Automatic crawling polishing robot for outer wall of circular pipe

Abstract

The invention provides an automatic crawling polishing robot for the outer wall of a circular pipe, and belongs to the technical field of descaling of circular pipes. The automatic crawling polishingrobot comprises a shell, a main driving module, internal modules, a polishing module and a crawling module, wherein the shell comprises a left shell body, a middle shell body and a right shell body which are sequentially arranged from left to right; a to-be-polished pipeline penetrates through the shell in the axis direction; the main driving module, a spring pre-tightening wheel set and a supporting wheel set are mounted on the outer end face of the left shell body; the crawling module and the supporting wheel set are mounted on the outer end face of the right shell body; the internal modulesare mounted in the left shell body and the middle shell body; and the polishing module is mounted in the right shell body. The automatic crawling polishing robot is wide in application range, and thedismounting, mounting and polishing work of a polishing machine can be completed through one-man operation; and a detection device is arranged on the outer end face of the shell, the thickness, cracks and corrosion conditions of the pipe wall are detected while the pipeline is polished, and the automatic crawling polishing robot is multipurpose.

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 outer wall of a circular pipe. Background technique [0002] The blowout pipeline is a typical round pipe (usually the two ends of the round pipe are fixed with flanges), and the blowout pipeline is a part of the oil drilling well control device, which plays a vital role. 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...

AI Technical Summary

Problems solved by technology

Under the high-speed rotation of the polishing wheel, the rust and paint on the outer circle of the pipeline are cleaned up through the contact between the workpiece and the rotating grinding piece. This manual sanding method has a high safety risk, and improper operation of the worker can easily cause the hand to be in contact with the polishing wheel. wheel contact, resulting in personal injury

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

[0005] Moreover, there are flange connections at both ends of the existing blowout pipeline. Generally, the existing grinding device uses the pipeline body to rotate for grinding. Although this grinding device can remove the attachments of the pipeline better, there is no protection for the rotation of the pipeline body. , easy to cause mechanical damage

Therefore, this grinding device is only suitable for places where the outer wall of the pipeline does not need to be touched by personnel

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