Pipeline oxide skin grinding robot mechanical structure and working method thereof

Abstract

The present application relates to a kind of pipeline oxide skin polishing robot mechanical structure and its working method, comprising: main structure, axial movement module and whole week rotation module.The beneficial effects of the present application are: robot main body is formed by hinge to open structure, installation is simple and convenient, without adjusting pipeline, just by opening and closing can realize the quick installation of robot on pipeline;Work module can move along the axis, rotate around, move radially, and once installation can polish pipeline oxide skin in all directions;Optimized oxide skin removal process pipeline polishing robot has higher polishing efficiency;The application of pipeline polishing robot reduces the physical and mental harm caused to workers by pressure pipeline polishing work, improves the safety factor of polishing work, improves polishing efficiency, and guarantees polishing quality;Self-adapting polishing module adapts to the roundness change caused by error generated by pipeline itself or the coaxiality of pipeline and robot.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and in particular relates to the mechanical structure and working method of a robot for grinding oxide scale off pipes. Background Technology

[0002] According to the "Regulations on Safety and Supervision of Pressure Pipelines," industrial pressure pipelines must undergo regular inspections. Most energy companies have hot steam pipelines of various specifications and sizes installed for production needs. These pipelines are generally made of low-alloy steel. During operation, the heat from the high-temperature steam causes a brittle oxide layer to form on the pipeline surface, affecting the accuracy of flaw detection. Therefore, the surface oxide layer needs to be removed before flaw detection. High-temperature steam pipelines are large and heavy, making disassembly and grinding impossible. Currently, the common method used by energy groups is for workers to directly grind the oxide layer on the pipeline using angle grinders. When grinding the oxide layer near the weld, operators must ensure that only the oxide layer is removed, without thinning the pipeline. Furthermore, the brittle oxide layer on the pipeline surface makes grinding inefficient. Additionally, because the heating season is fixed, the unit pipelines only stop operating in the first half of each year. After a period of cooling, grinding and flaw detection of the pipeline weld area can be carried out, resulting in grinding always taking place in the summer. The need for working at height makes the grinding work extremely arduous, the environment harsh, and the manual grinding efficiency very low.

[0003] Application No. 202010474849.8, entitled "Mechanical Mechanism and Working Method of Pipe Grinding Robot," discloses a robotic mechanical structure and its working method for grinding pipes. However, the disclosed technical solution still has the following technical problems: 1) This mechanical mechanism can only grind part of the circumferential surface of the pipe at one installation, that is, it cannot achieve grinding in the entire circumferential direction. If grinding of the entire circumferential surface is required in actual application, the working efficiency of this mechanical structure will decrease; 2) This mechanical solution is suitable for grinding soft metal layers on the pipe surface. If the pipe surface is covered with dense and brittle oxide scale in actual application, the grinding efficiency may be relatively low; 3) This mechanical mechanism is suitable for grinding regular pipes. If the arc guide rail of the grinding component has a coaxiality error with the pipe during installation, it is difficult to adapt to the fluctuation of the pipe surface roundness, which may thin the pipe and fail to meet the pipe grinding requirements.

[0004] Application No. 202111213093.2, entitled "An Intelligent Pipe Grinding Device and Its Control Method," discloses a pipe grinding device. However, the disclosed technical solution still has the following technical problems: 1) In practical applications, this mechanical structure may not be effective against brittle and hard pipe oxide scale; 2) The compliant grinding head module controls the extension and retraction of the telescopic structure in real time based on the pressure value change of the pressure sensor, but in practical applications, the real-time pressure sensor value indicates that the grinding wheel has already performed grinding operations on the pipe, and further control is no longer sufficient to meet the control requirements.

[0005] Given the many disadvantages of manual grinding, in order to overcome the limitations of other similar inventions, it is urgent to propose a process for removing oxide scale that improves grinding efficiency, realizes machine replacement of manual labor, reduces the physical and mental harm to workers caused by grinding pressure pipelines, improves the safety factor of grinding work, increases grinding efficiency, and ensures grinding quality. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mechanical structure and working method of a pipe oxide scale grinding robot.

[0007] The mechanical structure of this pipe oxide scale grinding robot includes: a main structure, an axial motion module and a full-circumference rotation module. The main structure includes an upper support plate and a lower support plate, which are connected by a guide rod and a ball screw. A middle support plate passes through the guide rod and the ball screw.

[0008] The axial motion module is located on the upper bearing plate. The axial motion module controls the rotation of the ball screw through a synchronous belt, and the middle bearing plate moves axially along the guide rod and the ball screw.

[0009] The full-circumference rotating module includes a gear ring, a motion module fixing plate, and a gear fixing block. The gear ring is fixed on one side of the middle bearing plate. The gear fixing block is fixedly connected to the motion module fixing plate. The gear fixing block includes a pinion that meshes with and rotates with the gear ring. When the pinion rotates, the motion module fixing plate rotates coaxially with the gear ring.

[0010] An oxide scale breaking module and an adaptive grinding module are fixedly mounted on the motion module fixing plate.

[0011] Preferably, the oxide scale crushing module is fixed to the motion module fixing plate by a radial motor fixing plate; the radial motor fixing plate has a radial moving plate on the side facing the pipe, and a radial drive motor is fixed on the other side. A small lead screw and a small guide rod are arranged in parallel between the radial moving plate and the radial drive motor; the radial moving plate is engaged with the small lead screw through a threaded hole and with the small guide rod through a linear bearing; a stop block fixing block is fixedly connected to the radial moving plate; a bearing drive motor is provided on the stop block fixing block, and the bearing drive motor is connected to an eccentric bearing; an arc-shaped stop block is in contact with the edge of the eccentric bearing, and an impact head is connected to the end of the arc-shaped stop block facing the pipe. A baffle is provided at the end of the stop block fixing block facing the pipe, and the tail of the impact head passes through the baffle and connects to the arc-shaped stop block. A return spring is sleeved on the tail of the impact head between the baffle and the arc-shaped stop block.

[0012] Preferably, the adaptive grinding module includes a grinding wheel. The adaptive grinding module is fixed to the motion module fixing plate via a grinding wheel motor fixing plate. An infrared ranging sensor and a fuzzy PID controller are fixed on the grinding wheel motor fixing plate. A small lead screw and a small guide rod are provided on the grinding wheel motor fixing plate along the radial direction of the pipe. A small motor is fixed on the grinding wheel motor fixing plate. An encoder is installed on one side of the small motor. The output end of the small motor and the end of the small lead screw are both connected to small synchronous pulleys. The small synchronous pulleys are sleeved on the output end of the small motor and the small synchronous pulleys of the small lead screw. The grinding wheel is fixedly connected to the grinding wheel motor. The grinding wheel is connected to the small lead screw and the small guide rod and moves radially along the pipe.

[0013] Preferably, the upper bearing plate, lower bearing plate, middle bearing plate, gear ring and motion module fixing plate are all opened and closed by hinges. The guide rod and ball screw are arranged at the four corners between the upper bearing plate and the lower bearing plate. The four corners of the middle bearing plate are provided with linear bearings and nuts that cooperate with the guide rod and ball screw respectively.

[0014] Preferably, the axial motion module includes an axial drive motor, which is fixed on the upper bearing plate; synchronous pulleys are fixed on both the output shaft of the drive motor and the ball screw; the synchronous belt is wound around the synchronous pulleys of the output shaft of the drive motor and the ball screw, and the synchronous pulleys at both ends of the synchronous belt are at the same height.

[0015] Preferably, the gear fixing block includes a gear fixing block, a pinion, and a bullseye bearing. The gear fixing block is fixed on the motion module fixing plate, and the pinion is rotatably located at one end of the gear fixing block. The gear ring has a circular groove that matches the bullseye bearing. Several gear fixing blocks are fixedly connected to the motion module fixing plate, and the pinion on one of the gear fixing blocks is connected to a circumferential drive motor.

[0016] Preferably, the upper and lower support plates are each provided with several rectangular blocks circumferentially on their opposite sides. The rectangular blocks are connected to a top block through threaded holes, with the head of the top block facing the pipe.

[0017] The working method of this pipe oxide scale removal robot mechanical structure includes the following steps:

[0018] Step 1: Install the pipe oxide scale removal robot on the pipe and fix it with the upper and lower support plates;

[0019] Step 2: Turn on the circumferential drive motor of the full-circumference rotation module. The pinion rotates, causing the motion module fixing plate to rotate coaxially with the gear ring.

[0020] Step 3: Turn on the bearing drive motor of the oxide scale crushing module. The oxide scale crushing module impacts the oxide scale on the pipeline through the impact head to achieve oxide scale crushing work around the entire circumference of the pipeline; and start the adaptive grinding module to grind the pipeline as needed.

[0021] Step 4: Turn on the axial drive motor and move the middle bearing plate to the unpolished area via the synchronous belt; repeat steps 2 to 4 until the oxide scale on the pipe between the upper and lower bearing plates is broken and polished.

[0022] Preferably, in step one, the pipe grinding robot is fixed to the pipe by the top blocks on the upper and lower support plates, and the coaxiality of the pipe and the pipe grinding robot is adjusted by adjusting the jacking depth of several top blocks on the ring.

[0023] Preferably, in step three, the adaptive grinding module detects the roundness change value and roundness change rate of the pipe using an infrared ranging sensor, compares the data from the previous time period, calculates the roundness change value and roundness change rate of the infrared sampling interval, and then controls the grinding wheel to move radially along the pipe using a fuzzy PID controller and an encoder to grind the pipe with roundness changes.

[0024] The beneficial effects of this invention are:

[0025] 1) The main body of the pipe oxide scale grinding robot forms a split structure through hinges, which makes installation simple and convenient. There is no need to adjust the pipe. The robot can be quickly installed on the pipe simply by opening and closing.

[0026] 2) The robot's working module can move axially, rotate circumferentially, and move radially, allowing for all-around grinding of pipe oxide scale with a single installation; the pipe grinding robot with optimized oxide scale removal process has higher grinding efficiency; the application of the pipe grinding robot reduces the physical and mental harm to workers caused by pressure pipe grinding, improves the safety factor of grinding work, increases grinding efficiency, and ensures grinding quality.

[0027] 3) The robot has an adaptive grinding module that adapts to the roundness changes caused by errors in the coaxiality of the pipe itself or the pipe and the robot, ensuring that the contact between the grinding module and the pipe meets the requirements, avoiding rigid interference that may occur during the grinding process, and further improving the safety factor of grinding. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the pipe oxide scale removal robot;

[0029] Figure 2 This is a schematic diagram of the main structure of the pipe oxide scale removal robot;

[0030] Figure 3 This is a schematic diagram of the axial motion module structure;

[0031] Figure 4 This is a schematic diagram of the full-circumference rotational motion module structure;

[0032] Figure 5 This is a schematic diagram of the gear fixing block of the full-circumference rotary motion module;

[0033] Figure 6 This is a schematic diagram of the oxide scale crushing module structure;

[0034] Figure 7 This is a schematic diagram of the adaptive polishing module.

[0035] Explanation of reference numerals in the attached drawings: Main structure 1, Axial motion module 2, Full circumferential rotation module 3, Oxide scale crushing module 4, Adaptive grinding module 5, Upper bearing plate 101, Middle bearing plate 102, Lower bearing plate 103, Guide rod 104, Linear bearing 105, Ball screw 106, Nut 107, Bearing seat 108, Axial drive motor 201, Synchronous pulley 202, Synchronous belt 203, Gear ring 301, Gear fixing block 302, Pinion 303, Circumferential drive motor 304, Bullseye bearing 305, Motion module fixing plate 306, Impact head 4 01. Reset spring 402. Arc stop block 403. Eccentric bearing 404. Bearing drive motor 405. Stop block fixing block 406. Radial drive motor 407. Radial motor fixing plate 408. Small lead screw 409. Small guide rod 410. Radial moving plate 411. Grinding wheel 501. Infrared ranging sensor 502. Fuzzy PID controller 503. Grinding wheel motor 504. Small motor fixing plate 505. Small synchronous belt pulley 506. Encoder 507. Small motor 508. Small synchronous belt 509. Grinding wheel motor fixing plate 510. Sensor bracket 511. Detailed Implementation

[0036] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that those skilled in the art can make several modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0037] Example 1

[0038] As one example, such as Figures 1 to 5 As shown, a mechanical structure for a pipe oxide scale grinding robot comprises a main structure 1, an axial motion module 2, a full-circumference rotation module 3, an oxide scale breaking module 4, and an adaptive grinding module 5. The main structure 1 supports the other motion modules and is fixed to the pipe. The axial motion module 2 controls the movement of the central support plate 102 along the pipe axis. The full-circumference rotation module 3 provides circumferential rotation for the robot's working modules. Both the oxide scale breaking module 4 and the adaptive grinding module 5 have radial adjustment capabilities, enabling the impact and grinding of the pipe oxide scale.

[0039] The main structure 1 is the foundation of the entire mechanical structure, and other components and modules are installed on the main structure 1. For example... Figure 2 As shown, the main structure consists of an upper bearing plate 101, a middle bearing plate 102, a lower bearing plate 103, a guide rod 104, a linear bearing 105, a ball screw 106, a nut 107, and a bearing seat 108. The upper bearing plate 101, middle bearing plate 102, and lower bearing plate 103 are each composed of two split half-bearing plates fixed together by hinges. The upper bearing plate 101, middle bearing plate 102, and lower bearing plate 103 are arranged in parallel. Bearing seats 108 are arranged on both the upper bearing plate 101 and the lower bearing plate 103, and the bearing seats 108 fix the ball screw 106 and the two ends of the guide rod 104.

[0040] Several rectangular blocks 109 are circumferentially arranged on one side of the upper support plate 101 and the lower support plate 103, with threaded holes machined inside the rectangular blocks 109. The top block 110 is threadedly connected to the rectangular blocks 109. Linear bearings 105 and nuts 107 are arranged diagonally on the middle support plate 102. The guide rod 104 and the ball screw 106 are respectively engaged with the upper support plate 101 and the lower support plate 103 at both ends. The middle section of the ball screw 106 is engaged with the nut 107, and the middle section of the guide rod 104 is engaged with the linear bearing 105.

[0041] The middle support plate 102 utilizes the self-locking characteristics of the ball screw 106 and nut 107, along with the guide rod 104, to integrate the three support plates into one piece. In addition, the two half-support plates are connected by hinges and a quick-release head on the other side to form a whole support plate. The three support plates are arranged in parallel with the same opening direction, enabling rapid installation.

[0042] like Figure 3 As shown, the axial movement module 2 consists of the main structure 1 of the pipe oxide grinding robot, an axial drive motor 201, a synchronous pulley 202, and a synchronous belt 203. The axial drive motor 201 is fixed on the upper support plate 101. The synchronous pulley 202 is fixed on the shaft of the drive motor 201 and on the ball screw 106. The synchronous belt 203 is fixed on the synchronous pulley 202, and the two synchronous pulleys 202 on the synchronous belt 203 are at the same height. The rotation of the axial drive motor 201 is transmitted to the two synchronous pulleys 202 via the synchronous belt 203, which drives the two ball screws 106 to rotate at the same speed. Utilizing the motion characteristics of the ball screws 106 and the nut 107, the rotational motion of the ball screws 106 drives the nut 107 to move axially on the middle support plate 102. The presence of the synchronous belt 203 and the cooperation between the guide rod 104 and the linear bearing 105 ensure the stability of the axial movement of the middle support plate 102.

[0043] like Figure 4 and Figure 5 As shown, the pipe grinding robot has a full-circumference rotating module structure. The full-circumference rotating module 3 consists of a gear ring 301, a gear fixing block 302, a pinion 303, a circumferential drive motor 304, a bullseye bearing 305, and a motion module fixing plate 306. The gear ring 301 is fixed on the middle support plate 102 and can also be opened in half along with the middle support plate 102. The gear ring 301 has a circular groove on its upper side and a platform on its inner side. The gear fixing block 302, the pinion 303, and the bullseye bearing 305 form a gear fixing block. The gear fixing block 302 and the bullseye bearing 305 are connected by an interference fit, and the pinion 303 is fixed to the lower end of the gear fixing block 302 by a key shaft fit. All three gear fixing blocks are threadedly fixed to the motion module fixing plate 306. The bearings on the inner side of the gear fixing blocks contact the upper and lower surfaces of the inner platform of the gear ring 301, respectively. The pinion 303 of the gear fixing blocks meshes with the gear ring 301. The bullseye bearing 305 of the gear fixing blocks engages with the upper circular groove of the gear ring 301. The two bearings on the inner side of the gear fixing blocks fix the inner platform of the gear ring 301 in the middle to prevent the motion module fixing plate 306 from detaching during movement. The bullseye bearing 305 engages with the upper track of the gear ring 301 to reduce friction during the rotation of the motion module fixing plate 306. A circumferential drive motor is fixed to the upper end of the gear fixing block 302 and drives the pinion 303 to rotate. Since the gear ring 301 is fixed, the motion module fixing plate 306 on the gear ring 301 begins to rotate circumferentially.

[0044] Example 2

[0045] As another embodiment, this second embodiment proposes a more specific mechanical structure for a pipe oxide scale removal robot based on the first embodiment, such as... Figure 6 and Figure 7 As shown.

[0046] like Figure 6 As shown, the oxide scale crushing module 4 consists of an impact head 401, a return spring 402, an arc-shaped stop block 403, an eccentric bearing 404, a bearing drive motor 405, a stop block fixing block 406, a radial drive motor 407, a radial motor fixing plate 408, a small lead screw 409, a small guide rod 410, and a radial moving plate 411. The radial motor fixing plate 408 serves as the structural foundation of the entire oxide scale crushing module 4 and is installed on the motion module fixing plate 306 by a threaded connection. The radial moving plate 411 is fixed to the inner side of the right end of the radial motor fixing plate 408, and the radial drive motor 407 is fixed to the outer side of the left end. The small lead screw 409 and the small guide rod 410 are arranged in parallel on the inner side, and the two ends of the small lead screw 409 and the small guide rod 410 are connected to the shaft. The radial moving plate 411 is machined with an interference fit and installed on both sides of the radial motor fixing plate 408; the radial moving plate 411 has threaded holes that cooperate with the small lead screw 409, and is equipped with a linear bearing that cooperates with the small guide rod 410; the stop block fixing block 406 is fixed to the radial moving plate 411 by a threaded connection; the bearing drive motor 405 is fixed on the stop block fixing block 406 and connected to the key shaft of the eccentric bearing 404; the arc stop block 403 is within the stroke range of the eccentric bearing 404 and is threadedly connected to the impact head 401; the end of the stop block fixing block 406 facing the pipe is provided with a baffle; the tail of the impact head 401 passes through the baffle and connects to the arc stop block 403; a return spring 402 is sleeved on the tail of the impact head 401 between the baffle and the arc stop block 403.

[0047] The radial motor mounting plate 408 serves as the foundation of the oxide scale crushing module. A radial drive motor 407 is mounted on one end of the radial motor mounting plate 408, and a radial moving plate 411 is mounted on the other end. A stop block 406 and a linear bearing are fixed to the upper end of the radial moving plate 411. A small lead screw 409 and a small guide rod 410 are installed between the radial moving plate 411 and the radial motor mounting plate 408. The radial drive motor 407 drives the small lead screw 409 to rotate, which can drive the oxide scale crushing actuator on the radial moving plate 411 to move radially. The small guide rod 410 is used to maintain the stability of the radial moving plate 411. A bearing drive motor 405 is fixed on the stop plate. The bearing drive motor 405 drives the eccentric bearing 404 to rotate. The arc stop 403 and the impact head 401 are connected by threads. Together, they convert the rotational motion of the eccentric bearing 404 into the radial linear motion of the impact head 401. The reciprocating radial linear motion is achieved by the return spring 402 installed between the arc stop 403 and the stop fixing block 406, which continuously impacts the oxide scale on the pipe.

[0048] like Figure 7As shown, the adaptive grinding module 5 consists of a grinding wheel 501, an infrared ranging sensor 502, a fuzzy PID controller 503, a grinding wheel motor 504, a small motor mounting plate 505, a small synchronous pulley 506, an encoder 507, a small motor 508, a small synchronous belt 509, a grinding wheel motor mounting plate 510, a sensor bracket 511, a small guide rod 410, and a small lead screw 409. The infrared ranging sensor 502 and the fuzzy PID controller 503 are fixed on the sensor bracket 511. The sensor bracket 511 is threadedly fixed on the grinding wheel motor mounting plate 510. The grinding wheel motor 504 is threadedly fixed on the grinding wheel motor mounting plate 510, and the small motor 508 is threadedly fixed on the small motor mounting plate 505. Meanwhile, the small motor mounting plate 505 is threadedly fixed to the grinding wheel motor mounting plate 510; the encoder 507 is installed on one side of the small motor 508, and the small motor 508 is keyed to the small synchronous pulley 509; the grinding wheel motor mounting plate 510 is provided with a small lead screw 409 and a small guide rod 410 along the radial direction of the pipe, and the grinding wheel 501 is fixedly connected to the grinding wheel motor 504. The grinding wheel 501 cooperates with the small lead screw 409 and the small guide rod 410, and moves radially along the pipe. The two ends of the small synchronous pulley 509 are respectively sleeved on the shaft of the small motor 508 and the small lead screw 409, and the two synchronous pulleys 509 have the same depth.

[0049] Infrared ranging sensor 502 is used to collect the radial distance between the grinding module and the pipe, and outputs a control strategy through fuzzy PID controller 503. The strategy is encoded by encoder 507 on small motor mounting plate 505 to control small motor 508 on the same small motor mounting plate 505. Small motor 508 precisely drives small lead screw to rotate through synchronous pulley on shaft, driving adaptive grinding module 5 to move radially. Small guide rod ensures the stability of adaptive grinding module during radial movement.

[0050] It should be noted that the parts in this embodiment that are the same as or similar to those in Embodiment 1 can be referred to each other, and will not be repeated in this application.

[0051] Example 3

[0052] As another embodiment, this embodiment three proposes a working method for the mechanical structure of this pipe oxide scale removal robot based on embodiment two, including the following steps:

[0053] Step 1: Turn on the radial drive motor 407 of the oxide scale crushing module 4 and the small motor 508 of the adaptive grinding module 5, so that the oxide scale crushing module 4 and the adaptive grinding module 5 are placed at the outermost radial end.

[0054] Open the quick-release mechanism of the pipe oxide scale grinding robot to allow the robot to surround the pipe to be ground, close the quick-release mechanism, and tighten the top blocks on the upper support plate 101 and lower support plate 103 to fix the entire pipe grinding robot on the pipe, so that the scale of the top blocks is consistent, thereby reducing the coaxiality error between the pipe and the robot.

[0055] The axial drive motor 201 is controlled to rotate, and the ball screw 106 is driven to rotate via the synchronous belt 203, so that the middle support plate 102 is moved to the upper end of the robot.

[0056] Turn on the radial drive motor 407 of the oxide scale crushing module 4 and the small motor 508 of the adaptive grinding module 5, adjust the radial position of the oxide scale crushing module 4 and the adaptive grinding module 5 so that the impact head 401 of the oxide scale crushing module 4 contacts the oxide scale of the pipe, and the grinding wheel 501 maintains a distance of 2-3mm from the pipe.

[0057] Step 2: Turn on the circumferential drive motor 304 of the full-circumference rotation module 3. The small gear 303 on the gear fixing block 302 is driven to rotate, which drives the motion module fixing plate 306 to rotate on the gear ring 301.

[0058] Step 3: Turn on the bearing drive motor 405 of the oxide scale crushing module 4 to drive the impact head 401 to impact the oxide scale on the pipeline, so as to achieve the crushing of the oxide scale around the pipeline. The oxide scale crushing module 4 is used to crush the brittle, smooth and difficult-to-grind oxide scale on the pipeline, improve the surface roughness, and improve the grinding efficiency of the subsequent adaptive grinding module 5. The adaptive grinding module 5 is started to grind the pipeline as needed.

[0059] Example 4

[0060] As another embodiment, this fourth embodiment proposes a more specific working method for the mechanical structure of the pipe oxide scale removal robot, based on the third embodiment.

[0061] In step three, the operator judges the condition of the oxide scale on the pipe surface. Only when the grinding conditions are met is the bearing drive motor 405 turned off and the grinding wheel motor 504 turned on. The infrared ranging sensor 502 calculates the roundness change value and roundness change rate based on the collected data, and then sends it to the fuzzy PID controller 503 to output the control strategy. The encoder 507 encodes and controls the small motor 508 to rotate. The small lead screw converts the rotational motion into radial linear movement to dynamically adjust the position of the grinding wheel 501 in the working state, ensuring that the grinding wheel 501 grinds the pipe with roundness change, while avoiding rigid interference between the grinding wheel 501 and the pipe with roundness change next.

[0062] When the adaptive polishing module 5 is working, the infrared ranging sensor 502 acquires the distance between itself and the pipe surface at the current moment, and transmits the data to the fuzzy PID controller 503. By comparing the data from the previous period, the roundness change value and roundness change rate of the infrared sampling interval are calculated.

[0063] The roundness change value and roundness change rate are used as inputs to the fuzzy PID controller 503, and the control strategy is obtained through fuzzification, fuzzy inference, and defuzzification.

[0064] The control strategy output by the fuzzy PID controller 503 is encoded by the encoder 507, which controls the rotation of the small motor 508, which in turn drives the small lead screw 409 to rotate via the small synchronous belt 509, thereby controlling the radial position of the adaptive grinding module 5.

[0065] Step three is followed by step four, which is as follows:

[0066] The operator judges based on the grinding effect of the pipe surface. Only when the grinding effect of the pipe surface meets the corresponding standard, the grinding wheel motor 504 is turned off and the axial drive motor 201 is turned on. The middle bearing plate 102 is lowered to the ungrinded area via the synchronous belt 203.

[0067] Repeat steps two through four until the pipe is safe to grind.

[0068] It should be noted that the parts in this embodiment that are the same as or similar to those in Embodiment 3 can be referred to each other, and will not be repeated in this application.

[0069] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

Claims

1. A mechanical structure for a pipe oxide scale removal robot, characterized in that, include: The main structure (1), the axial motion module (2), and the full-circumference rotation module (3) are included. The main structure (1) includes an upper bearing plate (101) and a lower bearing plate (103). The upper bearing plate (101) and the lower bearing plate (103) are connected by a guide rod (104) and a ball screw (106). A middle bearing plate (102) passes through the guide rod (104) and the ball screw (106). The axial motion module (2) is located on the upper bearing plate (101). The axial motion module (2) controls the rotation of the ball screw (106) through the synchronous belt (203). The middle bearing plate (102) moves axially along the guide rod (104) and the ball screw (106). The full-circumference rotating module (3) includes a gear ring (301), a motion module fixing plate (306), and a gear fixing block. The gear ring (301) is fixed on one side of the middle bearing plate (102). The gear fixing block is fixedly connected to the motion module fixing plate (306). The gear fixing block includes a pinion (303) that meshes with and rotates with the gear ring (301). When the pinion (303) rotates, the motion module fixing plate (306) rotates coaxially with the gear ring (301). An oxide scale breaking module (4) and an adaptive grinding module (5) are fixed on the motion module fixing plate (306); The adaptive grinding module (5) includes a grinding wheel (501). The adaptive grinding module (5) is fixed on the motion module fixing plate (306) by a grinding wheel motor fixing plate (510). An infrared ranging sensor (502) and a fuzzy PID controller (503) are fixed on the grinding wheel motor fixing plate (510). A small lead screw (409) and a small guide rod (410) are provided on the grinding wheel motor fixing plate (510) along the radial direction of the pipe. A small motor (508) is fixed on the grinding wheel motor fixing plate (510). An encoder (507) is installed on one side of the small motor (508). The output end of the small motor (508) and the end of the small lead screw (409) are both connected to small synchronous pulleys (509). The small synchronous pulleys (509) are sleeved on the output end of the small motor (508) and the small synchronous pulleys (509) of the small lead screw (409). The grinding wheel (501) is fixedly connected to the grinding wheel motor (504). The grinding wheel (501) is connected to the small lead screw (409) and the small guide rod (410) and moves radially along the pipeline. The upper bearing plate (101), lower bearing plate (103), middle bearing plate (102), gear ring (301) and motion module fixing plate (306) are all opened and closed by hinges. The guide rod (104) and ball screw (106) are spaced apart at the four corners between the upper bearing plate (101) and the lower bearing plate (103). The four corners of the middle bearing plate (102) are provided with linear bearings (105) and nuts (107) that cooperate with the guide rod (104) and ball screw (106) respectively. The gear fixing block includes a gear fixing block (302), a pinion (303), and a bullseye bearing (305). The gear fixing block (302) is fixed on the motion module fixing plate (306). The pinion (303) is rotatably mounted on one end of the gear fixing block (302). The gear ring (301) has a circular groove that matches the bullseye bearing (305). The motion module fixing plate (306) is fixedly connected to several gear fixing blocks. The pinion (303) on one of the gear fixing blocks is connected to a circumferential drive motor (304). The adaptive grinding module (5) detects the roundness change value and roundness change rate of the pipe through the infrared ranging sensor (502), compares the data of the previous period, calculates the roundness change value and roundness change rate of the infrared sampling interval, and then controls the grinding wheel (501) to move radially along the pipe through the fuzzy PID controller (503) and encoder (507) to grind the pipe with roundness change.

2. The mechanical structure of the pipe oxide scale removal robot according to claim 1, characterized in that, The oxide scale crushing module (4) is fixed to the motion module fixing plate (306) by a radial motor fixing plate (408); the radial motor fixing plate (408) has a radial moving plate (411) facing the pipeline on one side, and a radial drive motor (407) is fixed on the other side. A small lead screw (409) and a small guide rod (410) are arranged in parallel between the radial moving plate (411) and the radial drive motor (407); the radial moving plate (411) is engaged with the small lead screw (409) through a threaded hole, and with the small guide rod (410) through a linear bearing; a fixed connection is made on the radial moving plate (411) A stop block fixing block (406) is provided with a bearing drive motor (405), and the bearing drive motor (405) is connected to an eccentric bearing (404). The edge of the eccentric bearing (404) contacts an arc stop block (403), and an impact head (401) is connected to the end of the arc stop block (403) facing the pipe. A baffle is provided at the end of the stop block fixing block (406) facing the pipe. The tail of the impact head (401) passes through the baffle and connects to the arc stop block (403). A return spring (402) is sleeved on the tail of the impact head (401) between the baffle and the arc stop block (403).

3. The mechanical structure of the pipe oxide scale removal robot according to claim 1, characterized in that, The axial motion module (2) includes an axial drive motor (201), which is fixed on the upper bearing plate (101). The output shaft of the drive motor (201) and the ball screw (106) are both fixed with synchronous pulleys (202). The synchronous belt (203) is wound around the output shaft of the drive motor (201) and the synchronous pulleys (202) of the ball screw (106), and the synchronous pulleys (202) at both ends of the synchronous belt (203) are at the same height.

4. The mechanical structure of the pipe oxide scale removal robot according to claim 1, characterized in that, The upper bearing plate (101) and the lower bearing plate (103) are each provided with several rectangular blocks (109) on their opposite sides. The rectangular blocks (109) are connected to a top block (110) through threaded holes. The head of the top block (110) faces the pipe.

5. The working method of the pipe oxide scale removal robot mechanical structure as described in any one of claims 1 to 4, characterized in that, Includes the following steps: Step 1: Install the pipe oxide scale removal robot on the pipe and fix it with the upper support plate (101) and the lower support plate (103); Step 2: Turn on the circumferential drive motor (304) of the full-circumference rotation module (3), the pinion (303) rotates, and drives the motion module fixing plate (306) to rotate coaxially with the gear ring (301); Step 3: Turn on the bearing drive motor (405) of the oxide scale crushing module (4). The oxide scale crushing module (4) impacts the oxide scale of the pipeline through the impact head (401) to achieve oxide scale crushing work around the entire circumference of the pipeline; and starts the adaptive grinding module (5) to grind the pipeline as needed. Step 4: Turn on the axial drive motor (201) and move the middle bearing plate (102) to the unpolished area via the synchronous belt (203); repeat steps 2 to 4 until the oxide scale on the pipe between the upper bearing plate (101) and the lower bearing plate (103) is broken and polished.

6. The working method of the mechanical structure of the pipe oxide scale removal robot according to claim 5, characterized in that, In step one, the pipe grinding robot is fixed on the pipe by the top blocks (110) on the upper support plate (101) and the lower support plate (103), and the coaxiality of the pipe and the pipe grinding robot is adjusted by adjusting the jacking depth of several top blocks (110) on the ring.

7. The working method of the mechanical structure of the pipe oxide scale removal robot according to claim 5, characterized in that, In step three, the adaptive grinding module (5) detects the roundness change value and roundness change rate of the pipe through the infrared ranging sensor (502), compares the data of the previous period, calculates the roundness change value and roundness change rate of the infrared sampling interval, and then controls the grinding wheel (501) to move radially along the pipe through the fuzzy PID controller (503) and encoder (507) to grind the pipe with roundness change.

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