Submerged type pipeline welding joint polishing robot based on modular design

A modular design, robotic technology, applied in machine tools designed for grinding the rotating surface of workpieces, machine tools suitable for grinding workpiece edges, grinding machines, etc., can solve the problems of honing machines that are difficult to find pipes, and high maintenance costs

Active Publication Date: 2017-03-22
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the long length or small diameter of some pipes, it is impossible to grind them with a hand-held ordinary grinder; while using a honing machine for honing, the maintenance cost is too high, and it is difficult to find suitable for such a length and pipe diameter. Pipe Honing Machines

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  • Submerged type pipeline welding joint polishing robot based on modular design
  • Submerged type pipeline welding joint polishing robot based on modular design
  • Submerged type pipeline welding joint polishing robot based on modular design

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with accompanying drawing.

[0021] as attached figure 1 , attached figure 2 As shown, the parts of the power module include: DC motor 301, motor bracket 302, coupling 303, bearing 304, driving wheel 305, angle iron 306, side baffle plate 307 in the middle part, bottom plate 308, driven wheel 309, motor bracket pad 310, bearing spacer 311, power wheel axle 312, connecting part of power wheel and wheel axle 313, T-shaped nut 314, screw 315, screw 316, nut 317, screw 318, nut 319, screw 320, nut 321, power wheel fixing screw 322, spring 323, cylinder fixing screw 324, double-axis cylinder 325, slide rod 326 connecting the power module to the universal joint, slide bar stopper 327, slide bar stopper fixing nut 328, cylinder fixing nut 329, double-axis cylinder 330, Cylinder fixing nut 331 , power wheel fixing nut 332 , fixing plate 333 between cylinders, middle part front baffle plate 334 .

[0022] T...

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Abstract

The invention provides a submerged type pipeline welding joint polishing robot based on a modular design. The submerged type pipeline welding joint polishing robot comprises a power module and a polishing module. The power module is used for driving the whole robot to move in a pipeline. The power module is divided into an upper portion, a middle portion and a lower portion to adapt to the change of a pipe diameter. The polishing module is used for polishing the welding joint position of the pipeline. The polishing module is composed of three parts which are a front and back supporting structure, a main shaft and a polishing feeding operating mechanism. The power module and the polishing module are connected through a cardan joint to guarantee the coordination of the two modules when the robot moves forward and backward and guarantee that the robot can move normally when passing through the curved pipeline. According to the submerged type pipeline welding joint polishing robot, the modular design is adopted, and modules such as a detecting module and a spraying module can be developed flexibly in the later period.

Description

technical field [0001] The invention relates to a pipeline weld grinding robot. A power module and a grinding module are designed based on the concept of modularization. The robot can adapt to a certain range of pipe diameter changes (340mm to 420mm in diameter), and the robot can enter the pipeline to grind the weld of the pipeline. Background technique [0002] Pipeline transportation of oil and natural gas has the advantages of high efficiency, low consumption, continuous transportation and high degree of automation. Unground pipe welds can result in pipes that are highly susceptible to corrosion, leaks and fractures. The traditional grinding methods include manual grinding with a portable ordinary grinder, or using a honing machine to precisely honed the inner wall of the pipe, or using air to push the polyurethane elastomer material to clean the inner wall of the pipe. However, due to the long length or small diameter of some pipes, it is impossible to grind them with ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B24B5/40B24B9/04B24B27/00B24B41/04B24B47/20
CPCB24B5/40B24B9/04B24B27/0076B24B41/04B24B47/20B25J11/0065
Inventor 杨克己彭锡睿邓海金滕志峰杨婷婷
Owner ZHEJIANG UNIV
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