Automatic crawling grinding device for outer wall of round tube

Abstract

An automatic crawling and grinding device for the outer wall of a circular pipe belongs to the technical field of descaling of a spraying pipe line. The device includes a shell, a main driving module, a driving base, a grinding module and a crawling module. The pipe to be polished passes through the driving base and the shell along the axial direction; the main driving module, the crawling module and the supporting wheel are installed on the outer end face of the driving base, the grinding module is installed on the inner wall of the right shell and close to the left shell side, the crawling module drives the grinding device to make a linear motion along the outer wall of the pipe, the main driving module drives the shell through the gear transmission to drive the grinding module to make a rotational motion along the circumferential direction of the pipe, and the transmission gear ring drives the grinding disc installed on the grinding module to make a rotational motion along the radial direction of the pipe through the gear transmission. The device has a wide range of applications, and the disassembly and assembly and grinding work of the grinder can be completed by a single person, and a detection device is arranged on the outer end face of the shell, which can realize the detection of pipe wall thickness, cracks and corrosion conditions while polishing the pipe, so that one machine can be used for multiple purposes.

Description

Technical Field

[0001] The invention belongs to the technical field of descaling of round tubes, relates to the technical field of descaling of spray pipe lines, and specifically relates to an automatic crawling polishing device for the outer wall of a round tube. Background Art

[0002] As a part of the well control device of oil drilling, the blower line plays a vital role in it. Due to the fluid scouring, electrochemical corrosion, chemical corrosion and other effects of the fluid medium in the pipe, the blower line will gradually develop defects such as pipe wall thinning, corrosion, and cracks. Once leakage and failure occur, it will cause serious safety accidents. Therefore, it is necessary to conduct non-destructive testing on the return blower line regularly to ensure the quality and operation safety of the pipeline.

[0003] At present, the commonly used method for testing straight pipes for spraying is magnetic flux leakage detection technology, but before the detection, the cement, paint, rust and other attachments on the spraying pipes need to be polished as a whole to ensure the accuracy of the detection. After the straight pipes for spraying are returned to the site, they are piled on the material rack, first polished, and then the magnetic flux leakage detection instrument is used for defect detection. The polishing space for straight pipes for spraying is limited, and they can only be polished on the material rack, and cannot be moved over a large range. Only a simple and light polishing method can be used.

[0004] At present, the polishing equipment for the outer circle of the spray pipe line generally adopts manual hand-held grinders for polishing, for example, manual polishing is performed using a simple sanding machine. The grinder generally includes a sanding wheel, a grinding sheet mounted on the sanding wheel, and a motor that drives the grinding wheel to rotate. Under the high-speed rotation of the polishing wheel, the rust and paint on the outer circle of the pipeline are cleaned through the contact between the workpiece and the rotating grinding sheet. This manual sanding method has high safety risks. Improper operation by workers can easily cause contact between their hands and the polishing wheel, causing personal injury. The traditional polishing method is inefficient and polluting. The manual polishing workload is large and the labor intensity is high. A large amount of dust and severe noise will be generated during the polishing process, affecting the health of the workers. In addition, the polishing quality is poor, and it is difficult for the worker to grasp the force angle between the hand-held grinder and the pipe column, which affects the sanding quality and the passability of the detection equipment.

[0005] Moreover, the existing blowdown pipeline has flange connections at both ends, and the existing grinding device generally uses the pipeline body to rotate for grinding. Although this grinding device can effectively remove the attached objects on the pipeline, the pipeline body rotates without protection, which is 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. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides an automatic crawling grinding device for the outer wall of a round tube.

[0007] The design concept of the present invention is as follows: the shell in the grinding device is fixed to the pipe wall by an equiangular supporting wheel group, a crawling module and a sleeve to prevent circumferential jump during the rotation of the grinding device. The shell is installed with a main drive module, and the main drive gear realizes the rotation of the shell through gear transmission. Four sets of gear groups are installed at equal angles in the left shell. The gear groups rotate radially around the pipe as the shell rotates, and drive themselves to rotate under the action of the ring gear inside the shell. The four grinding modules are installed at equal angles, driven by the gear groups to rotate and revolve radially along the pipe as the left shell rotates, realizing full radial coverage grinding of the pipe. The driving wheel power of the crawling module is driven by a brushless motor to control the axial walking direction and grinding rhythm of the grinding device during the grinding process. The shell keeps moving back and forth under the drive of the crawling module.

[0008] The present invention is achieved through the following technical solutions.

[0009] An automatic crawling and grinding device for the outer wall of a round tube comprises a housing, a main driving module, a driving base, a grinding module and a crawling module, wherein the housing comprises a left housing and a right housing, wherein:

[0010] The left shell and the right shell are both configured as semi-cylindrical cylinders that are relatively buckled, the side walls of the left shell and the right shell adjacent to each other are fixedly connected, the inner cavities of the left shell and the right shell are communicated, the cylindrical surfaces of the left shell and the right shell are provided with rotating pin assemblies, the semi-cylindrical cylinders on both sides are hinged at the positions of the rotating pin assemblies, the locking assemblies are installed at the riding positions of the outer end surfaces of the left shell and the right shell, and the semi-cylindrical cylinders on both sides are fixedly connected by the locking assemblies;

[0011] A plurality of support wheels and the main drive module and the crawling module are installed on the outer end surface of the drive base along the circumferential direction, and the crawling module and the plurality of support wheels are arranged at equal angles, the motor rotor of the main drive module penetrates the drive base and extends into the annular cavity between the left shell and the outer wall of the sleeve, the main drive gear is installed on the motor rotor of the main drive module, an inner gear ring is provided on the inner wall of the left shell close to the drive base, and the inner gear ring is meshed with the main drive gear; a groove is provided in the middle of the left shell, and a slide rail guide wheel fixing frame is fixedly installed on the inner wall of the left shell on both sides of the groove, and a plurality of slide rail guide wheels are evenly distributed on the slide rail guide wheel fixing frame along the circumferential direction; a plurality of transmission gear shafts are evenly distributed in the groove along the circumferential direction, a transmission gear is installed on the transmission gear shaft, and a small bevel gear is installed on the transmission gear shaft close to the grinding module end;

[0012] The driving base is configured as a semi-circular ring disk that is relatively buckled, and the edge of the semi-circular ring disk is hinged at a colinear position of the rotating pin shaft assembly, and a locking assembly is installed at a riding position on the outer end surface of the driving base and the side opposite to the hinge position, and the semi-circular ring disk is fixedly connected by the locking assembly; the end surface of the driving base close to the left side of the shell body is fixedly installed with a sleeve, and the sleeve is configured as a semi-cylindrical cylinder that is buckled with each other, and the sleeve extends into the inner cavity of the left side shell body, and a plurality of guide wheels are evenly distributed along the circumferential direction on the inner wall of the sleeve away from the driving base. The pipe to be polished passes through the driving base, the sleeve, the left side shell body and the right side shell body in sequence along the axial direction, and the guide wheel is in line contact with the outer wall of the pipe; a transmission gear ring is installed on the outer wall of the sleeve close to the left side of the shell body, and the transmission gear ring is meshed with the transmission gear, and slide rails are respectively arranged on the sleeves on both sides of the end surface of the transmission gear ring, and the slide rails cooperate with the slide rail guide wheels; the disassembly pin can be detachably penetrated from the outside to the inside of the driving base and inserted into the positioning hole arranged on the end surface of the left side shell body;

[0013] Several of the grinding modules are installed on the inner wall of the right shell and close to the left shell side, and the several grinding modules are arranged at equal angles in the circumferential direction; the crawling module drives the grinding device to move linearly along the outer wall of the pipeline, and the main driving module drives the grinding module to rotate along the circumferential direction of the pipeline through the gear transmission driving shell, and the transmission ring drives the grinding plate installed on the grinding module to rotate along the radial direction of the pipeline through the gear transmission.

[0014] Furthermore, the grinding module includes a sliding shaft, a grinding base, a grinding module bearing, a large bevel gear, a bushing, an end cover, a grinding preload spring, a grinding sheet mounting block, a grinding sheet fixing ring and a grinding sheet. Several of the grinding bases are evenly distributed on the end face of the right shell body close to the left shell body in the circumferential direction. The end cover is correspondingly mounted on the end face of the grinding base close to the pipe side. The sliding shaft penetrates the grinding base along the radial direction of the pipe. Both ends of the sliding shaft extend to the outside of the grinding base respectively. A bushing is mounted on the sliding shaft inside the grinding base. The large bevel gear is mounted on the bushing. The large bevel gear is meshed with the small bevel gear. One end of the bushing is mounted on the grinding base through the grinding module bearing, and the other end of the bushing is mounted on the end cover through the grinding module bearing.

[0015] The grinding sheet mounting block and the grinding sheet fixing ring are installed on the sliding shaft on the outside of the grinding base close to the pipeline side in sequence from the outside to the inside, the grinding pre-tensioning spring is installed on the sliding shaft between the grinding sheet mounting block and the end cover, the grinding sheet is installed on the sliding shaft between the grinding sheet mounting block and the grinding sheet fixing ring, and the outer end surface of the grinding sheet contacts the outer side wall of the pipeline.

[0016] Furthermore, the crawling module includes a driving wheel motor, a motor support, a crawling module bearing, a driving wheel, a bushing, a bearing retaining ring and a driving wheel support seat, the driving wheel support seat is installed on the outer end surface of the driving base, the driving wheel motor is installed on the driving wheel support seat horizontally and forwardly, the motor support member is arranged between the sides opposite to the driving wheel motor and the driving wheel support seat, the bushing is installed on the motor rotor of the driving wheel motor, the driving wheel is installed on the outside of the bushing and is located between the two side plates of the driving wheel support seat, the outer cylindrical surface of the driving wheel contacts the outer side wall of the pipeline, the crawling module bearing is arranged at the contact position between the motor rotor of the driving wheel motor and the two side plates of the driving wheel support seat, the crawling module bearing, and the bearing retaining ring is arranged on the bushing at the inner end surface position of the crawling module bearing, the driving wheel motor drives the driving wheel to rotate, and the crawling module drives the grinding device to move along the axial direction of the pipeline.

[0017] Furthermore, the guide wheels and the support wheels are both V-shaped wheels.

[0018] Furthermore, a dustproof sealing ring is provided at the contact position between the outer end surface of the right shell and the side wall of the pipeline, and a step for dust prevention is provided on the side wall of the slide rail close to the right shell.

[0019] Furthermore, a sensor is installed on the outer end face of the left shell, and an induction pin matching the sensor is installed on the end face of the inner gear ring close to the driving base. When the induction pin and the sensor are colinear, the disassembly pin shaft can be inserted from the outside to the inside into the positioning hole set on the driving base and the end face of the left shell, so that the semi-cylindrical base is fixedly connected to the corresponding semi-cylindrical shell.

[0020] Furthermore, a handle is provided across the cylindrical surface of the left shell and the cylindrical surface of the right shell, a discharge pipe for cleaning and descaling in the right shell is provided on the cylindrical surface of the right shell, and a detection device for detecting the wall thickness, cracks and corrosion conditions of the pipeline is provided on the outer end surface of the left shell.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. This grinding device has a wide range of applications and can automatically crawl and move along the pipe wall, avoiding mechanical damage caused by the rotation of the pipeline itself. The grinding device has a short structure length and is suitable for grinding in places with limited space. The grinding device is designed as a two-semicircle docking installation form and is fixed and locked by a lock, which is suitable for straight pipelines with flange connections at both ends.

[0023] 2. The grinding device is simple in design and easy to operate on site. The upper and lower grinding parts of the grinding device are opened and closed with fixed disassembly and assembly points. The upper and lower grinding parts are ensured to be in place as a whole through the latch. The lock connection method is convenient for disassembly, and the wearing part grinding wheel is easy to disassemble. The entire grinding work such as installation and disassembly of the grinder can be completed by a single operator, avoiding the consumption of a large amount of human resources.

[0024] 3. The grinding device of this device can achieve full radial and axial coverage grinding with high grinding efficiency. The grinding module rotates by itself and rotates 360 degrees along the radial direction of the pipeline as the internal module rotates, achieving full radial and axial coverage grinding. The control system of the grinding device is controlled by a remote control handle, and the mobile crawling speed can be adjusted according to the actual grinding effect to improve the grinding efficiency.

[0025] 4. The grinding device of this device is fully automatic. The grinding device is fully automatic during the grinding process, avoiding the grinding effect affected by manual grinding, ensuring the passability of the detection equipment and improving the accuracy of the detection.

[0026] 5. This device is equipped with a detection device on the outer end face of the shell, which can detect the pipe wall thickness, cracks and corrosion conditions while grinding the pipe, making it a multi-purpose machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention in use;

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention in an unfolded state;

[0030] Figure 4 It is a three-dimensional structural schematic diagram of the present invention and the pipeline installation state;

[0031] Figure 5 It is a schematic diagram of a half-cut three-dimensional structure of the present invention;

[0032] Figure 6 for Figure 5 Schematic diagram of the main structure;

[0033] Figure 7 This is a schematic diagram of the three-dimensional structure of the driving base;

[0034] Figure 8 It is a schematic diagram of the main cross-sectional structure of the shell;

[0035] Fig. 9 This is a schematic diagram of the main cross-sectional structure of the grinding module;

[0036] Fig.10This is a schematic diagram of the three-dimensional structure of the crawling module;

[0037] Fig.11 It is a schematic diagram of the front cross-sectional view of the three-dimensional structure of the crawling module;

[0038] Fig.12 It is a schematic diagram of the three-dimensional structure of the support wheel;

[0039] Fig.13 This is a schematic diagram of the three-dimensional structure of the guide wheel. DETAILED DESCRIPTION

[0040] The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention. Unless otherwise specified, the examples are all based on conventional experimental conditions. In addition, for those skilled in the art, without departing from the essence and scope of the present invention, various modifications or improvements to the material components and dosages in these embodiments are within the scope of the present invention.

[0041] like Figures 1 to 8 The automatic crawling grinding device for the outer wall of a circular tube shown in the figure comprises a housing 1, a main driving module 2, a driving base 3, a grinding module 4 and a crawling module 5, wherein the housing 1 comprises a left housing 10 and a right housing 11, wherein:

[0042] The left shell 10 and the right shell 11 are both configured as semi-cylindrical tubes that are relatively buckled, and the side walls of the left shell 10 and the right shell 11 that are adjacent to each other are fixedly connected, and the inner cavities of the left shell 10 and the right shell 11 are communicated, and the cylindrical surfaces of the left shell 10 and the right shell 11 are provided with a rotating pin assembly 12, and the semi-cylindrical tubes on both sides are hinged at the position of the rotating pin assembly 12, and a locking assembly 8 is installed at the riding position of the outer end surfaces of the left shell 10 and the right shell 11, and the semi-cylindrical tubes on both sides are fixedly connected by the locking assembly 8;

[0043] A plurality of support wheels 7 and the main drive module 2 and the crawling module 5 are installed on the outer end surface of the drive base 3 along the circumferential direction, and the crawling module 5 and the plurality of support wheels 7 are arranged at equal angles. The motor rotor of the main drive module 2 penetrates the drive base 3 and extends to the annular cavity between the left shell 10 and the outer wall of the sleeve 3-3. The main drive gear 2-1 is installed on the motor rotor of the main drive module 2. An inner gear ring 10-1 is provided on the inner wall of the left shell 10 close to the drive base 3. The inner gear ring 10-1 is connected to the main drive gear 2-1. The gear 2-1 is meshed; a groove 10-5 is provided in the middle of the left housing 10, and a slide rail guide wheel fixing frame 10-2 is fixedly installed on the inner wall of the left housing 10 on both sides of the groove 10-5, and a plurality of slide rail guide wheels 10-3 are evenly distributed on the slide rail guide wheel fixing frame 10-2 along the circumferential direction; a plurality of transmission gear shafts 10-6 are evenly distributed in the groove 10-5 along the circumferential direction, and a transmission gear 10-4 is installed on the transmission gear shaft 10-6, and a small bevel gear 10-7 is installed on the transmission gear shaft 10-6 near the grinding module 4;

[0044] The driving base 3 is configured as a semi-circular ring disk that is relatively buckled, and the edge of the semi-circular ring disk is hinged at a colinear position about the rotating pin shaft assembly 12, and a locking assembly 8 is installed at a riding position on the outer end surface of the driving base 3 on the side opposite to the hinge position, and the semi-circular ring disk is fixedly connected by the locking assembly 8; the end surface of the driving base 3 close to the left shell 10 is fixedly installed with a sleeve 3-3, and the sleeve 3-3 is configured as a semi-cylindrical cylinder that is buckled with each other, and the sleeve 3-3 extends into the inner cavity of the left shell 10, and a plurality of guide wheels 6 are evenly distributed along the circumferential direction on the inner wall of the sleeve 3-3 away from the driving base 3, to be polished The pipe 9 passes through the driving base 3, the sleeve 3-3, the left shell 10 and the right shell 11 in sequence along the axial direction, and the guide wheel 6 is in line contact with the outer wall of the pipe 9; a transmission gear ring 3-2 is installed on the outer wall of the sleeve 3-3 close to the left shell 10, and the transmission gear ring 3-2 is meshed with the transmission gear 10-4. Slide rails 3-4 are respectively arranged on the sleeves 3-3 on both sides of the end face of the transmission gear ring 3-2, and the slide rails 3-4 cooperate with the slide rail guide wheels 10-3; the disassembly pin 3-1 can be detachably inserted from the outside to the inside through the driving base 3 and inserted into the positioning hole set on the end face of the left shell 10;

[0045] Several of the grinding modules 4 are installed on the inner wall of the right shell 11 and close to the left shell 10, and the several grinding modules 4 are arranged at equal angles in the circumferential direction; the crawling module 5 drives the grinding device to move linearly along the outer wall of the pipe 9, and the main driving module 2 drives the shell 1 through the gear transmission to drive the grinding module 4 to rotate along the circumferential direction of the pipe 9, and the inner ring gear drives the grinding plate 4-10 installed on the grinding module 4 to rotate along the radial direction of the pipe 9 through the gear transmission.

[0046] To facilitate processing and assembly, the shell is composed of two parts. The driving base 3 is the installation side of the main driving module 2, and the main driving gear 2-1 provides rotational force for the shell 1; the slide rail guide wheel 10-3 provides a stable operating space for the shell 1 to ensure that the shell 1 does not jump; the right shell 11 provides a closed grinding space for the grinding module 4 to ensure that dust does not leak out during the grinding process.

[0047] Among them, four grinding modules 4 are installed at equal angles on the inner wall of the right shell 11, and the inner gear ring 10-1 drives the left shell 10 and the right shell 11 to rotate under the action of the driving motor. The slide rail 3-4 and the slide rail guide wheel 10-3 set on the inner wall of the left shell 10 form a closed operating space to ensure that the shell 1 does not move during the rotation process. Four transmission gears 10-4 are installed at equal angles in the groove 10-5 on the inner wall of the right shell 11, and rotate around the pipe 9 with the right shell 11, and the transmission gear ring 3-2 drives the transmission gear 10-4 to realize self-rotation, and the transmission gear 10-4 drives the small bevel gear 10-7 to drive the grinding module 4 to rotate.

[0048] like Fig. 9 The grinding module 4 shown includes a sliding shaft 4-1, a grinding base 4-2, a grinding module bearing 4-3, a large bevel gear 4-4, a sleeve 4-5, an end cover 4-6, a grinding preload spring 4-7, a grinding sheet mounting block 4-8, a grinding sheet fixing ring 4-9 and a grinding sheet 4-10. Several of the grinding bases 4-2 are evenly distributed on the end surface of the right shell 11 close to the left shell 10 along the circumferential direction, and the end cover 4-6 is correspondingly installed on the end surface of the grinding base 4-2 close to the pipe 9. The sliding The shaft 4-1 penetrates the grinding base 4-2 along the radial direction of the pipeline 9, and the two ends of the sliding shaft 4-1 extend to the outside of the grinding base 4-2 respectively. The sleeve 4-5 is installed on the sliding shaft 4-1 inside the grinding base 4-2, and the large bevel gear 4-4 is installed on the sleeve 4-5. The large bevel gear 4-4 is meshed with the small bevel gear 3-6. One end of the sleeve 4-5 is installed on the grinding base 4-2 through the grinding module bearing 4-3, and the other end of the sleeve 4-5 is installed on the end cover 4-6 through the grinding module bearing 4-3;

[0049] The grinding sheet mounting block 4-8 ​​and the grinding sheet fixing ring 4-9 are installed in sequence from outside to inside on the sliding shaft 4-1 on the outside of the grinding base 4-2 close to the side of the pipe 9, the grinding pre-tightening spring 4-7 is installed on the sliding shaft 4-1 between the grinding sheet mounting block 4-8 ​​and the end cover 4-6, the grinding sheet 4-10 is installed on the sliding shaft 4-1 between the grinding sheet mounting block 4-8 ​​and the grinding sheet fixing ring 4-9, and the outer end face of the grinding sheet 4-10 contacts the outer side wall of the pipe 9.

[0050] The large bevel gear 4-4 is driven by the small bevel gear 10-7, driving the sleeve 4-5, the sliding shaft 4-1, the grinding sheet mounting block 4-8, the grinding sheet 4-10, and the grinding sheet fixing ring 4-9 to rotate around the bearing 4-3 of the grinding module. The grinding preload spring 4-7 ensures that the grinding sheet 4-10 is always in close contact with the outer wall of the pipe 9 during the grinding process.

[0051] like Fig.10 and Fig.11 As shown, the crawling module 5 includes a driving wheel motor 5-1, a motor support 5-2, crawling module bearings 5-3, 5-7, a driving wheel 5-4, a bushing 5-5, a bearing retaining ring 5-6 and a driving wheel support seat 5-8, wherein the driving wheel support seat 5-8 is mounted on the outer end surface of the driving base 3, the driving wheel motor 5-1 is mounted horizontally and forwardly on the driving wheel support seat 5-8, the motor support 5-2 is arranged between the opposite sides of the driving wheel motor 5-1 and the driving wheel support seat 5-8, the bushing 5-5 is installed on the motor rotor of the driving wheel motor 5-1, and the driving wheel 5-4 is installed on the outside of the sleeve 5-5 and is located between the two side plates of the driving wheel support seat 5-8. The outer cylindrical surface of the driving wheel 5-4 contacts the outer wall of the pipeline 9. The crawling module bearings 5-3 and 5-7 are arranged at the contact position between the motor rotor of the driving wheel motor 5-1 and the two side plates of the driving wheel support seat 5-8. The bearing retaining ring 5-6 is arranged on the sleeve 5-5 at the inner end surface position of the crawling module bearings 5-3 and 5-7. The driving wheel motor 5-1 drives the driving wheel 5-4 to rotate, and the crawling module 5 drives the grinding device to move along the axial direction of the pipeline 9.

[0052] like Fig.12 and Fig.13 As shown, the guide wheel 6 and the support wheel 7 are both V-shaped wheels, which can prevent the grinding device from rotating when it runs along the axial direction of the pipeline.

[0053] Furthermore, a dustproof sealing ring is provided at the contact position between the outer end surface of the right shell body 11 and the side wall of the pipe 9 , and a step for dust prevention is provided on the side wall of the slide rail 3 - 4 close to the right shell body 11 .

[0054] Furthermore, a sensor is installed on the outer end face of the left shell body 10, and an induction pin matching the sensor is installed on the end face of the inner gear ring 10-1 close to the driving base 3. When the induction pin and the sensor are collinear, the disassembly pin shaft 3-1 can be inserted from the outside to the inside into the positioning hole set on the driving base 3 and the end face of the left shell body 10, so that the semi-cylindrical base is fixedly connected to the corresponding semi-cylindrical shell body.

[0055] Furthermore, a handle is provided across the cylindrical surface of the left shell 10 and the cylindrical surface of the right shell 11, a discharge pipe for cleaning and descaling the right shell 11 is provided on the cylindrical surface of the right shell 11, and a detection device 13 for detecting the wall thickness, cracks and corrosion conditions of the pipeline 9 is provided on the outer end surface of the left shell 10.

[0056] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic crawling grinding device for the outer wall of a round tube, comprising a housing (1), a main driving module (2), a driving base (3), a grinding module (4) and a crawling module (5), wherein the housing (1) comprises a left housing (10) and a right housing (11), and is characterized in that: The left shell (10) and the right shell (11) are both configured as semi-cylindrical tubes that are relatively buckled, the side walls of the left shell (10) and the right shell (11) are fixedly connected on one side, the inner cavities of the left shell (10) and the right shell (11) are communicated, the cylindrical surfaces of the left shell (10) and the cylindrical surfaces of the right shell (11) are provided with a rotating pin assembly (12), the semi-cylindrical tubes on both sides are hinged at the position of the rotating pin assembly (12), the locking assembly (8) is installed at the position of the seam of the outer end surfaces of the left shell (10) and the right shell (11), and the semi-cylindrical tubes on both sides are fixedly connected by the locking assembly (8); A plurality of support wheels (7) and the main drive module (2) and the crawling module (5) are mounted on the outer end surface of the drive base (3) along the circumferential direction, and the crawling module (5) and the plurality of support wheels (7) are arranged at equal angles, the motor rotor of the main drive module (2) penetrates the drive base (3) and extends to the annular cavity between the left shell (10) and the outer wall of the sleeve (3-3), the main drive gear (2-1) is mounted on the motor rotor of the main drive module (2), and an inner gear ring (10-1) is arranged on the inner wall of the left shell (10) close to the drive base (3), and the inner gear ring (10-1) is connected to the main drive gear (2-1). The movable gear (2-1) is meshed; a groove (10-5) is provided in the middle of the left housing (10); a slide rail guide wheel fixing frame (10-2) is fixedly installed on the inner wall of the left housing (10) on both sides of the groove (10-5); a plurality of slide rail guide wheels (10-3) are evenly distributed on the slide rail guide wheel fixing frame (10-2) along the circumferential direction; a plurality of transmission gear shafts (10-6) are evenly distributed in the groove (10-5) along the circumferential direction; a transmission gear (10-4) is installed on the transmission gear shaft (10-6); and a small bevel gear (10-7) is installed on the transmission gear shaft (10-6) at one end close to the grinding module (4); The driving base (3) is configured as a semicircular ring disk that is relatively buckled, and the edge of the semicircular ring disk is hinged at a colinear position about the rotating pin shaft assembly (12). A locking assembly (8) is installed at a riding position on the outer end surface of the driving base (3) on the side opposite to the hinge position, and the semicircular ring disk is fixedly connected through the locking assembly (8); the end surface of the driving base (3) close to the left shell body (10) is fixedly installed with a sleeve (3-3), and the sleeve (3-3) is configured as a semi-cylindrical cylinder that is buckled with each other. The sleeve (3-3) extends into the inner cavity of the left shell body (10), and a plurality of guide wheels (6) are evenly distributed along the circumferential direction on the inner wall of the sleeve (3-3) away from the driving base (3). The pipe (9) to be polished The drive base (3), the sleeve (3-3), the left shell (10) and the right shell (11) are sequentially penetrated along the axial direction, and the guide wheel (6) is in line contact with the outer wall of the pipe (9); a transmission gear ring (3-2) is installed on the outer wall of the sleeve (3-3) close to the left shell (10), and the transmission gear ring (3-2) is meshed with the transmission gear (10-4); slide rails (3-4) are respectively arranged on the sleeve (3-3) on both sides of the end surface of the transmission gear ring (3-2), and the slide rails (3-4) are matched with the slide rail guide wheel (10-3); the disassembly pin shaft (3-1) can be disassembled and penetrated from the outside to the inside of the drive base (3) and inserted into the positioning hole arranged on the end surface of the left shell (10); A plurality of the grinding modules (4) are mounted on the inner wall of the right shell (11) and close to the left shell (10), and the plurality of the grinding modules (4) are arranged at equal angles along the circumferential direction; the crawling module (5) drives the grinding device to make linear motion along the outer wall of the pipe (9); the main driving module (2) drives the shell (1) through gear transmission to drive the grinding module (4) to make rotational motion along the circumferential direction of the pipe (9); the transmission gear ring (3-2) drives the grinding sheet (4-10) mounted on the grinding module (4) to make rotational motion along the radial direction of the pipe (9) through gear transmission.

2. The automatic crawling grinding device for the outer wall of a round tube according to claim 1, characterized in that: The grinding module (4) comprises a sliding shaft (4-1), a grinding base (4-2), a grinding module bearing (4-3), a large bevel gear (4-4), a first shaft sleeve (4-5), an end cover (4-6), a grinding preload spring (4-7), a grinding sheet mounting block (4-8), a grinding sheet fixing ring (4-9) and a grinding sheet (4-10). A plurality of the grinding bases (4-2) are evenly distributed along the circumferential direction on the end surface of the right shell (11) close to the left shell (10), the end cover (4-6) is correspondingly mounted on the end surface of the grinding base (4-2) close to the pipe (9), and the sliding shaft (4-1) is provided with a plurality of grinding bases (4-2). ) penetrates the grinding base (4-2) along the radial direction of the pipeline (9), the two ends of the sliding shaft (4-1) respectively extend to the outside of the grinding base (4-2), the first sleeve (4-5) is installed on the sliding shaft (4-1) inside the grinding base (4-2), the large bevel gear (4-4) is installed on the first sleeve (4-5), the large bevel gear (4-4) is meshed with the small bevel gear (10-7), one end of the first sleeve (4-5) is installed on the grinding base (4-2) through the grinding module bearing (4-3), and the other end of the first sleeve (4-5) is installed on the end cover (4-6) through the grinding module bearing (4-3); The grinding sheet mounting block (4-8) and the grinding sheet fixing ring (4-9) are sequentially mounted on the sliding shaft (4-1) on the outside of the grinding base (4-2) and close to the side of the pipe (9) from the outside to the inside; the grinding preload spring (4-7) is mounted on the sliding shaft (4-1) between the grinding sheet mounting block (4-8) and the end cover (4-6); the grinding sheet (4-10) is mounted on the sliding shaft (4-1) between the grinding sheet mounting block (4-8) and the grinding sheet fixing ring (4-9); and the outer end surface of the grinding sheet (4-10) contacts the outer side wall of the pipe (9).

3. The automatic crawling grinding device for the outer wall of a round tube according to claim 1 is characterized in that: The crawling module (5) comprises a driving wheel motor (5-1), a motor support (5-2), a first crawling module bearing (5-3), a second crawling module bearing (5-7), a driving wheel (5-4), a second shaft sleeve (5-5), a bearing retaining ring (5-6) and a driving wheel support seat (5-8), wherein the driving wheel support seat (5-8) is mounted on the outer end surface of the driving base (3), the driving wheel motor (5-1) is mounted on the driving wheel support seat (5-8) horizontally and forwardly, and the motor support (5-2) is arranged between the driving wheel motor (5-1) and A second shaft sleeve (5-5) is installed on the motor rotor of the driving wheel motor (5-1) between opposite sides of the driving wheel support seat (5-8); the driving wheel (5-4) is installed outside the second shaft sleeve (5-5) and is located between the side plates on both sides of the driving wheel support seat (5-8); the outer cylindrical surface of the driving wheel (5-4) contacts the outer wall of the pipeline (9); a first crawling module bearing (5-3) and a second crawling module bearing (5-7) are arranged at the contact position between the motor rotor of the driving wheel motor (5-1) and the side plates on both sides of the driving wheel support seat (5-8); a bearing retaining ring (5-6) is arranged on the second shaft sleeve (5-5) at the inner end surface position of the first crawling module bearing (5-3) and the second crawling module bearing (5-7); the driving wheel motor (5-1) drives the driving wheel (5-4) to rotate, and the crawling module (5) drives the grinding device to move along the axial direction of the pipeline (9).

4. The automatic crawling grinding device for the outer wall of a round tube according to claim 1, characterized in that: The guide wheel (6) and the support wheel (7) are both V-shaped wheels.

5. The automatic crawling grinding device for the outer wall of a round tube according to claim 1, characterized in that: A dustproof sealing ring is provided at the contact position between the outer end surface of the right shell (11) and the side wall of the pipe (9), and a step for dustproofing is provided on the side wall of the slide rail (3-4) close to the right shell (11).

6. The automatic crawling grinding device for the outer wall of a round tube according to claim 2, characterized in that: A sensor is installed on the outer end surface of the left shell (10), and a sensing pin matching the sensor is installed on the end surface of the inner gear ring (10-1) close to the driving base (3). When the sensing pin and the sensor are in line, the disassembly pin shaft (3-1) can be inserted from the outside to the inside into the positioning holes provided on the driving base (3) and the end surface of the left shell (10), so that the semi-cylindrical base is fixedly connected to the corresponding semi-cylindrical shell.

7. The automatic crawling grinding device for the outer wall of a round tube according to claim 1, characterized in that: A handle is provided across the cylindrical surface of the left shell (10) and the cylindrical surface of the right shell (11); a discharge pipe for cleaning and removing scale in the right shell (11) is provided on the cylindrical surface of the right shell (11); and a detection device (13) for detecting the wall thickness, cracks and corrosion conditions of the pipeline (9) is provided on the outer end surface of the left shell (10).

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