CN214559811U - Intelligent full-body weld joint grinding machine for straight welded pipe - Google Patents
Intelligent full-body weld joint grinding machine for straight welded pipe Download PDFInfo
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- CN214559811U CN214559811U CN202120713612.0U CN202120713612U CN214559811U CN 214559811 U CN214559811 U CN 214559811U CN 202120713612 U CN202120713612 U CN 202120713612U CN 214559811 U CN214559811 U CN 214559811U
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Abstract
The utility model discloses a full-pipe intelligent weld seam grinding machine for straight welded pipes, which comprises a gantry support frame, a plane grinding device, an arc grinding device, a steel pipe conveying device, a weld seam positioning device and a control device; the top of the gantry support frame is provided with linear guide rails which are arranged in parallel; the plane grinding device comprises a lifting mechanism I and a plane grinding head; the lifting mechanism I is arranged on the linear guide rail, a travelling mechanism I is arranged on the lifting mechanism I, the lifting mechanism I is connected with the plane grinding head, and a vision sensor I is arranged on the plane grinding head; the arc grinding device comprises a lifting mechanism II and a quasi-arc grinding head; and the lifting mechanism II is arranged on the linear guide rail, a travelling mechanism II is arranged on the lifting mechanism II, the lifting mechanism II is connected with the pseudo-arc grinding head, and a vision sensor II is arranged on the pseudo-arc grinding head. The utility model discloses simple structure, convenient operation, the utility model discloses can be stable, reliable, intelligently carry out full length or local coping to the butt weld pipe outer weld.
Description
Technical Field
The utility model relates to a transversal joint pipe deep-processing technology field specifically is a be applicable to full body intelligence welding seam sharpening machine of transversal joint pipe.
Background
With the increasing progress of welded pipe technology, the welded pipe technology puts more precise requirements on weld reinforcement of the straight welded pipe. The weld reinforcement is clearly regulated and required in API 5L pipeline steel pipe specifications, and high-specification steel pipes such as oil, gas and marine pipes further require that the weld reinforcement is not more than 2.5 mm. The damage of overhigh outer weld reinforcement of the straight welded pipe:
the extra height of the outer welding seam of 1 is too high, and stress corrosion cracks are easily formed at the welding toe. Stress concentration at the weld toe part easily induces the generation of weld toe cracks, and further increases the service risk of the pipeline.
2, the extra height of the external welding seam is too high, which increases the corrosion prevention cost. If epoxy resin glass cloth is adopted for corrosion prevention during corrosion prevention operation, the extra height of the outer welding line is large, so that the welding toe is not easy to be pressed firmly. Meanwhile, the higher the welding seam is, the thicker the anticorrosive coating is, and the anticorrosive cost is increased because the thickness of the anticorrosive coating is measured and calculated by taking the top point of the external welding seam as a reference according to standard regulation.
3, the excessive height of the outer welding seam influences the pipe shape of the whole pipe body after hydraulic pressure expanding. When the whole pipe body of the longitudinal submerged arc welded pipe is expanded by water pressure, the steel pipe is wrapped by the left and right external dies with the inner cavity consistent with the expanding size of the steel pipe. Therefore, the residual height of the welding seam is too large, the shearing stress borne by the welding seam is large when the diameter is expanded, and the phenomenon of small straight edges is easy to occur on two sides of the welding seam.
The welding seam grinding treatment, the degradation use or the scrapping treatment can be reduced or scrapped only by manual work for the steel pipe with the excessive height of the outer welding seam exceeding the standard, and the manual grinding has the defects of high labor intensity, large dust occupational hazard, low labor efficiency and high proficiency of workers. How to overcome the defects of low labor efficiency, high labor intensity and high risk in the prior art becomes a problem to be solved urgently for technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a simple structure, the function is perfect, degree of automation is high, work efficiency is high, high stability, and can improve the quality of welded tube, reduces workman's intensity of labour and dangerous straight welded tube whole body intelligence welding seam sharpening machine.
In order to solve the above problems, the utility model adopts the following technical scheme:
an intelligent full-body weld seam grinding machine for straight welded pipes comprises a gantry support frame, a plane grinding device, an arc grinding device, a steel pipe conveying device, a weld seam positioning device and a control device; the top of the gantry support frame is provided with linear guide rails which are arranged in parallel; the plane grinding device comprises a lifting mechanism I and a plane grinding head; the lifting mechanism I is arranged on the linear guide rail, a travelling mechanism I is arranged on the lifting mechanism I, the lifting mechanism I can be driven to move along the linear guide rail, the lifting mechanism I is connected with the plane grinding head and can drive the plane grinding head to lift, and a vision sensor I is arranged on the plane grinding head; the arc grinding device comprises a lifting mechanism II and a quasi-arc grinding head; the lifting mechanism II is arranged on the linear guide rail, a traveling mechanism II is arranged on the lifting mechanism II, the lifting mechanism I can be driven to move along the linear guide rail, the lifting mechanism II is connected with the quasi-arc grinding head and can drive the quasi-arc grinding head to lift, and a vision sensor II is arranged on the quasi-arc grinding head; the steel pipe conveying device is positioned right below the gantry support frame and comprises a plurality of groups of conveying rollers, and a sensor is arranged at each group of conveying rollers; the welding seam positioning device is positioned right below the gantry support frame and comprises a motor, two rotating rollers, a mounting seat and a lifting mechanism; the mounting seat is arranged on the lifting mechanism, the two rotary rollers and the motor are arranged on the mounting seat, and the axes of the two rotary rollers are parallel to the linear guide rail; one of the two rotary rollers is connected with an output shaft of the motor; elevating system I, running gear I, elevating system II, running gear II, plane bistrique, vision sensor I, simulation circular arc bistrique, vision sensor II, steel pipe conveyor, elevating system, motor are connected with controlling means respectively.
In the full-tube intelligent weld seam sharpening machine for the straight welded tube, the gantry support frame is provided with a rack, and the rack is parallel to the linear guide rail; the traveling mechanism I comprises a motor I and a gear I, the gear I is arranged on an output shaft of the motor I, and the gear I is meshed with the rack; the traveling mechanism II comprises a motor II and a gear II, the gear II is arranged on an output shaft of the motor II, and the gear II is meshed with the rack; the motor I and the motor II are respectively connected with the control device.
In the intelligent full-pipe-body weld seam sharpening machine for the straight welded pipe, the gantry supporting frame is provided with the laser sensor, a probe of the laser sensor faces downwards, and the laser sensor is connected with the control device and used for detecting the length and the position of the steel pipe.
In the intelligent full-tube weld joint grinding machine for the straight welded tube, the lifting mechanism I comprises a sliding seat I, a vertical beam I, a motor III and a plane grinding head seat; the bottom of the sliding seat I is provided with two sliding grooves which are respectively embedded on the two linear guide rails; the vertical beam I is arranged on the sliding seat I, the motor III is arranged at the top of the vertical beam I, an output shaft of the motor III is connected with the screw rod I, and the screw rod I is vertically arranged; erect and be equipped with linear guide I on the roof beam I, be equipped with nut I and spout I on the plane bistrique seat, spout I inlays on linear guide I, nut I and lead screw I spiro union.
In the intelligent full-pipe-body weld joint grinding machine for the straight welded pipe, the lifting mechanism II comprises a sliding seat II, a vertical beam II, a motor IV and a pseudo-arc grinding head seat; the bottom of the sliding seat II is provided with two sliding chutes which are respectively embedded on the two linear guide rails; the vertical beam II is arranged on the sliding seat II, the motor IV is arranged at the top of the vertical beam II, an output shaft of the motor IV is connected with the screw rod II, and the screw rod II is vertically arranged; the vertical beam II is provided with a linear guide rail II, the simulated arc grinding head seat is provided with a nut II and a sliding chute II, the sliding chute II is embedded on the linear guide rail II, and the nut II is in threaded connection with the screw rod II.
In the intelligent full-pipe-body weld seam sharpening machine for the straight welded pipe, the plane grinding head comprises a grinding head support, a grinding motor, an abrasive belt guiding device, an abrasive belt deflection device, a constant-pressure profiling device I, a grinding limiting device and a lifting mechanism I; the abrasive belt guiding device comprises three abrasive belt wheels, an abrasive belt wheel carrier and an abrasive belt tensioning device; the abrasive belt wheel frame is arranged on the abrasive belt bracket through an abrasive belt deflection device, two abrasive belt wheels are arranged on the abrasive belt wheel frame, the other abrasive belt wheel is arranged on an abrasive belt tensioning device, and the abrasive belt tensioning device is arranged on the abrasive belt wheel frame; the plane grinding head seat is connected with the grinding head bracket through a constant-pressure profiling device I, the grinding motor is arranged on the abrasive belt wheel carrier, and the output shaft of the grinding motor is connected with one of two abrasive belt wheels on the abrasive belt wheel carrier; the three abrasive belt wheels are arranged in a triangle; the abrasive belt is wound on the three abrasive belt wheels; and two ends of the bottom of the grinding head support are respectively provided with a grinding limiting device.
In the intelligent full-pipe-body weld seam sharpening machine for the straight welded pipe, the arc-like grinding head comprises an arc-like grinding head support, a grinding motor, a constant-pressure profiling device II and an abrasive belt; two guide wheels and a belt tensioning wheel are arranged on the quasi-arc grinding head bracket, the centers of the two guide wheels and the belt tensioning wheel form a triangle, and one bottom edge of the triangle is horizontally arranged; the abrasive belt is wrapped on the two guide wheels and the abrasive belt tension wheel; the grinding motor is arranged on the quasi-arc grinding head bracket and is connected with one of the two guide wheels through a transmission mechanism; the quasi-arc grinding head seat is connected with the quasi-arc grinding head support through the constant-pressure profiling device II, and the limiting device is installed at the bottom of the quasi-arc grinding head support.
In the full-tube intelligent weld seam sharpening machine for the straight welded tube, the constant-pressure copying device I comprises a hydraulic cylinder I; a guide groove I is formed in the plane grinding head seat and is vertically arranged; a sliding block I is arranged on the grinding head bracket and is embedded in the guide groove I; one end of the hydraulic cylinder I is hinged to the plane grinding head seat, and the other end of the hydraulic cylinder I is hinged to the grinding head support.
In the full-tube intelligent weld seam sharpening machine for the straight welded tube, the constant-pressure profiling device II comprises a hydraulic cylinder II; a guide groove II is arranged on the pseudo-arc grinding head seat and is vertically arranged; a sliding block II is arranged on the quasi-arc grinding head support and is embedded in the guide groove II; one end of the hydraulic cylinder II is hinged to the simulated arc grinding head seat, and the other end of the hydraulic cylinder II is hinged to the simulated arc grinding head support.
The utility model has the advantages that:
the utility model has simple structure and convenient operation, and realizes the polishing treatment of the whole body or the local outer welding line of the butt welded pipe; the utility model discloses can be stable, reliably, intelligently carry out full length or local coping to the butt weld pipe outer weld, make the required precision that reaches the welding seam remaining height, effectively reduce staff's intensity of labour and danger, improved production efficiency, reduced the too high risk that induces the toe crackle of welding seam remaining height and the anticorrosive cost of next process moreover.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a sectional view taken along line G-G in fig. 1.
Fig. 3 is a sectional view taken along line H-H in fig. 1.
Fig. 4 is a left side view of the present invention.
Fig. 5 is a schematic perspective view of the present invention.
Fig. 6 is a front view of the flat grinding apparatus of the present invention.
Fig. 7 is a side view of the flat grinding apparatus of the present invention.
Fig. 8 is a schematic structural view of the arc grinding device of the present invention.
Fig. 9 is a side view of the arc grinding apparatus of the present invention.
In the figure: 1. a gantry support frame; 2. a plane grinding device; 3. an arc grinding device; 4. a steel pipe conveying device; 5. a weld positioning device; 6. straight welded pipes; 7. and (7) welding seams.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the utility model comprises a gantry support frame 1, a plane grinding device 2, an arc grinding device 3, a steel pipe conveying device 4, a welding seam positioning device 5 and a control device; the gantry supporting frame 1 is of a gantry type frame structure, a laser sensor is arranged on the gantry supporting frame, a probe of the laser sensor faces downwards, and the laser sensor is connected with a control device and used for detecting the length and the position of a steel pipe. Two linear guide rails and two racks 101 are installed at the top of the gantry support frame, the two racks 101 are arranged on two sides of the top of the gantry support frame 1, and the linear guide rails 210 are arranged in parallel to the racks and used for the plane grinding device 2 and the arc grinding device 3 to walk.
As shown in fig. 3, 6 and 7, the plane grinding device 2 comprises a lifting mechanism i and a plane grinding head. The plane grinding head comprises a grinding head bracket 21, a grinding motor 22, an abrasive belt 23, an abrasive belt guiding device, a constant-pressure copying device I, an abrasive belt deflection device 24 and a grinding limiting device 25; the abrasive belt guiding device comprises three abrasive belt wheels 261, an abrasive belt wheel frame 26 and an abrasive belt tensioning device 262; the abrasive belt wheel frame 26 is arranged on the abrasive belt bracket 21 through the abrasive belt deflection device 24, two abrasive belt wheels 261 are arranged on the abrasive belt wheel frame, the other abrasive belt wheel is arranged on the abrasive belt tensioning device 262, one end of the abrasive belt tensioning device 262 is hinged with the abrasive belt wheel frame 26, the other end is hinged with a hydraulic cylinder 263, and the end part of a piston rod of the hydraulic cylinder 263 is hinged with the abrasive belt wheel frame 26. The grinding motor 22 is mounted on the abrasive belt wheel frame, and the output shaft of the grinding motor is hinged with one of the two abrasive belt wheels on the abrasive belt wheel frame which is connected with the abrasive belt wheel frame 26. The three abrasive belt wheels 261 are arranged in a triangle; the abrasive belt 23 is wrapped around three abrasive belt wheels 261. And two ends of the bottom of the grinding head support 21 are respectively provided with a grinding limiting device 25.
Elevating system I include slide I, erect roof beam I, III 213 of motor and plane headstock. The bottom of the sliding seat I is provided with two sliding grooves which are respectively embedded on the two linear guide rails 102; erect roof beam I and install on slide I, motor III 213 install and erect I top of roof beam, motor III 213's output shaft lead screw I214, the vertical setting of lead screw I214. The vertical beam I is provided with a linear guide rail I271, the plane grinding head seat 27 is provided with a nut I and a sliding groove I272, the sliding groove I272 is embedded on the linear guide rail I271, and the nut I is in threaded connection with the screw rod I.
The constant-pressure copying device I comprises a hydraulic cylinder I28; the plane grinding head seat 27 is provided with a guide groove I211, and the guide groove I211 is vertically arranged; the grinding head support 21 is provided with a slide block I216, and a slide block I212 is embedded in the guide groove I211. One end of the hydraulic cylinder I28 is hinged to the plane grinding head seat 27, and the other end of the hydraulic cylinder I28 is hinged to the grinding head support 21. Be equipped with running gear I on elevating system I, running gear I includes motor I and two gear I, and two gear I210 are located I both sides of slide, link to each other with motor I216 through shaft coupling 215, guarantee synchronous. The two gears I210 are meshed with the two racks 101 and can drive the lifting mechanism I to move along the linear guide rail, and the plane grinding head is provided with the vision sensor I.
As shown in fig. 8 and 9, the arc grinding device 3 comprises a lifting mechanism ii and a pseudo-arc grinding head; the quasi-arc grinding head comprises a quasi-arc grinding head support 31, a grinding motor 32, a constant-pressure profiling device II and an abrasive belt 33. The two guide wheels 311 and a belt tension wheel 312 are mounted on the quasi-arc grinding head support 31, and the centers of the two guide wheels 311 and the belt tension wheel 312 form a triangle, and one bottom side of the triangle is horizontally arranged. The abrasive belt is wrapped on the two guide wheels 311 and the abrasive belt tension wheel 312; the grinding motor 32 is mounted on the quasi-arc grinding head support 31, and the grinding motor 32 is connected with one of the two guide wheels 311 through a transmission mechanism. The bottom of the quasi-arc grinding head support 31 is provided with a limiting device 36.
The lifting mechanism II comprises a sliding seat II, a vertical beam II, a motor IV 310 and a pseudo-arc grinding head seat 34; two sliding chutes are arranged at the bottom of the sliding seat II and are respectively embedded on the two linear guide rails. The vertical beam II is arranged on the sliding seat II, the motor IV is arranged at the top of the vertical beam II, the output shaft of the motor IV 310 is connected with the screw rod II, and the screw rod II is vertically arranged. The vertical beam II is provided with a linear guide rail II, the simulated arc grinding head seat 34 is provided with a nut II and a sliding groove II, the sliding groove II is embedded on the linear guide rail II 341, and the nut II is in threaded connection with the screw rod II. The constant-pressure copying device II comprises a hydraulic cylinder II 35; a guide groove II 342 is formed in the pseudo-arc grinding head seat, and the guide groove II 342 is vertically arranged; the simulated arc grinding head bracket 31 is provided with a slide block II 311, and the slide block II 311 is embedded in the guide groove II 342. One end of the hydraulic cylinder II 35 is hinged to the simulated arc grinding head seat 34, and the other end of the hydraulic cylinder II 35 is hinged to the simulated arc grinding head support 31. And a traveling mechanism II is arranged on the lifting mechanism II, the traveling mechanism II comprises a motor II and two gears II, the two gears II are arranged on an output shaft of the motor II through a coupler, the two gears II are respectively meshed with the two racks 101 and can drive the lifting mechanism I to move along the linear guide rail, and a vision sensor II is arranged on the pseudo-arc grinding head. The steel pipe conveying device 4 is located under the gantry supporting frame and comprises six groups of conveying rollers, and a sensor is arranged at each group of conveying rollers. The welding seam positioning device 5 is positioned right below the gantry support frame and comprises a motor, two rotating rollers, a mounting seat and a lifting mechanism; the mounting seat is arranged on the lifting mechanism, the two rotary rollers and the motor are arranged on the mounting seat, and the axes of the two rotary rollers are parallel to the linear guide rail; one of the two rotary rollers is connected with an output shaft of the motor.
The motor I, the motor II, the motor III 213, the motor IV 310, the hydraulic cylinder I28, the hydraulic cylinder II 35, the grinding motor 22, the vision sensor I, the grinding motor 32, the vision sensor II, the steel pipe conveying device, the lifting mechanism and the motor are respectively connected with the control device. The utility model discloses a two bistrique forms, plane grinding device 2, circular arc grinding device 3's grinding order is: firstly, a large grinding amount grinding is carried out along the longitudinal direction of an outer welding seam by adopting a plane grinding device 2 to remove allowance, then the part of the edge of the welding seam which is difficult to grind completely is subjected to profile grinding by adopting an arc grinding device 3, and a grinding straight edge is removed, so that the welding seam and a main pipe are in smooth transition. The plane grinding device 2 is provided with a vision sensor I, and data acquisition is carried out on the width and the surplus height of a welding seam before grinding, and the data acquisition is fed back to a control device for data processing, so that a grinding program is automatically generated, and grinding is automatically completed. The arc grinding device 3 is provided with a vision sensor II, and data acquisition is carried out on the width and the height of the welding seam and the conditions of two edges of the welding seam before grinding, and the data are fed back to the control device for data processing, so that a grinding program is automatically generated, and grinding is automatically completed.
The utility model discloses during the use, concrete operation is as follows:
the steel pipe 6 enters a welding seam grinding station through the right side inlet end of the steel pipe conveying device 4, a laser sensor on the gantry support frame 1 detects the length and the position of the walking steel pipe, and when the end sensor detects the steel pipe, the steel pipe conveying is stopped.
The welding seam positioning device 5 lifts the steel pipe 6 to a set height according to the diameter of the steel pipe, the motor drives the rotating roller to rotate, and the welding seam 7 is rotated to the position right above (12 o' clock) and stopped.
Before flat grinding, in the walking detection process, the visual sensor I (the adopted laser measuring device) reaches the detection position sequenceiDisplacement value of timez i Given by the displacement encoder in the tracking direction. Controlling a vision sensor I to scan the appearance of the outer weld joint of the steel pipe to obtain a position sequenceiCorresponding steel pipe external weld surface contour coordinate sequencep i j,，j= 1,2,3…J. Traversing the coordinate sequence for a point thereinp i m,，m∈{1,2,3…JDetermine its corresponding pointp i n,，n∈{m+1, m+2, m+3…JTo make the distance between two points closest to the chord lengths(about two times of weld width), calculatep i m,Top i n,Root mean square distance from each point in a segment to a chordd i, m,n()：
Determining the maximumd i, m,n()Value and its correspondingp i m,Andp i n,based on the above coordinate sequencep i j,Performing a least squares fit of the circle:
in the formulao i Andr i are respectively a position sequenceiCorresponding circle center coordinates and radius. Computingp i m,Andp i n,centripetal vector of each point in segmentn i j,：
The direction pointed by each centripetal vector is the approaching direction of the flat grinding head, and the starting point of the flat grinding isp i j,Amount of flat grindingt i j,Comprises the following steps:
The plane grinding device 2 starts a walking detection function, the appearance of the outer welding seam of the steel pipe and the actual curvature of the steel pipe are detected through the vision sensor I, and the plane grinding device 2 returns to a start position after detection. The control device fits the actual measurement data according to the set grinding stepping amount to calculate the grinding movement track and the reciprocating times, and the plane grinding device 2 carries out large-grinding-amount grinding along the longitudinal direction of the outer welding seam to remove the welding seam allowance. And the plane grinding device 2 stops at the other end of the initial position after removing the weld reinforcement.
Before circular arc grindingAnd (3) detection: and after the flat grinding is finished, controlling a visual sensor II (adopting a laser measuring device) to detect the actual grinding effect. Similarly, controlling a vision sensor II to scan the appearance of the flat-ground steel pipe outer weld joint to obtain a steel pipe outer weld joint surface contour coordinate sequence P corresponding to the position sequence ii,jJ = 1,2,3 … J, for Pi,jPerforming non-uniform rational B spline fitting:
in the formula: w is aqQ =0,1,2 … n are weight factors, respectively associated with the control vertex dqQ =0,1,2 … n. N is a radical ofq(u) is represented by node vector u = [ u ]0, u1,…un+4]The derived 3-degree canonical B-spline basis functions are extrapolated. Determining the outer contour circle radius R of the position sequence i by adopting the method in the detection before direct grindingiAnd center O of circleiAnd examine in the range of the straight grinding headP(u)Offset parameter from fitting circle
Setting the step increment of the circular arc mill after each reciprocating grinding as tauiCalculating the parameter Δi,u = (Ri,u- Ri)/τiThen will bei,uAccording to the interval [0,1]，(1,2]，…，(s, s+1]And (5) performing classification and sorting. Counting Δ i and u in the same interval, and determining corresponding θi,uAnd Ri,uAnd (5) range planning of the circular arc mill is further completed.
The arc grinding device 3 starts a walking detection function, data acquisition is carried out on the width and the extra height of the welding seam 7 and the conditions of two edges of the welding seam 7 through the vision sensor II, the control device calculates the motion track and the reciprocating times of grinding according to set grinding step quantity fitting actual measurement data, the arc grinding device 3 carries out profile grinding on the part, difficult to grind thoroughly, of the edge of the welding seam, the grinding straight edge is removed, and the welding seam and a main pipe are in smooth transition.
After the grinding is finished, the arc grinding device 3 measures the actual grinding effect again, mainly detects the consistency of the curvature of the ground welding line and the curvature of the parent metal, the parent metal cannot be damaged by grinding, and the welding line is qualified as h when the welding line residual height reaches the standard requirementWeld seamLess than or equal to 0.1 mm. And the qualified detection data is transmitted to an electrical system, so that the function of real-time online detection and transmission of the outer welding seam polishing inspection data is realized.
Claims (9)
1. The utility model provides a full body intelligence welding seam sharpening machine of longitudinal welded pipe, characterized by: the device comprises a gantry support frame, a plane grinding device, an arc grinding device, a steel pipe conveying device, a welding seam positioning device and a control device; the top of the gantry support frame is provided with linear guide rails which are arranged in parallel; the plane grinding device comprises a lifting mechanism I and a plane grinding head; the lifting mechanism I is arranged on the linear guide rail, a travelling mechanism I is arranged on the lifting mechanism I, the lifting mechanism I can be driven to move along the linear guide rail, the lifting mechanism I is connected with the plane grinding head and can drive the plane grinding head to lift, and a vision sensor I is arranged on the plane grinding head; the arc grinding device comprises a lifting mechanism II and a quasi-arc grinding head; the lifting mechanism II is arranged on the linear guide rail, a traveling mechanism II is arranged on the lifting mechanism II, the lifting mechanism I can be driven to move along the linear guide rail, the lifting mechanism II is connected with the quasi-arc grinding head and can drive the quasi-arc grinding head to lift, and a vision sensor II is arranged on the quasi-arc grinding head; the steel pipe conveying device is positioned right below the gantry support frame and comprises a plurality of groups of conveying rollers, and a sensor is arranged at each group of conveying rollers; the welding seam positioning device is positioned right below the gantry support frame and comprises a motor, two rotating rollers, a mounting seat and a lifting mechanism; the mounting seat is arranged on the lifting mechanism, the two rotary rollers and the motor are arranged on the mounting seat, and the axes of the two rotary rollers are parallel to the linear guide rail; one of the two rotary rollers is connected with an output shaft of the motor; elevating system I, running gear I, elevating system II, running gear II, plane bistrique, vision sensor I, simulation circular arc bistrique, vision sensor II, steel pipe conveyor, elevating system, motor are connected with controlling means respectively.
2. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe according to claim 1, characterized in that: the gantry support frame is provided with two racks, and the two racks are arranged in parallel to the linear guide rail; the traveling mechanism I comprises a motor I and two gears I, the two gears I are connected with an output shaft of the motor I, and the two gears I are respectively meshed with the two racks; the traveling mechanism II comprises a motor II and two gears II, the gears II are connected with an output shaft of the motor II, and the two gears II are respectively meshed with the two racks; the motor I and the motor II are respectively connected with the control device.
3. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe according to claim 1, characterized in that: and the gantry support frame is provided with a laser sensor, a probe of the laser sensor faces downwards, and the laser sensor is connected with the control device and used for detecting the length and the position of the steel pipe.
4. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe according to claim 1, characterized in that: the lifting mechanism I comprises a sliding seat I, a vertical beam I, a motor III and a plane grinding head seat; the bottom of the sliding seat I is provided with two sliding grooves which are respectively embedded on the two linear guide rails; the vertical beam I is arranged on the sliding seat I, the motor III is arranged at the top of the vertical beam I, an output shaft of the motor III is connected with the screw rod I, and the screw rod I is vertically arranged; erect and be equipped with linear guide I on the roof beam I, be equipped with nut I and spout I on the plane bistrique seat, spout I inlays on linear guide I, nut I and lead screw I spiro union.
5. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe according to claim 1, characterized in that: the lifting mechanism II comprises a sliding seat II, a vertical beam II, a motor IV and a pseudo-arc grinding head seat; the bottom of the sliding seat II is provided with two sliding chutes which are respectively embedded on the two linear guide rails; the vertical beam II is arranged on the sliding seat II, the motor IV is arranged at the top of the vertical beam II, an output shaft of the motor IV is connected with the screw rod II, and the screw rod II is vertically arranged; the vertical beam II is provided with a linear guide rail II, the simulated arc grinding head seat is provided with a nut II and a sliding chute II, the sliding chute II is embedded on the linear guide rail II, and the nut II is in threaded connection with the screw rod II.
6. The full-pipe intelligent weld grinding machine for the longitudinal welded pipe according to claim 4, is characterized in that: the plane grinding head comprises a grinding head support, a grinding motor, an abrasive belt guiding device, an abrasive belt deflection device, a constant-pressure profiling device I, a grinding limiting device and a lifting mechanism I; the abrasive belt guiding device comprises three abrasive belt wheels, an abrasive belt wheel carrier and an abrasive belt tensioning device; the abrasive belt wheel frame is arranged on the abrasive belt bracket through an abrasive belt deflection device, two abrasive belt wheels are arranged on the abrasive belt wheel frame, the other abrasive belt wheel is arranged on an abrasive belt tensioning device, and the abrasive belt tensioning device is arranged on the abrasive belt wheel frame; the plane grinding head seat is connected with the grinding head bracket through a constant-pressure profiling device I, the grinding motor is arranged on the abrasive belt wheel carrier, and the output shaft of the grinding motor is connected with one of two abrasive belt wheels on the abrasive belt wheel carrier; the three abrasive belt wheels are arranged in a triangle; the abrasive belt is wound on the three abrasive belt wheels; and two ends of the bottom of the grinding head support are respectively provided with a grinding limiting device.
7. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe as recited in claim 5, characterized in that: the quasi-arc grinding head comprises a quasi-arc grinding head bracket, a grinding motor, a constant-pressure profiling device II and an abrasive belt; two guide wheels and a belt tensioning wheel are arranged on the quasi-arc grinding head bracket, the centers of the two guide wheels and the belt tensioning wheel form a triangle, and one bottom edge of the triangle is horizontally arranged; the abrasive belt is wrapped on the two guide wheels and the abrasive belt tension wheel; the grinding motor is arranged on the quasi-arc grinding head bracket and is connected with one of the two guide wheels through a transmission mechanism; the quasi-arc grinding head seat is connected with the quasi-arc grinding head support through the constant-pressure profiling device II, and the limiting device is installed at the bottom of the quasi-arc grinding head support.
8. The full-pipe intelligent weld seam sharpening machine for the straight welded pipe as recited in claim 6, characterized in that: the constant-pressure copying device I comprises a hydraulic cylinder I; a guide groove I is formed in the plane grinding head seat and is vertically arranged; a sliding block I is arranged on the grinding head bracket and is embedded in the guide groove I; one end of the hydraulic cylinder I is hinged to the plane grinding head seat, and the other end of the hydraulic cylinder I is hinged to the grinding head support.
9. The full-pipe intelligent weld grinding machine for the longitudinal welded pipe according to claim 7, is characterized in that: the constant-pressure profiling device II comprises a hydraulic cylinder II; a guide groove II is arranged on the pseudo-arc grinding head seat and is vertically arranged; a sliding block II is arranged on the quasi-arc grinding head support and is embedded in the guide groove II; one end of the hydraulic cylinder II is hinged to the simulated arc grinding head seat, and the other end of the hydraulic cylinder II is hinged to the simulated arc grinding head support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120713612.0U CN214559811U (en) | 2021-04-08 | 2021-04-08 | Intelligent full-body weld joint grinding machine for straight welded pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120713612.0U CN214559811U (en) | 2021-04-08 | 2021-04-08 | Intelligent full-body weld joint grinding machine for straight welded pipe |
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| CN214559811U true CN214559811U (en) | 2021-11-02 |
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Address after: 411300 East of Lianhua Road and South of Xinyang Road, Shaoshan High-tech Industrial Development Zone, Xiangtan City, Hunan Province Patentee after: Xiangtan Huajin Heavy Equipment Technology Co.,Ltd. Address before: 411300 East of Lianhua Road and South of Xinyang Road, Shaoshan High-tech Industrial Development Zone, Xiangtan City, Hunan Province Patentee before: Xiangtan Huajin Heavy Loading Co.,Ltd. |