Automatic crawling grinding robot for inner wall of circular pipe

Abstract

The invention provides an automatic crawling grinding robot for the inner wall of a circular pipe, and belongs to the technical field of descaling of relief pipelines. The automatic crawling grindingrobot comprises a shell, a main driving module, a driving base, grinding modules and a crawling module, the shell comprises a left shell body and a right shell body, and the driving base comprises a first driving base body and a second driving base body; the main driving module, the crawling module and a plurality of supporting wheels are installed on the outer end face of the driving base, the multiple grinding modules are evenly distributed between the outer end face of the right shell body and the opposite end faces of the second driving base body in the circumferential direction, and the crawling module drives a grinding device to do linear motion along the outer wall of the to-be-ground pipeline; and the main driving module drives the shell to drive the grinding modules to rotate in the circumferential direction of the inner wall of the pipeline through gear transmission. The device is wide in application range, dismounting, mounting and grinding work of the grinding machine can be completed through one-man operation, a detection device is arranged on the outer end face of the driving base, detection of the pipe wall thickness, cracks and the corrosion condition is achieved while the pipeline is ground, and one machine has multiple purposes.

Description

technical field [0001] The invention belongs to the technical field of descaling of circular pipes, relates to the technical field of descaling of discharge pipelines, in particular to an automatic crawling and grinding robot for the inner wall of a circular pipe. Background technique [0002] As a part of the oil drilling well control device, blowout pipeline plays a vital role in it. Due to the fluid erosion, electrochemical corrosion, chemical corrosion and other effects of the fluid medium in the pipe, the discharge pipeline will gradually have defects such as pipe wall thinning, corrosion, cracks, etc. Once leakage occurs and fails, it will cause serious safety accidents. Therefore, it is necessary to carry out regular non-destructive testing on the return discharge pipeline to ensure the quality and operation safety of the pipeline. [0003] At present, the commonly used detection method for straight blowout pipelines is the magnetic flux leakage detection technology,...

AI Technical Summary

Problems solved by technology

The grinding space of the spraying straight pipeline is limited, and the grinding process can only be carried out on the material rack, which cannot be moved in a large range, and only a simple and convenient grinding method can be used

[0004] At present, the inner circle of the spraying pipeline is rotated at high speed by the polishing equipment, and the rust and paint on the inner circle of the pipeline are cleaned up through the contact between the workpiece and the rotating grinding sheet. Improper operation of the workers can easily cause the hands to come into contact with the polishing wheel, causing personnel accidents. Injuried

The traditional grinding method has low efficiency and serious pollution. Manual grinding has a large workload and high labor intensity. A large amount of dust and serious noise will be generated during the grinding process, which will affect the health of workers.

Moreover, the grinding quality is poor, and it is difficult for workers to grasp the force angle between the hand-held grinding machine and the pipe string, which affects the sanding quality and the passability of the testing equipment

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