A modular pipe inner wall grinding device with adaptive pipe diameter

Abstract

This application provides a modular pipe inner wall grinding device with adaptive pipe diameter, comprising a drive structure, a transmission structure, and a grinding structure. Its typical operating mode involves two sets of drive structures connected to the grinding structure via two sets of transmission structures, forming a "drive-transmission-grinding-transmission-drive" combination. One set of drive structures is movably mounted on the inner wall of the pipe, with one end connected to one end of the grinding structure via a transmission structure, used to drive the grinding structure to press against the weld seam on the inner wall of the pipe and perform grinding operations on the weld seam. The other set of drive structures is movably mounted on the inner wall of the pipe, with one end connected to the other end of the grinding structure via another transmission structure, used to assist the grinding structure in grinding the weld seam. This device can adapt to different pipe inner walls, can travel in pipes with varying diameters, can pass through most pipe bends, and can grind the weld seam after fitting against the inner wall of the pipe.

Description

Technical Field

[0001] This application relates to the field of pipelines, and more particularly to a modular pipeline inner wall grinding device with adaptive pipe diameter. Background Technology

[0002] After welding, metal pipes often have oxide films, oil stains, rust, as well as weld slag, spatter, weld beads and other defects that are difficult to clean. Pipes with high welding and usage requirements often need to be strictly cleaned inside.

[0003] Currently, the common practice is to manually grind pipes using an internal grinder equipped with a wire brush and grinding wheels. For longer pipes, an extension rod is connected to a straight grinder for internal cleaning. However, as pipe diameter and length increase, a series of problems arise during grinding, including difficulty in aligning the grinding position, insufficient pressure, uncontrollable vibration, difficulty in radial and circumferential movement within the pipe, and difficulty in achieving the desired cleaning quality. Therefore, there is a need to develop an easy-to-operate, high-quality, labor-saving, and efficient auxiliary grinding and cleaning device for pipe interiors. Summary of the Invention

[0004] One of the objectives of this application is to provide a modular pipe inner wall grinding device with adaptive pipe diameter to solve the problem of inconvenience in using existing pipe grinding internal grinders.

[0005] The technical solution of this application is:

[0006] An adaptive diameter modular pipe inner wall grinding device is used for grinding and cleaning weld seams on the inner wall of a pipe. It includes two sets of drive structures, two transmission structures, and a grinding structure. One set of drive structures is movably mounted on the inner wall of the pipe, and one end is connected to one end of the grinding structure via one of the transmission structures. This drive structure drives the grinding structure to press the weld seam on the inner wall of the pipe and grind the weld seam. The other set of drive structures is movably mounted on the inner wall of the pipe, and one end is connected to the other end of the grinding structure via the other transmission structure. This drive structure assists the grinding structure in grinding the weld seam.

[0007] As one technical solution of this application, the transmission structure includes a universal joint or a spherical universal joint.

[0008] As one technical solution of this application, the driving structure includes a driving body and multiple sets of adaptive wheel sets; the driving body is connected to the grinding structure through the transmission structure; the multiple sets of adaptive wheel sets are respectively and spaced apart on the outer wall of the driving body, and are used to be movable and openable on the inner wall of the pipe.

[0009] As one technical solution of this application, the driving body includes a housing, a power controller, a speed controller, a motor, and a transmission pin; the power controller, the speed controller, and the motor are respectively installed in the inner cavity of the housing, and the power controller is electrically connected to the motor to control the motor to turn on or off; the motor is electrically connected to the speed controller; the two ends of the transmission pin are respectively connected to the speed controller and the grinding structure; the speed controller is respectively connected to each set of adaptive wheel sets to drive multiple sets of adaptive wheel sets to move on the inner wall of the pipe.

[0010] As one technical solution of this application, the adaptive wheel set includes three sets, and the spacing between adjacent adaptive wheel sets is the same.

[0011] As a technical solution of this application, each set of adaptive wheel sets includes a transmission rod, a main wheel rod, a traveling wheel, a secondary rod, a main spring, and a secondary spring; the transmission rod is disposed in the cavity of the main wheel rod, with one end connected to the speed controller and the other end connected to the traveling wheel; one end of the main wheel rod is hinged to the outer wall of the housing near the transmission structure, and the other end is rotatably connected to the traveling wheel; one end of the secondary rod is slidably connected to the slide rail of the main wheel rod, and the other end is hinged to the outer wall of the housing away from the transmission structure; one end of the main spring is connected to the hinge point between the secondary rod and the housing, and the other end is connected to the other end of the main wheel rod; one end of the secondary spring is connected to the hinge point between the main wheel rod and the housing, and the other end is connected to the end of the secondary rod near the slide rail.

[0012] As one technical solution of this application, the grinding structure includes two mounting plates, multiple connecting rods, a lead screw, an internal thread platform, multiple first hinge rods, multiple second hinge rods, multiple grinding clamps, and multiple limiting blocks. The driving body includes multiple telescopic controllers and multiple limiting pins. The two ends of the lead screw are respectively connected to one end of the corresponding transmission structure. The two mounting plates are respectively sleeved on the two ends of the lead screw via ball bearings. The multiple connecting rods are spaced apart and connected between the two mounting plates. The internal thread platform is threaded movably mounted on the lead screw. One end of each of the multiple first hinge rods is spaced apart and hinged to one of the mounting plates, and the other... One end is hinged to a first rotating shaft on one end of the corresponding grinding chuck; one end of a plurality of second hinge rods is hinged at intervals to the internal thread platform, and the other end is hinged to a second rotating shaft on the other end of the corresponding grinding chuck; a plurality of limiting blocks are installed at intervals on the side of the mounting plate near the drive structure; a plurality of limiting pins are movably and at intervals installed on the housing, and one end is either abutting against or detachably connected to the corresponding limiting block; a plurality of telescopic controllers are installed at intervals in the housing, and are electrically connected to the corresponding limiting pins, for controlling the limiting pins to extend or retract into the housing.

[0013] As one technical solution of this application, a first connecting block is welded to both ends of the first rotating shaft and the second rotating shaft. A plurality of first spring plates are installed on the top surface of the first connecting block in sequence, and a stop controller is installed between two of the first spring plates near the ends of the first connecting block. The stop controller is electrically connected to the speed controller. A second spring plate is connected to the top of each first spring plate. A second connecting block is installed on the plurality of second spring plates. Two sets of parallel and spaced grinding clamps are installed on the top surface of the second connecting block. The grinding clamps are used to hold the grinding head.

[0014] As one technical solution of this application, a connecting pin is installed between the ball bearing and the lead screw.

[0015] The beneficial effects of this application are:

[0016] The adaptive pipe diameter modular pipe inner wall grinding device of this application utilizes modular design technology and universal joints to connect the modules, reducing the device's "dead length" and breaking the entire device down into shorter, continuous segments. This allows it to smoothly pass through most pipe bends, solving the problem of weak bending capacity in existing internal grinding mills. Simultaneously, this device employs a unique adaptive wheel assembly technology, ensuring that the wheels press firmly against the pipe's inner diameter during the movement of the wheel assemblies when traversing diameter change zones, thus solving the problem of movement across different pipe diameter areas. Furthermore, the adaptive wheel assemblies are independently configured, with no parallel connection or interference between them, resolving the problem of jamming at eccentric diameter changes and eccentric bends. Furthermore, this device is designed with an openable grinding mechanism and adopts mechanical automatic inner diameter matching technology, which can be well adapted to different pipe diameters. One set of configurations can complete the grinding work at multiple pipe diameters on the pipeline, solving the problem of grinding the inner walls of different diameters with one configuration, improving work efficiency, and having strong turning performance. Moreover, its grinding module unfolds after reaching the working position and performs grinding after pressing the working position, which has the characteristics of high practicality, high reliability and wide applicability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a modular pipe inner wall grinding device with adaptive pipe diameter provided in an embodiment of this application;

[0019] Figure 2 A schematic diagram of the first state of the modular pipe inner wall grinding device with adaptive pipe diameter provided in the embodiments of this application;

[0020] Figure 3 A schematic diagram of the second state of the modular pipe inner wall grinding device with adaptive pipe diameter provided in the embodiments of this application;

[0021] Figure 4 A first-angle schematic diagram of the modular pipe inner wall grinding device with adaptive pipe diameter provided in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the driving structure at a first angle provided in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the second angle of the driving structure provided in an embodiment of this application;

[0024] Figure 7 A schematic diagram of the transmission pin provided in the embodiments of this application;

[0025] Figure 8 This is a schematic diagram of the first angle of the transmission pin provided in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the second angle of the transmission pin provided in an embodiment of this application;

[0027] Figure 10 This is a schematic diagram of one of the mounting plates provided in an embodiment of this application;

[0028] Figure 11 This is another schematic diagram of a mounting plate provided in an embodiment of this application;

[0029] Figure 12 This is a schematic diagram illustrating the connection between the first connecting block and the second connecting block provided in an embodiment of this application.

[0030] Figure 13 This is a schematic diagram showing the first angle at which the first connecting block and the second connecting block are connected, provided in an embodiment of this application.

[0031] Figure 14 This is a schematic diagram of the transmission structure provided in an embodiment of this application.

[0032] Icons: 1-Drive structure; 2-Transmission structure; 3-Grinding structure; 4-Housing; 5-Power controller; 6-Speed ​​controller; 7-Motor; 8-Transmission pin; 9-Connecting pin; 10-Main wheel rod; 11-Walking wheel; 12-Secondary rod; 13-Main spring; 14-Secondary spring; 15-Mounting plate; 16-Connecting rod; 17-Lead screw; 18-Internal thread platform; 19-First hinge rod; 20-Second hinge rod; 21-Grinding clamp; 22-Limit block; 23-Telescopic controller; 24-Limit pin; 25-Ball bearing; 26-First connecting block; 27-First spring plate; 28-Stop controller; 29-Second spring plate; 30-Second connecting block; 31-Grinding fixture; 32-Wide-angle lens; 33-Lighting assembly. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of this application, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only used to facilitate the description of this application and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] Furthermore, in this application, unless otherwise expressly specified and limited, "above or below" the first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Moreover, "above," "over," and "on" the first feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] Example:

[0041] Please refer to Figure 1 (Refer to) Figures 2 to 14 This application provides a modular pipe inner wall grinding device with adaptive pipe diameter, which can be used for grinding and cleaning the weld seams on the inner wall of pipes. The device mainly includes two sets of drive structures 1, two transmission structures 2, and a grinding structure 3. One set of drive structures 1 is movable and openable on the inner wall of the pipe, and one end is connected to one end of the grinding structure 3 through a transmission structure 2, for driving the grinding structure 3 to press the weld seam on the inner wall of the pipe and perform grinding operations on the weld seam. The other set of drive structures 1 is movable and openable on the inner wall of the pipe, and one end is connected to the other end of the grinding structure 3 through another transmission structure 2, for assisting the grinding structure 3 in performing grinding operations on the weld seam.

[0042] It should be noted that, in this embodiment, the transmission structure 2 can be a universal joint or a ball joint.

[0043] Furthermore, the drive structure 1 includes a drive body and multiple sets of adaptive wheel sets; the drive body is connected to the grinding structure 3 via the transmission structure 2; the multiple sets of adaptive wheel sets are respectively and spaced apart on the outer wall of the drive body, and are used to be movable and openable on the inner wall of the pipe.

[0044] Specifically, the drive unit includes a housing 4, a power controller 5, a speed controller 6, a motor 7, and a transmission pin 8. The power controller 5, the speed controller 6, and the motor 7 are respectively installed in the inner cavity of the housing 4, and the power controller 5 is electrically connected to the motor 7 to control the opening or closing of the motor 7. The motor 7 is electrically connected to the speed controller 6. The two ends of the transmission pin 8 are respectively connected to the speed controller 6 and the grinding structure 3. The speed controller 6 is connected to each set of adaptive wheel sets to drive multiple sets of adaptive wheel sets to move on the inner wall of the pipe.

[0045] Furthermore, in this embodiment, three sets of adaptive wheel sets are provided, and the spacing between adjacent adaptive wheel sets is the same. Each set of adaptive wheel sets includes a transmission rod, a main wheel rod 10, a traveling wheel 11, a secondary rod 12, a main spring 13, and a secondary spring 14. The transmission rod is disposed in the cavity of the main wheel rod 10, and one end is connected to the gear of the transmission controller 6, and the other end is connected to the traveling wheel 11. One end of the main wheel rod 10 is hinged to the outer wall of the housing 4 near the transmission structure 2, and the other end is rotatably connected to the traveling wheel 11. One end of the secondary rod 12 is slidably connected to the slide rail of the main wheel rod 10, and the other end is hinged to the outer wall of the housing 4 away from the transmission structure 2. One end of the main spring 13 is connected to the hinge point between the secondary rod 12 and the housing 4, and the other end is connected to the other end of the main wheel rod 10. One end of the secondary spring 14 is connected to the hinge point between the main wheel rod 10 and the housing 4, and the other end is connected to the end of the secondary rod 12 near the slide rail.

[0046] The drive structure 1 primarily provides power to the entire device, supplying power for both movement and grinding. When the power controller 5 receives a movement command, it supplies power to the motor 7, which in turn outputs power to the speed controller 6. The speed controller 6 then distributes the power to each set of adaptive wheel groups. Within each adaptive wheel group, the speed controller 6 distributes power to the transmission rod, which drives the transmission rod to rotate. This rotation causes the hinged traveling wheel 11 to move along the inner wall of the pipe, thus moving the entire device along the pipe's inner wall. During this process, the operator can observe the front and rear of the device through a front video module mounted on the outer wall of the housing 4.

[0047] The two housings 4 are respectively installed on their outer walls. Figure 4 The device is placed in the pipeline using a video module on the AA side. The video module consists of a wide-angle lens 32 and a lighting group 33, which are common in the prior art. When the device enters the pipeline, the lighting group 33 and the wide-angle lens 32 are turned on, and the device can be observed in the pipeline through the wide-angle lens 32.

[0048] Meanwhile, the working principle of the adaptive wheel set is as follows:

[0049] In the adaptive wheel assembly, the main spring 13 applies an outward force to the traveling wheel 11, which is the direct factor causing the traveling wheel 11 to press tightly against the inner wall of the pipe. The auxiliary rod 12 is connected to the slide rail on the main wheel rod 10, and the auxiliary spring 14 ensures that the auxiliary rod 12 always tends to move from the hinge point of the main wheel rod 10 towards the traveling wheel 11. Since the auxiliary rod 12 and the main wheel rod 10 form a triangular structure, the stability of the adaptive wheel assembly is guaranteed. When traveling from a small-diameter pipe area to a large-diameter pipe area, the force provided by the auxiliary spring 14, in conjunction with the force provided by the main spring 13, ensures that the traveling wheel 11 presses tightly against the inner wall of the pipe. When traveling from a large-diameter area to a small-diameter area, the force provided by the traveling wheel 11 causes a reaction force perpendicular to the contact surface between the traveling wheel 11 and the pipe on the inner wall of the pipe. This reaction force causes the main wheel rod 10 to tend to move towards the driving body. In this process, the reaction force first acts on the auxiliary spring 14, and then causes the auxiliary rod 12 to move along the preset slide towards the hinge direction of the main wheel rod 10 before it can act on the main spring 13, thereby making the traveling wheel 11 actually move. This series of actions ensures that the traveling wheel 11 always presses tightly against the inner wall of the pipe during the process of traveling from a large-diameter area to a small-diameter area.

[0050] Furthermore, since the three sets of adaptive wheel sets are set separately, adaptive action can still be completed under non-uniform changing working conditions (such as eccentric diameter changes). It should be noted that, due to the design of the adaptive wheel sets of this device, while ensuring that the traveling wheel 11 is tightly pressed against the inner wall of the pipe, there is no interaction with other wheel sets or devices. Therefore, even under extreme working conditions such as eccentric diameter bends and S-shaped bends, the wheel sets will not get stuck, and stable passage can be achieved.

[0051] Once the device reaches the predetermined working position, the operator stops the device and initiates the deployment of the grinding module. At this time, the transmission controller 6 distributes power to the telescopic controller 23 and locks the transmission system in the adaptive wheel assembly. The telescopic controller 23 then controls the limit pin 24 to extend and abut against the corresponding limit block 22. The transmission controller 6 then distributes power to the universal joint or ball joint. The universal joint or ball joint transmits power to the grinding structure 3, which first distributes power to the rolling bearing, thereby driving the lead screw 17 to rotate. It should be noted that during this process, the mounting plate 15 may rotate as a whole. This rotation is limited by the abutment of the extended limit pin 24 and the limit block 22, thus fixing the mounting plate 15 stationary while only the lead screw 17 can rotate. If the grinding structure 3 rotates as a whole, the limit block 22 on the mounting plate 15 will also rotate. Figure 4 Limiting block 22 at the CC end or in Figure 4 When the limiting block 22 at the DD end of the screw 17 encounters the limiting pin 24, it cannot continue to rotate, thus ensuring that the transmission action of the screw 17 continues to be completed and the mounting plate 15 remains fixed. The rotation of the screw 17 drives the internal thread platform 18 to move towards the mounting plate 15 at another location. At this time, the first hinge rod 19 and the second hinge rod 20 on the grinding chuck 21 move together, thereby causing the grinding chuck 21 to arch up and finally press the weld.

[0052] It should be noted that the self-locking principle of the lead screw 17-nut system in the prior art is used here, which can ensure that the internal thread platform 18 is locked in position due to the self-locking effect after the lead screw 17 stops rotating after reaching the predetermined position.

[0053] During the process of grinding the clamping table 21 to tighten the weld, it can be done through... Figure 4 CC end and Figure 4 We observed the two video modules on the DD end.

[0054] Furthermore, the grinding structure 3 includes two mounting plates 15, multiple connecting rods 16, a lead screw 17, an internal thread platform 18, multiple first hinge rods 19, multiple second hinge rods 20, multiple grinding chucks 21, and multiple limiting blocks 22. The drive body includes multiple telescopic controllers 23 and multiple limiting pins 24. The two ends of the lead screw 17 are respectively connected to one end of the corresponding transmission structure 2. Simultaneously, the two mounting plates 15 are respectively sleeved on the two ends of the lead screw 17 via ball bearings 25. Multiple connecting rods 16 are spaced apart between the two mounting plates 15. Furthermore, the internal thread platform 18 is threaded movably mounted on the lead screw 17. One end of each of the multiple first hinge rods 19 is spaced apart and hinged to the platform. On a mounting plate 15, one end is hinged to a first rotating shaft on one end of a corresponding grinding jig 21; one end of a plurality of second hinge rods 20 is hinged at intervals to an internal thread platform 18, and the other end is hinged to a second rotating shaft on the other end of a corresponding grinding jig 21; a plurality of limit blocks 22 are installed at intervals on the side of the mounting plate 15 near the drive structure 1; a plurality of limit pins 24 are movably and spaced apart on the housing 4, and one end is either abutting against or detachably connected to the corresponding limit block 22; a plurality of telescopic controllers 23 are spaced apart in the housing 4 and are electrically connected to the corresponding limit pins 24, respectively, for controlling the limit pins 24 to extend or retract into the housing 4.

[0055] In addition, a first connecting block 26 is welded to both ends of the first rotating shaft and the second rotating shaft. A plurality of first spring plates 27 are installed on the top surface of the first connecting block 26 in sequence. A stop controller 28 is installed between two of the first spring plates 27 near the ends of the first connecting block 26. The stop controller 28 is electrically connected to the speed controller 6. A second spring plate 29 is connected to the top of each first spring plate 27. A second connecting block 30 is installed on the plurality of second spring plates 29. Two sets of parallel and spaced grinding clamps 31 are installed on the top surface of the second connecting block 30. The grinding clamps 31 are used to hold the grinding head.

[0056] It should be noted that in this embodiment, a connecting pin 9 is installed between the ball bearing 25 and the lead screw 17, which facilitates the replacement of the universal joint or the ball joint.

[0057] Meanwhile, during the preparation of the device, the necessary grinding discs, grinding heads, etc., can be loaded onto the grinding jig 31 on the grinding jig 21. As the grinding jig 21 gradually approaches the weld seam on the inner wall of the pipe, the first spring plate 27 and the second spring plate 29 are compressed, eventually triggering the stop controller 28 to stop the speed controller 6 from distributing power to the universal joint or ball joint. At this point, the grinding jig 21 is in a state of tightly pressing the weld seam. Furthermore, during the grinding of the weld seam, the first spring plate 27 and the second spring plate 29 gradually release their elastic deformation, ensuring that the grinding head on the grinding jig 21 remains in close contact with the weld seam to guarantee the grinding effect. Under normal circumstances, the grinding depth of the weld seam is in the millimeter range, and the elastic deformation accumulated by the first spring plate 27 and the second spring plate 29 can guarantee the work requirements. If the grinding depth is deeper in special circumstances, the grinding structure 3 can be deployed again.

[0058] After the weld seam is tightened, the speed controller 6 stops distributing power to the universal joint. Then, the speed controller 6 first directs the telescopic controller 23 to retract the limit pin 24. After releasing the limit pin, the speed controller 6 distributes power to the universal joint or ball joint again. At this time, the grinding structure 3 distributes power to the ball bearing 25, causing the entire grinding structure 3 to rotate and perform the grinding operation. It should be noted that the rotational link of the grinding structure 3 is a free bearing (such as a conventional bearing like the ball bearing 25), and under no circumstances should power be output to the grinding structure 3 or its rotation be restricted. After grinding is completed, the video module is used to observe. If the operational requirements are met, subsequent operations continue; if not, the device is adjusted and grinding continues until the requirements are met.

[0059] After the grinding operation is completed, the grinding structure 3 is retracted. The process is the same as the deployment, except that the ball bearing 25 drives the lead screw 17 to rotate in the opposite direction. After the internal thread platform 18 moves to the initial position, the device can continue to move to the next weld or return to the starting point for recovery.

[0060] The operation process of this device is as follows:

[0061] (1) Assemble the drive structure 1 and the grinding structure 3 through the transmission structure 2, and connect the power supply and control line;

[0062] (2) Gently press the main wheel rod 10 to smoothly place the device into the pipe; activate the adaptive wheel set to open it and prepare for work;

[0063] (3) Control the device to reach the weld to be ground, locate the weld position through the rear video module, and open the grinding structure 3 at the same time to press the weld.

[0064] (4) Grind the weld seam using grinding structure 3;

[0065] (5) After completing the work, retract the grinding structure 3;

[0066] (6) Control the device to be removed from the pipeline, disassembled for inspection and maintenance for the next use.

[0067] In summary, the modular pipe inner wall grinding device with adaptive pipe diameter of this application utilizes modular design technology and universal joints to connect the modules, reducing the device's "dead length" and breaking the entire device down into shorter, continuous segments. This allows it to smoothly pass through most pipe bends, solving the problem of weak bending capacity in existing internal grinding mills. Simultaneously, this device employs a unique adaptive wheel assembly technology, ensuring that the wheels press firmly against the pipe's inner diameter during the movement of the wheel assemblies when traversing diameter change zones, thus solving the problem of movement across different pipe diameter zones. Furthermore, the adaptive wheel assemblies of this device are independently configured, with no parallel connection or interference between them, resolving the problem of jamming at eccentric diameter changes and eccentric bends. Furthermore, this device is designed with an openable grinding mechanism and adopts mechanical automatic inner diameter matching technology, which can be well adapted to different pipe diameters. One set of configurations can complete the grinding work at multiple pipe diameters on the pipeline, solving the problem of grinding the inner walls of different diameters with one configuration, improving work efficiency, and having strong turning performance. Moreover, its grinding module unfolds after reaching the working position and performs grinding after pressing the working position, which has the characteristics of high practicality, high reliability and wide applicability.

[0068] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A modular pipe inner wall grinding device with adaptive pipe diameter, used for grinding and cleaning the weld seams on the inner wall of a pipe, characterized in that, The system includes two sets of drive structures, two transmission structures, and a grinding structure. One set of drive structures is movably mounted on the inner wall of the pipe, and one end is connected to one end of the grinding structure via a transmission structure. This drive structure drives the grinding structure to press against the weld seam on the inner wall of the pipe and grind the weld seam. The other set of drive structures is movably mounted on the inner wall of the pipe, and one end is connected to the other end of the grinding structure via another transmission structure. This drive structure assists the grinding structure in grinding the weld seam. Each drive structure includes a drive body and multiple sets of adaptive wheels. The drive body is connected to the transmission structure via... The drive mechanism is connected to the grinding structure; multiple sets of adaptive wheel groups are respectively and spaced apart on the outer wall of the drive body, for movable mounting on the inner wall of the pipe; the drive body includes a housing, a power controller, a speed controller, a motor, and a transmission pin; the power controller, the speed controller, and the motor are respectively installed in the inner cavity of the housing, and the power controller is electrically connected to the motor for controlling the motor's on / off state; the motor is electrically connected to the speed controller; both ends of the transmission pin are respectively connected to the speed controller and the grinding structure; the speed controller is drively connected to each set of adaptive wheel groups for driving... Multiple sets of adaptive wheel sets travel on the inner wall of the pipe; the grinding structure includes two mounting plates, multiple connecting rods, a lead screw, an internal thread platform, multiple first hinge rods, multiple second hinge rods, multiple grinding clamps, and multiple limiting blocks; the drive body includes multiple telescopic controllers and multiple limiting pins; the two ends of the lead screw are respectively connected to one end of the corresponding transmission structure; the two mounting plates are respectively sleeved on the two ends of the lead screw through ball bearings; the multiple connecting rods are spaced apart between the two mounting plates; the internal thread platform is threaded movably mounted on the lead screw; one end of the multiple first hinge rods is spaced apart and hinged to one of the mounting plates. The other end is hinged to a first rotating shaft on one end of the corresponding grinding chuck; one end of a plurality of second hinge rods is hinged at intervals to the internal thread platform, and the other end is hinged to a second rotating shaft on the other end of the corresponding grinding chuck; a plurality of limiting blocks are installed at intervals on the side of the mounting plate near the drive structure; a plurality of limiting pins are movably and at intervals installed on the housing, and one end is abutting against or detachably connected to the corresponding limiting block; a plurality of telescopic controllers are installed at intervals in the housing, and are electrically connected to the corresponding limiting pins, for controlling the limiting pins to extend or retract into the housing.

2. The modular pipe inner wall grinding device with adaptive pipe diameter according to claim 1, characterized in that, The transmission structure includes a universal joint or a ball joint.

3. The modular pipe inner wall grinding device with adaptive pipe diameter according to claim 1, characterized in that, The adaptive wheel set includes three sets, and the spacing between adjacent adaptive wheel sets is the same.

4. The modular pipe inner wall grinding device with adaptive pipe diameter according to claim 1, characterized in that, Each set of adaptive wheelsets includes a transmission rod, a main wheel rod, a travel wheel, a secondary rod, a main spring, and a secondary spring. The transmission rod is disposed in the cavity of the main wheel rod, with one end connected to the speed controller and the other end connected to the travel wheel. One end of the main wheel rod is hinged to the outer wall of the housing near the transmission structure, and the other end is rotatably connected to the travel wheel. One end of the secondary rod is slidably connected to the slide rail of the main wheel rod, and the other end is hinged to the outer wall of the housing away from the transmission structure. One end of the main spring is connected to the hinge point between the secondary rod and the housing, and the other end is connected to the other end of the main wheel rod. One end of the secondary spring is connected to the hinge point between the main wheel rod and the housing, and the other end is connected to the secondary rod near the slide rail.

5. The modular pipe inner wall grinding device with adaptive pipe diameter according to claim 1, characterized in that, Both ends of the first rotating shaft and the second rotating shaft are welded with first connecting blocks. Multiple first spring plates are installed on the top surface of the first connecting blocks in sequence, and a stop controller is installed between two of the first spring plates near the ends of the first connecting blocks. The stop controller is electrically connected to the speed controller. A second spring plate is connected to the top of each first spring plate. A second connecting block is installed on the multiple second spring plates. Two sets of parallel and spaced grinding clamps are installed on the top surface of the second connecting blocks. The grinding clamps are used to hold the grinding head.

6. The modular pipe inner wall grinding device with adaptive pipe diameter according to claim 1, characterized in that, A connecting pin is installed between the ball bearing and the lead screw.

Images