seat adsorbs the magnetic attraction plate at the bottom surface of the outer seam polishing seat through the two groups of electromagnets, when the self-moving trolley drives the inner seam polishing mechanism to move forwards along the inside of the submarine pipeline, the outer seam polishing mechanism outside the pipeline can be driven to move together by means of magnetic attraction force generated by the electromagnet, in the process, the thickness of the pipe wall can be detected by an ultrasonic probe on the outer seam polishing mechanism, when the position of a welding seam is detected, a signal can be sent to an ultrasonic receiver at the front end of an inner seam polishing seat in the pipe, the ultrasonic receiver feeds back a signal to a single chip microcomputer chip, after the position information of the welding seam is confirmed to be correct by a GPS positioning module, the single chip microcomputer chip feeds back signals to a first motor driving module and a second motor driving module to drive a first asynchronous motor, an electric push rod and a second asynchronous motor to operate, the first asynchronous motor is attached to the inner wall of the submarine pipeline welding seam at a spring damping rod to drive a first polishing head at an output end to polish the inner seam, the second asynchronous motor passes through the laminating of electric putter in the outer wall department of submarine pipeline welding seam, the second of drive output head is polished to the outer seam, and drive the inner joint by step motor and polish a seat around the intraductal rotation a week, drive outer joint grinding mechanism around the outside of tubes a week under the magnetic attraction, the work of polishing of inside and outside welding seam is accomplished in step, this polishing method relies on inner joint grinding mechanism and outer joint grinding mechanism self to accomplish, need not additionally to erect the guide rail, and be applicable to the environment and use under water, the demand of polishing of current device for satisfying inside and outside welding seam has been solved, need first erect the guide rail at inside and outside the pipeline, just can rely on the small rail car to accomplish inside and outside seam and polish, to submarine pipeline, this mode construction degree of difficulty is great, the problem that wastes time and energy.
2. Set up camera and ultrasonic wave under water and drive the fish ware on through seam grinding machanism outward, but camera real-time supervision is the environment under water, and the ultrasonic wave drives the fish ware and can send specific frequency's ultrasonic wave and drives the shoal of fish around the device, ensure the security of seam grinding machanism when removing under water outward, and simultaneously, install the anticreep bandage on the outer wall of seam grinding seat one side outward, the one end of anticreep bandage is passed through the bandage buckle and is connected with the opposite side of seam grinding seat outward, can establish on submarine pipeline when using the cover, can avoid seam grinding seat outward to break away from the magnetic force attraction of seam grinding seat in, scatter and disappear the condition emergence in the waters.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of an inner seam polishing mechanism according to the present invention;
FIG. 3 is a schematic view of the inner seam polishing seat structure of the present invention;
FIG. 4 is a schematic structural view of an outer seam polishing mechanism according to the present invention;
FIG. 5 is a schematic side view of the outer seam polishing mechanism of the present invention;
FIG. 6 is a schematic side view of the inner seam polishing seat of the present invention;
FIG. 7 is a schematic view of an inseam buffing mechanism of the present invention;
FIG. 8 is a schematic view of the outer seam grinding mechanism of the present invention;
in the figure: 1. an inner seam polishing mechanism; 2. an outer seam polishing mechanism; 3. a self-moving trolley; 4. a wheel; 5. a first hydraulic lever; 6. a double-headed hydraulic cylinder; 7. a motor base; 8. a driven guide post; 9. an arc-shaped stabilizing frame; 10. a pipe wall guide wheel; 11. a stepping motor; 12. a second hydraulic rod; 13. an inner seam polishing seat; 14. a hood; 15. an outer seam polishing seat; 16. a support; 17. a universal guide wheel; 18. a rotating mechanism; 19. an underwater camera; 20. an ultrasonic fish expeller; 21. an anti-falling bandage; 22. an electromagnet; 23. a flexible telescopic sleeve; 24. a first asynchronous motor; 25. a first polishing head; 26. an ultrasonic receiver; 27. an ultrasonic probe; 28. a magnetic attraction plate; 29. an electric push rod; 30. a second asynchronous motor; 31. a second polishing head; 32. a spring damping lever; 33. a microcontroller; 34. a battery assembly; 35. a second motor drive module; 36. an ultrasonic generator; 37. a single chip microcomputer chip; 38. a hydraulic station; 39. a power supply module; 40. a GPS positioning module; 41. a wireless data transmission module; 42. a first motor drive module; 43. the wheel drives the motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-8, an embodiment of the present invention: a submarine pipeline weld polishing device comprises an inner seam polishing mechanism 1 and an outer seam polishing mechanism 2, wherein the inner seam polishing mechanism 1 and the outer seam polishing mechanism 2 are respectively arranged on the inner part and the outer wall of a submarine pipeline;
further comprising:
the self-moving trolley 3 is arranged below the inner seam polishing mechanism 1, wheels 4 are arranged on two sides of the self-moving trolley 3, and four wheels 4 are arranged;
the first hydraulic rod 5 is installed at the upper end of the self-moving trolley 3, the double-head hydraulic cylinder 6 is installed at the output end of the first hydraulic rod 5, and the arc-shaped stabilizing frames 9 are installed at the output ends of the two sides of the double-head hydraulic cylinder 6;
the motor base 7 is installed on the outer wall of the double-head hydraulic cylinder 6, a stepping motor 11 is installed at the front end of the motor base 7, a second hydraulic rod 12 is installed at the output end of the stepping motor 11, and an inner seam polishing seat 13 is installed at the output end of the second hydraulic rod 12;
a hood 14 arranged above the outer seam polishing mechanism 2, wherein an outer seam polishing seat 15 is arranged on the bottom surface of the hood 14;
an ultrasonic probe 27 mounted on the front end of the outer seam polishing base 15;
and the ultrasonic receiver 26 is arranged at the front end of the internal seam polishing seat 13, and the output end of the ultrasonic probe 27 is connected with the input end of the ultrasonic receiver 26.
Referring to fig. 1, driven guide pillars 8 are respectively disposed on two sides of a first hydraulic rod 5, two ends of each driven guide pillar 8 are respectively fixedly connected to a self-moving trolley 3 and a double-headed hydraulic cylinder 6, and when the first hydraulic rod 5 drives a motor base 7 to ascend and descend, the driven guide pillars 8 can play a role in assisting in guiding, so that the ascending and descending stability of the first hydraulic rod 5 is improved.
Referring to fig. 1, two pipe wall guide wheels 10 are installed on the outer wall of the arc-shaped stabilizing frame 9, and are rotatably connected with the arc-shaped stabilizing frame 9 through guide wheel frames, when the first hydraulic rod 5 drives the double-head hydraulic cylinder 6 to reach the height of the circle center of the pipeline, the double-head hydraulic cylinder 6 can drive the arc-shaped stabilizing frames 9 on two sides to extend out, so that the pipe wall guide wheels 10 on the outer wall of the arc-shaped stabilizing frame 9 are in contact with the inner wall of the submarine pipeline, the primary positioning of the inner seam polishing mechanism 1 is realized, and the stability of the inner seam polishing mechanism 1 during moving in the pipeline is improved.
Please refer to fig. 3 and 4, electromagnets 22 are installed inside two ends of the inner seam polishing seat 13, magnetic attraction plates 28 are installed on bottom surfaces of two ends of the outer seam polishing seat 15, the electromagnets 22 and the magnetic attraction plates 28 are connected in a magnetic attraction manner, supports 16 are installed on two sides of two ends of the outer seam polishing seat 15, universal guide wheels 17 are installed at the bottom ends of the supports 16, when the inner seam polishing mechanism 1 advances along the inside of the seabed pipeline, the magnetic attraction force generated by the electromagnets 22 can be relied on to drive the outer seam polishing mechanism 2 outside the pipe to move together, and the universal guide wheels 17 outside the outer seam polishing mechanism 2 enable the outer seam polishing mechanism 2 to move more smoothly.
Referring to fig. 1, an anti-slip strap 21 is installed on the outer wall of one side of the outer seam polishing seat 15, one end of the anti-slip strap 21 is connected with the other side of the outer seam polishing seat 15 through a strap buckle, and the anti-slip strap 21 can prevent the outer seam polishing seat 15 from being separated from the inner seam polishing seat 13 and scattering in a water area.
Referring to fig. 6, a spring damping rod 32 is installed at the middle position of the inner seam polishing seat 13, a first asynchronous motor 24 is installed at one end of the spring damping rod 32, a first polishing head 25 is installed at the output end of the first asynchronous motor 24, a flexible telescopic sleeve 23 is installed on the outer wall of the spring damping rod 32, an electric push rod 29 is installed at the middle position of the outer seam polishing seat 15, a second asynchronous motor 30 is installed at the output end of the electric push rod 29, a second polishing head 31 is installed at the output end of the second asynchronous motor 30, and the first polishing head 25 at the output end of the first asynchronous motor 24 and the second polishing head 31 at the output end of the second asynchronous motor 30 can respectively complete the polishing work of the inner wall and the outer wall of the pipeline weld.
Referring to fig. 4, an underwater camera 19 is installed above the hood 14, a rotating mechanism 18 is installed at a connection position of the underwater camera 19 and the hood 14, ultrasonic fish repellers 20 are installed around the outer wall of the hood 14, four ultrasonic fish repellers 20 are arranged, the underwater camera 19 can monitor the underwater environment in real time, and the ultrasonic fish repellers 20 can emit ultrasonic waves with specific frequency to repel fish schools around the device, so that the safety of the outer seam polishing mechanism 2 during underwater movement is ensured.
Referring to fig. 7, a single chip microcomputer chip 37, a hydraulic station 38, a power module 39, a GPS positioning module 40, a wireless data transmission module 41, a first motor driving module 42 and a wheel driving motor 43 are installed inside the self-moving cart 3, the single chip microcomputer chip 37 is electrically connected with the wireless data transmission module 41 in a bidirectional manner, an output end of the single chip microcomputer chip 37 is electrically connected with input ends of the hydraulic station 38, the first motor driving module 42 and the ultrasonic receiver 26, an output end of the hydraulic station 38 is connected with input ends of the first hydraulic rod 5, the double-headed hydraulic cylinder 6 and the second hydraulic rod 12, an output end of the first motor driving module 42 is electrically connected with input ends of the wheel driving motor 43, the first asynchronous motor 24 and the stepping motor 11, output ends of the power module 39 and the GPS positioning module 40 are electrically connected with an input end of the single chip microcomputer chip 37, and the single chip microcomputer chip 37 is used for completing data interaction work of the inner seam polishing mechanism 1 part to realize functions of the inner seam polishing mechanism 1.
Referring to fig. 8, a microcontroller 33, a battery assembly 34, a second motor driving module 35 and an ultrasonic generator 36 are installed inside the hood 14, an output end of the battery assembly 34 is electrically connected with an input end of the microcontroller 33, an output end of the microcontroller 33 is electrically connected with the underwater camera 19, the second motor driving module 35 and an input end of the ultrasonic generator 36, an output end of the second motor driving module 35 is electrically connected with the rotating mechanism 18, the electric push rod 29 and an input end of the second asynchronous motor 30, an output end of the ultrasonic generator 36 is electrically connected with the ultrasonic probe 27 and an input end of the ultrasonic fish driving device 20, and the microcontroller 33 is used for completing data interaction of the inner and outer seam polishing mechanism 2 to realize the function of the outer seam polishing mechanism 2.
Referring to fig. 1 to 8, a method for polishing a welding seam polishing device for a submarine pipeline includes the following steps:
the method comprises the following steps: the inner seam polishing mechanism 1 is arranged inside a submarine pipeline, a hydraulic station 38 drives a first hydraulic rod 5, a double-head hydraulic cylinder 6 and a second hydraulic rod 12 to operate one by one, the first hydraulic rod 5 drives the double-head hydraulic cylinder 6 to reach the height of the circle center of the pipeline, then the double-head hydraulic cylinder 6 drives arc stabilizing frames 9 on two sides to extend out, a pipe wall guide wheel 10 on the outer wall of each arc stabilizing frame 9 is in contact with the inner wall of the submarine pipeline, the initial positioning of the inner seam polishing mechanism 1 is realized, and finally the second hydraulic rod 12 extends out, so that an inner seam polishing seat 13 is attached to the top surface of the inner wall of the submarine pipeline;
step two: an underwater worker places the outer seam polishing mechanism 2 at the upper end of the outer wall of the submarine pipeline, starts the two groups of electromagnets 22 on the inner seam polishing seat 13, enables the inner seam polishing seat 13 to adsorb the magnetic suction plate 28 on the bottom surface of the outer seam polishing seat 15 through the two groups of electromagnets 22, loosens the outer seam polishing mechanism 2 after the underwater worker feels the suction force, buckles the anti-falling bandage 21 on the side edge of the outer seam polishing mechanism 2 with the bandage buckle on the other side of the outer seam polishing mechanism 2 around the pipe for one circle, and completes the positioning work of the outer seam polishing mechanism 2;
step three: the wheel driving motor 43 in the self-moving trolley 3 is driven, the wheel 4 is driven to rotate by the wheel driving motor 43, so that the inner seam polishing mechanism 1 moves forwards along the inside of a submarine pipeline, when the inner seam polishing seat 13 moves forwards, the outer seam polishing mechanism 2 outside the pipeline is driven to move together by means of magnetic attraction generated by the electromagnet 22, in the process, the underwater camera 19 on the outer seam polishing mechanism 2 monitors the underwater environment in real time, the ultrasonic generator 36 drives the ultrasonic fish driver 20 around the outer wall of the outer seam polishing mechanism 2 and the ultrasonic probe 27 at the front end to operate, the ultrasonic fish driver 20 sends ultrasonic waves with specific frequency to drive fish swarms around the device, the ultrasonic probe 27 sends ultrasonic signals to the ultrasonic receiver 26 at the front end of the inner seam polishing seat 13 inside the pipeline, and the position relation between the two when the two move forwards is confirmed;
step four: during the moving process, the ultrasonic probe 27 can further detect the wall thickness of the pipeline, when the ultrasonic probe reaches the weld joint, a detection signal of the ultrasonic probe 27 is transmitted to the ultrasonic receiver 26, the ultrasonic receiver 26 feeds back a signal to the single chip microcomputer chip 37, after the GPS positioning module 40 confirms that the position information of the weld joint is correct, the single chip microcomputer chip 37 feeds back a signal to the first motor driving module 42 and the second motor driving module 35 to drive the first asynchronous motor 24, the electric push rod 29 and the second asynchronous motor 30 to operate, the first asynchronous motor 24 is attached to the inner wall of the weld joint of the submarine pipeline at the spring damping rod 32 to drive the first polishing head 25 at the output end to polish the inner joint, the second asynchronous motor 30 is attached to the outer wall of the weld joint of the submarine pipeline through the electric push rod 29 to drive the second polishing head 31 at the output end to polish the outer joint, in the process, the stepping motor 11 drives the inner joint polishing seat 13 to rotate around the pipeline for a circle, and drives the outer joint polishing mechanism 2 to wind around the pipeline outside the pipeline under the action of magnetism, thereby synchronously finishing the polishing work of the weld joint of the pipeline.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A submarine pipeline weld joint polishing device comprises an inner joint polishing mechanism (1) and an outer joint polishing mechanism (2), wherein the inner joint polishing mechanism (1) and the outer joint polishing mechanism (2) are respectively arranged on the inner part and the outer wall of a submarine pipeline;
the method is characterized in that: further comprising:
the self-moving trolley (3) is arranged below the inner seam polishing mechanism (1), wheels (4) are arranged on two sides of the self-moving trolley (3), and four wheels (4) are arranged;
the self-moving trolley comprises a first hydraulic rod (5) which is installed at the upper end of the self-moving trolley (3), a double-head hydraulic cylinder (6) is installed at the output end of the first hydraulic rod (5), and arc-shaped stabilizing frames (9) are installed at the output ends of two sides of the double-head hydraulic cylinder (6);
the motor base (7) is installed on the outer wall of the double-head hydraulic cylinder (6), a stepping motor (11) is installed at the front end of the motor base (7), a second hydraulic rod (12) is installed at the output end of the stepping motor (11), and an inner seam polishing seat (13) is installed at the output end of the second hydraulic rod (12);
the hood (14) is arranged above the outer seam polishing mechanism (2), and an outer seam polishing seat (15) is installed on the bottom surface of the hood (14);
an ultrasonic probe (27) attached to the front end of the outer seam polishing base (15);
and the ultrasonic receiver (26) is arranged at the front end of the internal seam polishing seat (13), and the output end of the ultrasonic probe (27) is connected with the input end of the ultrasonic receiver (26).
2. The grinding device for the welding seam of the submarine pipeline according to claim 1, wherein: and driven guide pillars (8) are arranged on two sides of the first hydraulic rod (5), and two ends of each driven guide pillar (8) are fixedly connected with the self-moving trolley (3) and the double-head hydraulic cylinder (6) respectively.
3. The grinding device for the welding seam of the submarine pipeline according to claim 2, wherein: and two pipe wall guide wheels (10) are arranged on the outer wall of the arc-shaped stabilizing frame (9), and are rotatably connected with the arc-shaped stabilizing frame (9) through guide wheel frames.
4. The grinding device for the welding seam of the submarine pipeline according to claim 3, wherein: electromagnet (22) are all installed to the inside at internal joint seat (13) both ends of polishing, magnetism suction disc (28) are all installed to the bottom surface at external joint seat (15) both ends of polishing, electromagnet (22) and magnetism are inhaled magnetic force between plate (28) and are connected, support (16) are all installed to the both sides at external joint seat (15) both ends of polishing, universal guide pulley (17) are installed to the bottom of support (16).
5. The grinding device for the weld of the submarine pipeline according to claim 4, wherein: an anti-falling bandage (21) is installed on the outer wall of one side of the outer seam polishing seat (15), and one end of the anti-falling bandage (21) is connected with the other side of the outer seam polishing seat (15) through a bandage buckle.
6. The grinding device for the welding seam of the submarine pipeline according to claim 5, wherein: spring damping rod (32) are installed to the intermediate position department of seat (13) is polished to the internal joint, first asynchronous machine (24) are installed to the one end of spring damping rod (32), install first grinding head (25) on the output of first asynchronous machine (24), install flexible cover (23) on the outer wall of spring damping rod (32), the intermediate position department of seat (15) is polished to the external joint installs electric putter (29), second asynchronous machine (30) are installed to the output of electric putter (29), install second grinding head (31) on the output of second asynchronous machine (30).
7. The grinding device for the welding seam of the submarine pipeline according to claim 6, wherein: the utility model discloses a fish driving device, including aircraft bonnet, ultrasonic wave drive fish ware (20), camera (19) under water are installed to the top of aircraft bonnet (14), slewing mechanism (18) are installed to the junction of camera (19) under water and aircraft bonnet (14), the outer wall of aircraft bonnet (14) all is installed the ultrasonic wave all around and is driven fish ware (20), and ultrasonic wave drive fish ware (20) are provided with four.
8. The grinding device for the welding seam of the submarine pipeline according to claim 7, wherein: the utility model discloses a hydraulic pressure monitoring device, including self-moving dolly (3), internally mounted have singlechip chip (37), hydraulic pressure station (38), power module (39), GPS orientation module (40), wireless data transmission module (41), first motor drive module (42) and wheel driving motor (43), singlechip chip (37) and the two-way electric connection of wireless data transmission module (41), the output and the input electric connection of hydraulic pressure station (38), first motor drive module (42) and ultrasonic receiver (26) of singlechip chip (37), the output and the input of first hydraulic stem (5), double-end pneumatic cylinder (6) and second hydraulic stem (12) of hydraulic pressure station (38) are connected, the output and the input electric connection of wheel driving motor (43), first asynchronous machine (24) and step motor (11) of first motor drive module (42), the output of power module (39) and GPS orientation module (40) all with the input electric connection singlechip of chip (37).
9. The grinding device for the weld of the submarine pipeline according to claim 8, wherein: the utility model discloses a fish driving device, including aircraft bonnet (14), internal mounting have microcontroller (33), battery pack (34), second motor drive module (35) and supersonic generator (36), the output of battery pack (34) and the input electric connection of microcontroller (33), the output of microcontroller (33) and the input electric connection of camera (19), second motor drive module (35) and supersonic generator (36) under water, the output and slewing mechanism (18), electric putter (29) of second motor drive module (35) and the input electric connection of second asynchronous machine (30), the output and the ultrasonic probe (27) of supersonic generator (36) and the input electric connection of ultrasonic wave drive fish ware (20).
10. The grinding method of the submarine pipeline weld grinding device according to claim 9, comprising the steps of:
the method comprises the following steps: the inner seam polishing mechanism (1) is arranged inside a submarine pipeline, a hydraulic station (38) drives a first hydraulic rod (5), a double-head hydraulic cylinder (6) and a second hydraulic rod (12) to operate one by one, the first hydraulic rod (5) drives the double-head hydraulic cylinder (6) to reach the height of the circle center of the pipeline, then the double-head hydraulic cylinder (6) drives arc-shaped stabilizing frames (9) on two sides to extend out, pipe wall guide wheels (10) on the outer wall of the arc-shaped stabilizing frames (9) are in contact with the inner wall of the submarine pipeline, primary positioning of the inner seam polishing mechanism (1) is achieved, and finally the second hydraulic rod (12) extends out, so that an inner seam polishing seat (13) is attached to the top surface of the inner wall of the submarine pipeline;
step two: an underwater worker places the outer seam polishing mechanism (2) at the upper end of the outer wall of the submarine pipeline, two groups of electromagnets (22) on the inner seam polishing seat (13) are started, the inner seam polishing seat (13) adsorbs a magnetic suction plate (28) on the bottom surface of the outer seam polishing seat (15) through the two groups of electromagnets (22), after the underwater worker feels suction, the outer seam polishing mechanism (2) is loosened, an anti-falling bandage (21) on the side edge of the outer seam polishing mechanism (2) is buckled with a bandage buckle on the other side of the outer seam polishing mechanism (2) around a pipe for one circle, and positioning work of the outer seam polishing mechanism (2) is completed;
step three: the wheel driving motor (43) in the self-moving trolley (3) is driven, the wheel driving motor (43) drives the wheel (4) to rotate, the inner seam polishing mechanism (1) advances along the inside of a submarine pipeline, when the inner seam polishing seat (13) advances, the magnetic attraction force generated by the electromagnet (22) drives the outer seam polishing mechanism (2) outside the pipeline to move together, in the process, an underwater camera (19) on the outer seam polishing mechanism (2) monitors the underwater environment in real time, the ultrasonic generator (36) drives the ultrasonic fish driving device (20) on the periphery of the outer wall of the outer seam polishing mechanism (2) and the ultrasonic probe (27) at the front end to operate, the ultrasonic fish driving device (20) sends ultrasonic waves with specific frequency to drive fish groups on the periphery of the device, the ultrasonic receiver (26) at the front end of the inner seam polishing seat (13) in the pipeline sends ultrasonic signals through the ultrasonic probe (27), and the position relation between the inner seam polishing seat and the inner seam polishing mechanism when the inner seam polishing mechanism advances is confirmed;
step four: in the moving process, the ultrasonic probe (27) can further detect the wall thickness of the pipeline, when the ultrasonic probe reaches a welding seam, a detection signal of the ultrasonic probe (27) is transmitted to the ultrasonic receiver (26), the ultrasonic receiver (26) feeds back a signal to the single chip microcomputer chip (37), after the GPS positioning module (40) confirms that the welding seam position information is correct, the single chip microcomputer chip (37) feeds back a signal to the first motor driving module (42) and the second motor driving module (35) to drive the first asynchronous motor (24), the electric push rod (29) and the second asynchronous motor (30) to operate, the first asynchronous motor (24) is attached to the inner wall of the welding seam of the submarine pipeline through the spring damping rod (32) to drive the first polishing head (25) of the output end to polish the inner seam, the second asynchronous motor (30) is attached to the outer wall of the submarine pipeline through the electric push rod (29), the second polishing head (31) of the output end is driven to polish the outer seam, in the process, the stepper motor (11) drives the inner seam polishing seat (13) to rotate around the pipe for one circle, the outer seam is driven under the magnetic attraction effect to polish the outer seam of the outer seam, and the outer seam polishing mechanism (2) completes the synchronous outer pipe polishing work of the outer pipe.
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Cited By (1)
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| CN118342392A (en) * | 2024-06-18 | 2024-07-16 | 四川欧贝机械科技有限公司 | Cooling tower pipeline joint polishing equipment and polishing method |
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| CN115229637B (en) | 2023-04-11 |
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