A tube blank inner surface grinding vehicle capable of automatically avoiding obstacles

Abstract

The present application relates to the technical field of mechanical design and grinding devices, and discloses a tube blank inner surface grinding trolley capable of automatically avoiding obstacles, including a frame spindle, centering assemblies are installed at both ends of the frame spindle, a moving assembly is installed at the bottom of the centering assembly, a fixed disk is rotatably connected to one side of the outer circumference of the frame spindle, a limiting frame is fixedly connected to the bottom of the fixed disk, a motor 2 is fixedly connected to the top of the fixed disk, a driving sprocket is fixedly connected to the output end of the motor 2, a grinding active shaft is rotatably connected to the middle side of the outer circumference of the frame spindle, and a driven sprocket is fixedly connected to the outer circumference of the grinding active shaft near the fixed disk. By being able to effectively skip over large defects on the inner surface of the tube blank, the structure of the grinding trolley is effectively protected, the service life of the grinding trolley is increased, and the grinding of a larger inner diameter range of the tube blank can be achieved, and there is no need to require the tube blank to rotate around its own axis during grinding, and the application scenarios are more extensive.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical design and grinding devices, and in particular to a tube blank inner surface grinding trolley capable of automatically avoiding obstacles. Background Art

[0002] Grinding is a kind of surface modification technology. It generally refers to a processing method that uses rough objects (such as sandpaper containing high hardness particles) to change the physical properties of the material surface through friction. The main purpose is to obtain a specific surface roughness. For tube blanks with a relatively large length-to-diameter ratio (non-slender tubes), due to the length of the tube blank, its inner surface is difficult to contact and grind. The current grinding method is mainly inner bore grinding, that is, a grinding rod is inserted into the tube to drive a flap wheel or a homemade sanding belt wheel to rotate at high speed, and the tube blank itself is rotated for grinding. The grinding rod is slowly moved forward while rotating. However, when grinding tube blanks with different apertures, different grinding heads need to be replaced, resulting in high equipment cost, many grinding head spare parts, and low productivity; at the same time, during the grinding process, due to the excessive length of the grinding rod, the deflection is generated, and the large defects on the inner surface of the tube blank are prone to grinding instability, thereby affecting the grinding accuracy. For this reason, the present invention proposes a tube blank inner surface grinding trolley that can automatically avoid obstacles. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a tube blank inner surface grinding trolley which can automatically avoid obstacles, which solves the problems in the prior art that the grinding rod is too long, the deflection is generated, and the large defects on the inner surface of the tube blank are easy to cause grinding instability, thereby affecting the grinding accuracy.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a tube blank inner surface grinding trolley capable of automatically avoiding obstacles, comprising a frame spindle, both ends of the frame spindle are equipped with centering components, a moving component is installed at the bottom of the centering component, a fixed plate is rotatably connected to one side of the outer circumference of the frame spindle, a limited position frame is fixedly connected to the bottom of the fixed plate, a motor 2 is fixedly connected to the top of the fixed plate, a driving sprocket is fixedly connected to the output end of the motor 2, a grinding active shaft is rotatably connected to the middle side of the outer circumference of the frame spindle, and the outer circumference of the grinding active shaft is close to the A driven sprocket is fixedly connected to one side of the fixed plate, and the outer periphery of the driven sprocket and the outer periphery of the driving sprocket are connected by a chain, three mounting brackets are fixedly connected to the middle part of the outer periphery of the grinding driving shaft, a grinding driven lever is rotatably connected to the outer side of the mounting bracket, a connecting seat is fixedly connected to the end of the grinding driven lever away from the mounting bracket, a grinding block is fixedly connected to the outer side of the connecting seat, a sliding groove is provided inside the grinding driven lever, an adjusting assembly is installed on the other side of the outer periphery of the frame main shaft, and an obstacle avoidance connecting assembly is installed between the adjusting assembly and the grinding driving shaft.

[0005] Preferably, the centering assembly includes a bracket and a movable fulcrum frame, the bracket is internally rotatably connected to the outer periphery of the frame main shaft, the outer periphery of the bracket is rotatably connected to three centering driven rods, the end of the centering driven rod away from the bracket is rotatably connected to a centering wheel frame, both sides of the centering wheel frame are fixedly connected to wheel frame covers, the inner side of the wheel frame cover is rotatably connected to a polyurethane rubber-coated bearing, the movable fulcrum frame is internally threadedly connected to the outer periphery of the frame main shaft, and a centering active rod is arranged between the outer periphery of the movable fulcrum frame and the middle of the centering driven rod.

[0006] Preferably, one end of the centering active rod is rotatably connected to the middle of the centering driven rod, and the other end of the centering active rod is rotatably connected to the outer side of the movable fulcrum frame.

[0007] The top end of the driving member is hinged on the top of the driving member, and the bottom end of the driving member is hinged on the top of the driving member, and the transmission gear is hinged on the top of the driving member, and the transmission gear is hinged on the top of the driving member, and the transmission gear is hinged on the top of the driving member, and the transmission gear is hinged on the top of the driving member.

[0008] Preferably, a square hole is opened between the tops of the two gusset plates, the bottom of the walking frame is slidably connected inside the square hole, and a notch is opened on the top of one of the gusset plates, and the synchronous belt passes through the notch.

[0009] Preferably, arc-shaped grooves are provided at the bottom of the two gusset plates, and the outer side of the arc-shaped block is slidably connected between the insides of the two arc-shaped grooves.

[0010] Preferably, one end of the walking active rod is rotatably connected to the middle of the walking frame, the other end of the walking active rod is rotatably connected to the bottom of one of the movable fulcrum frames, and the outer side of the walking active rod is slidably connected to the inner side of the limit frame.

[0011] Preferably, the adjustment assembly includes a rotating disk, the middle part of which is rotatably connected to the outer periphery of the frame main shaft, and three positioning shafts are fixedly connected to one side edge of the rotating disk close to the fixed disk, and the outer periphery of the positioning shaft passes through and is slidably connected to the inside of the slide groove.

[0012] Preferably, the obstacle avoidance connection assembly includes three stop blocks and a drive ring, the stop block is fixedly connected to the outer periphery of the grinding active shaft on one side close to the rotating disk, and the three stop blocks are equidistantly distributed circumferentially, the drive ring is fixedly connected to the middle part of the side of the rotating disk close to the grinding active shaft, three equidistantly distributed drive blocks are fixedly connected to the outer side of the drive ring, and the outer side of the stop block is arranged between two adjacent drive blocks.

[0013] Preferably, locking members are installed on both sides of the outer periphery of the frame main shaft, and the locking members are arranged between the movable fulcrum frame and the bracket.

[0014] Working principle: When grinding the inner surface of the tube blank, first manually rotate the main shaft of the frame to drive the mobile fulcrum frames on both sides to move to both ends respectively, so that the centering driven rod expands outward, driving the arc-shaped polyurethane rubber-coated bearing installed on the centering wheel frame to fit the inner surface of the tube blank; at the same time, adjust the electric telescopic rod of the moving component to achieve fine-tuning of the wheel frame installation, so that the walking wheel fits tightly against the inner surface of the tube blank. Start the second motor, and drive the grinding active shaft to rotate through the grinding roller chain, so that the mounting frame on the grinding active shaft drives the grinding driven lever to expand outward; when the grinding block does not contact the inner surface of the tube blank, due to the large rotational inertia of the rotating disk, the positioning shaft on the rotating disk will only move relatively inside the slide groove in the middle of the grinding driven lever, and the grinding driven lever will not drive the rotating disk to rotate; when the grinding block contacts the inner surface of the tube blank, due to the force applied to the end of the grinding driven lever, under the continuous drive of the second motor, the grinding driven lever will transmit power to the shaft on the rotating disk through the cooperation of the slide groove and the positioning shaft, driving the rotating disk to rotate together, thereby realizing the grinding of the inner surface of the tube blank. When stable grinding is performed, start the first motor to drive the travel wheel to rotate, so that the grinding trolley feeds axially inside the tube blank, thereby realizing the grinding of the entire inner surface of the tube blank. When the grinding block grinds a large defect inside the tube blank, the grinding block will encounter resistance. Due to the increase in the instantaneous force of grinding, the rotation speed of the grinding block will decrease, thereby driving the grinding driven lever and the grinding active shaft to decrease in speed; but due to the large rotational inertia of the rotating disk, the rotating disk will still rotate at the original speed, that is, the rotating disk rotates relative to the grinding active shaft, thereby driving the positioning shaft on the rotating disk to move in the slide groove of the grinding driven lever, causing the grinding driven lever to shrink inward slightly, achieving the purpose of automatic obstacle avoidance. When the rotating disk rotates relative to the grinding active shaft by more than a certain angle, the driving block of the rotating disk near the center of the circle will contact and squeeze the stop block at one end of the grinding active shaft, and under the continuous drive of motor 2, the speeds of the grinding active shaft and the rotating disk tend to be consistent, and the grinding continues to proceed steadily.

[0015] The present invention provides a tube blank inner surface grinding trolley capable of automatically avoiding obstacles. It has the following beneficial effects:

[0016] 1. The grinding trolley of the present invention has a light structure and is easy to pick up and place. It can realize grinding of a larger inner diameter range of the tube blank, and there is no need to require the tube blank to rotate around its own axis during grinding, so the application scenarios are more extensive.

[0017] 2. The grinding trolley of the present invention can effectively skip over large defects on the inner surface of the tube blank during grinding, thereby effectively protecting the structure of the grinding trolley and increasing the service life of the grinding trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the mobile fulcrum frame of the present invention;

[0020] Figure 3 It is a schematic diagram of the support structure of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the walking frame of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the active walking rod of the present invention;

[0023] Figure 6 It is a schematic diagram of the limit frame structure of the present invention;

[0024] Figure 7 It is a partial exploded view of the present invention;

[0025] Figure 8 It is a schematic diagram of the stop block structure of the present invention;

[0026] Fig. 9 It is a schematic diagram of the structure of the driving block of the present invention.

[0027] Among them, 1. Main shaft of the frame; 2. Bracket; 3. Centering driven rod; 4. Centering wheel frame; 5. Wheel frame cover; 6. Polyurethane rubber-coated bearing; 7. Mobile fulcrum frame; 8. Centering active rod; 9. Travel frame; 10. Motor 1; 11. Active pulley; 12. Arc block; 13. Buckle plate; 14. Arc groove; 15. Install wheel frame; 16. Rotating shaft; 17. Travel wheel; 18. Driven pulley; 19. Synchronous belt; 20. Support shaft; 21. Electric 1. movable telescopic rod; 22. notch; 23. active walking rod; 24. fixed plate; 25. limit frame; 26. motor 2; 27. driving sprocket; 28. grinding driving shaft; 29. ​​driven sprocket; 30. chain; 31. mounting frame; 32. grinding driven rod; 33. connecting seat; 34. grinding block; 35. slide groove; 36. stop block; 37. rotating plate; 38. positioning shaft; 39. driving ring; 40. driving block; 41. locking piece. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings of the present invention specification to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example:

[0030] Please refer to the attached Figure 1 -Attached Fig. 9 The embodiment of the present invention provides a tube blank inner surface grinding trolley capable of automatically avoiding obstacles, including a frame spindle 1. The frame spindle 1 is the supporting structure of the entire grinding trolley, which can ensure the stable operation of various components of the trolley. Centering components are installed at both ends of the frame spindle 1, and the trolley can be quickly installed at the center position inside the tube blank through the centering components, which is convenient for the subsequent grinding of the inner wall of the tube blank. A moving component is installed at the bottom of the centering component, and the trolley can be moved inside the tube blank through the moving component, so as to perform all-round grinding of the inner wall of the tube blank.

[0031] A fixed disk 24 is rotatably connected to one side of the outer periphery of the frame main shaft 1, a limiting frame 25 is fixedly connected to the bottom of the fixed disk 24, a motor 26 is fixedly connected to the top of the fixed disk 24, a driving sprocket 27 is fixedly connected to the output end of the motor 26, a grinding driving shaft 28 is rotatably connected to the middle side of the outer periphery of the frame main shaft 1, a driven sprocket 29 is fixedly connected to the side of the outer periphery of the grinding driving shaft 28 close to the fixed disk 24, and the outer periphery of the driven sprocket 29 and the outer periphery of the driving sprocket 27 are connected by a chain 30.

[0032] Specifically, when the trolley is installed on the inner wall of the tube blank, the motor 26 is started to drive the driving sprocket 27 to rotate, so that the driving sprocket 27 can drive the driven sprocket 29 meshing with the inner side of the chain 30 to rotate through the chain 30, and then the driven sprocket 29 can drive the grinding drive shaft 28 to rotate on the outer periphery of the frame main shaft 1, so that the grinding drive shaft 28 can drive the grinding equipment installed outside it to operate, so that the grinding equipment can rotate and grind the inner wall of the tube blank.

[0033] Three mounting brackets 31 are fixedly connected to the middle part of the outer periphery of the grinding active shaft 28, and a grinding driven lever 32 is rotatably connected to the outer side of the mounting bracket 31. A connecting seat 33 is fixedly connected to the end of the grinding driven lever 32 away from the mounting bracket 31, and a grinding block 34 is fixedly connected to the outer side of the connecting seat 33. A slide groove 35 is provided inside the grinding driven lever 32. An adjustment component is installed on the other side of the outer periphery of the frame main shaft 1, and an obstacle avoidance connection component is installed between the adjustment component and the grinding active shaft 28.

[0034] Specifically, when the grinding active shaft 28 is driven to rotate, the mounting frame 31 will also rotate, and then the grinding driven lever 32 connected to the mounting frame 31 will be continuously flipped outward under the action of centrifugal force, and under the restriction of the adjustment component, it is ensured that the grinding driven lever 32 will not be directly thrown out by the centrifugal force. At the same time, with the cooperation of the obstacle avoidance connection component, it is ensured that the adjustment component will also rotate when the grinding active shaft 28 rotates. At the same time, through the transmission gap on the obstacle avoidance connection component, the mounting frame 31 can push the grinding driven lever 32 to move outward on the adjustment component for a distance, and the grinding block 34 will be ejected under the action of centrifugal force and contact the inner wall of the tube blank, so as to perform a grinding operation on the inner wall of the tube blank. It is avoided that the synchronous rotation of the adjustment component and the grinding active shaft 28 causes the grinding driven lever 32 and the grinding block 34 to be unable to extend, so that the grinding trolley can automatically extend the grinding structure and fit the inner wall of the tube blank when starting, so as to adapt to the grinding operation of tube blanks with different diameters.

[0035] The centering assembly includes a bracket 2 and a movable fulcrum frame 7. The bracket 2 is internally rotatably connected to the outer periphery of the frame main shaft 1. The outer periphery of the bracket 2 is rotatably connected to three centering driven rods 3. The end of the centering driven rod 3 away from the bracket 2 is rotatably connected to a centering wheel frame 4. Both sides of the centering wheel frame 4 are fixedly connected to wheel frame covers 5. The inner side of the wheel frame cover 5 is rotatably connected to a polyurethane rubber-coated bearing 6. The movable fulcrum frame 7 is internally threadedly connected to the outer periphery of the frame main shaft 1. A centering active rod 8 is arranged between the outer periphery of the movable fulcrum frame 7 and the middle of the centering driven rod 3.

[0036] Specifically, the centering assembly is placed inside the tube blank to ensure that the bracket 2 will not rotate on the frame main shaft 1 at will, and then the frame main shaft 1 is rotated to drive the two movable fulcrum frames 7 to move in the opposite direction, so that the movable fulcrum frame 7 pushes the centering active rod 8 to expand the centering driven rod 3 outward, and then the centering driven rod 3 is expanded outward and the centering wheel frame 4 at its end is pushed toward the inner wall of the tube blank until the two polyurethane rubber-coated bearings 6 on the centering wheel frame 4 are in contact with and tightly attached to the inner wall of the tube blank. Since the three centering active rods 8 are pushed synchronously by the movable fulcrum frame 7, the three centering driven rods 3 will also be synchronously expanded outward. When one group of polyurethane rubber-coated bearings 6 abuts against the inner wall of the tube blank, the other two groups of polyurethane rubber-coated bearings 6 also abut against the inner wall of the circular tube blank synchronously, completing the centering process of the grinding trolley, so that the grinding trolley is in the center position inside the tube blank, which is convenient for subsequent grinding operations and ensures that the rotating grinding block 34 can evenly grind the inner wall of the tube blank.

[0037] One end of the centering active rod 8 is rotatably connected to the middle of the centering driven rod 3, and the other end of the centering active rod 8 is rotatably connected to the outside of the movable fulcrum frame 7. When the movable fulcrum frame 7 moves, the centering active rod 8 can be pushed to move, and then the centering active rod 8 can push the centering driven rod 3 to extend outward, or after the grinding is completed, the frame main shaft 1 can be rotated in the opposite direction to drive the two movable fulcrum frames 7 to move toward each other, thereby pulling the centering active rod 8 to retract the centering driven rod 3.

[0038] The mobile component includes a walking frame 9, the top of the walking frame 9 is rotatably connected to the bottom of one of the brackets 2, a motor 10 is fixedly connected to one side of the top of the walking frame 9, and a driving pulley 11 is fixedly connected to the output end of the motor 10, an arc block 12 is fixedly connected to the bottom end of the walking frame 9, and buckle plates 13 are arranged on both sides of the top of the arc block 12, and a mounting wheel frame 15 is fixedly connected between the bottoms of the two buckle plates 13, and a rotating shaft 16 is rotatably connected to the inner side of the mounting wheel frame 15, and a walking wheel 17 is fixedly connected to one side of the outer periphery of the rotating shaft 16, and a driven pulley 18 is fixedly connected to the other side of the outer periphery of the rotating shaft 16, and the driven pulley 18 and the driving pulley 11 are connected by a synchronous belt 19, and two supporting shafts 20 are rotatably connected to the outer side of the walking frame 9, and an electric telescopic rod 21 is fixedly connected to the outer periphery of the support shaft 20, and the output ends of the two electric telescopic rods 21 are respectively hinged to the tops of the two buckle plates 13, and a walking active rod 23 is arranged between the middle part of the walking frame 9 and one of the mobile fulcrum frames 7.

[0039] Specifically, the moving assembly will contact the inner wall of the tube blank as the centering assembly is unfolded. By starting the two sets of electric telescopic rods 21 on the side to push the gusset plate 13 to move, the gusset plate 13 can be fine-tuned in angle under the cooperation of the arc groove 14 and the arc block 12, so that the walking wheel 17 on the inner side of the wheel frame 15 and the inner wall of the tube blank can be more closely contacted, and the friction between the walking wheel 17 and the inner wall of the tube blank can be increased to avoid slipping when the trolley moves. After that, the motor 10 is started to drive the active pulley 11 to rotate, so that the active pulley 11 drives the driven pulley 18 to rotate through the cooperation of the synchronous belt 19, and then the driven pulley 18 drives the rotating shaft 16 and the walking wheel 17 to rotate. When the walking wheel 17 rotates, it can cooperate with the inner wall of the tube blank to drive the grinding trolley to move inside the tube blank. Then, the inner wall of the tube blank is evenly polished in cooperation with the rotating grinding block 34.

[0040] A square hole is provided between the tops of the two gusset plates 13, and the bottom of the traveling frame 9 is slidably connected inside the square hole. The square hole can prevent motion interference between the traveling frame 9 and the gusset plates 13 when fine-tuning the angles of the gusset plates 13 and the mounting wheel frame 15. A notch 22 is provided at the top of one of the gusset plates 13, and a notch 22 is also provided at the corresponding position of the top of the mounting wheel frame 15. The synchronous belt 19 passes through the notch 22, and the synchronous belt 19 can pass through the gusset plates 13 and the mounting wheel frame 15 through the notch 22, thereby driving the traveling wheel 17 to rotate.

[0041] The bottom of the two gusset plates 13 are both provided with arc grooves 14, and the outer side of the arc block 12 is slidably connected between the inside of the two arc grooves 14. Through the cooperation between the arc groove 14 and the arc block 12, the electric telescopic rod 21 can drive the gusset plate 13 and the mounting wheel frame 15 to fine-tune the angle along the arc block 12 when it is started, so that the walking wheel 17 and the inner wall of the tube blank are in closer contact.

[0042] One end of the active travel rod 23 is rotatably connected to the middle of the travel frame 9, and the other end of the active travel rod 23 is rotatably connected to the bottom of one of the mobile fulcrum frames 7, so that when the frame main shaft 1 drives the mobile fulcrum frame 7 to move and unfold or store the centering assembly, the mobile fulcrum frame 7 can synchronously push or pull the active travel rod 23 to flip the travel frame 9 downward to open, or flip it upward to store. The outer side of the active travel rod 23 is slidably connected to the inner side of the limit frame 25. When the centering assembly is unfolded, the multiple groups of polyurethane rubber-coated bearings 6 on its outer side will be in close contact with the inner wall of the tube blank. Therefore, after the centering assembly is unfolded, the centering assembly remains stationary inside the tube blank and will not rotate. When the limit frame 25 is inserted into the outer periphery of the active walking rod 23, when the motor 26 is started, the cooperation between the limit frame 25 and the active walking rod 23 can ensure that the fixed plate 24 will not rotate along the outer periphery of the frame main shaft 1, so that the fixed plate 24 and the motor 2 26 remain stationary inside the tube blank, so that the active sprocket 27 can rotate and drive the driven sprocket 29, the grinding active shaft 28 and the grinding block 34 to rotate, so that when the grinding block 34 is extended and fits the inner wall of the tube blank, stable grinding can be performed.

[0043] The adjusting assembly includes a rotating disk 37 , the middle of which is rotatably connected to the outer periphery of the frame main shaft 1 , and three positioning shafts 38 are fixedly connected to one side edge of the rotating disk 37 close to the fixed disk 24 , and the outer periphery of the positioning shaft 38 passes through and is slidably connected to the inside of the slide groove 35 .

[0044] Specifically, when the grinding active shaft 28 rotates, the grinding active shaft 28 can rotate in advance through the obstacle avoidance connection component, so that the mounting frame 31 can push the grinding driven lever 32 to move under the cooperation of centrifugal force, and at the same time, the rotating disk 37 does not rotate at this moment, so that the inner slide groove 35 of the grinding driven lever 32 can cooperate with the positioning shaft 38 on the rotating disk 37 to limit the grinding driven lever 32, so that the mounting frame 31 pushes the grinding driven lever 32 to move, and the grinding driven lever 32 is supported by the positioning shaft 38 and the slide groove 35 through the inner slide groove 35 and the positioning shaft 38. As the mounting frame 31 rotates, it will extend outward with the positioning shaft 38 and the slide groove 35 as support. Until the obstacle avoidance connection component connects the grinding active shaft 28 and the rotating disk 37, at this time, the grinding active shaft 28 and the rotating disk 37 keep rotating synchronously, and at this time, the grinding driven lever 32 is released, and the grinding block 34 at the end is in contact with the inner wall of the tube blank.

[0045] The obstacle avoidance connection assembly includes three stop blocks 36 and a drive ring 39. The stop block 36 is fixedly connected to the outer periphery of the grinding active shaft 28, close to the rotating disk 37, and the three stop blocks 36 are equidistantly distributed in a circumferential pattern. The drive ring 39 is fixedly connected to the middle of one side of the rotating disk 37, close to the grinding active shaft 28. Three equidistantly distributed drive blocks 40 are fixedly connected to the outer side of the drive ring 39, and the outer side of the stop block 36 is arranged between two adjacent drive blocks 40.

[0046] Specifically, when the grinding block 34 grinds a large defect inside the tube blank, the grinding block 34 will encounter resistance. Due to the increase in the instantaneous force of grinding, the rotation speed of the grinding block 34 will decrease, thereby driving the grinding driven lever 32 and the grinding active shaft 28 to decrease in speed; but due to the large rotational inertia of the rotating disk 37, the rotating disk 37 will continue to rotate at the original speed, that is, the rotating disk 37 rotates relative to the grinding active shaft 28, so that the driving block 40 will transfer from a contacting stop block 36 to the side of a stop block 36 on the other side. Thereby driving the positioning shaft 38 on the rotating disk 37 to move inside the slide groove 35 on the grinding driven lever 32, so that the grinding driven lever 32 will slightly turn inward and shrink along the connection between it and the mounting frame 31, achieving the purpose of automatic obstacle avoidance. When the rotating disk 37 rotates relative to the grinding active shaft 28 for more than a certain angle, the driving block 40 near the center of the rotating disk will contact and squeeze the stop block 36 at one end of the grinding active shaft 28, and under the continuous drive of the second motor, the rotation speeds of the grinding active shaft and the rotating disk tend to be consistent. Afterwards, the driving block 40 that moves from the side of the previous stop block 36 to the side of the adjacent stop block 36 on the other side will reset and contact the previous side of the stop block 36 under the action of inertia and squeezing, and then the stop block 36 rotates to drive the driving block 40 to rotate, so that the grinding active shaft 28 drives the rotating disk 37 to rotate synchronously again, and at this time, the grinding driven lever 32 extends outward again and contacts the inner wall of the tube blank for grinding, so that the subsequent grinding continues to proceed stably.

[0047] Locking members 41 are installed on both sides of the outer periphery of the frame main shaft 1, and the locking members 41 are arranged between the mobile fulcrum frame 7 and the bracket 2. The mobile fulcrum frame 7 can be limited by the locking members 41 to ensure that it will not fall off from the outer periphery of the frame main shaft 1.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tube blank inner surface grinding trolley capable of automatically avoiding obstacles, comprising a frame spindle (1), characterized in that: Centering components are installed at both ends of the frame main shaft (1), and a moving component is installed at the bottom of the centering component. A fixed disk (24) is rotatably connected to one side of the outer periphery of the frame main shaft (1), and a limiting frame (25) is fixedly connected to the bottom of the fixed disk (24). A second motor (26) is fixedly connected to the top of the fixed disk (24), and a driving sprocket (27) is fixedly connected to the output end of the second motor (26). A grinding driving shaft (28) is rotatably connected to the middle side of the outer periphery of the frame main shaft (1), and a driven sprocket (29) is fixedly connected to the outer periphery of the grinding driving shaft (28) on a side close to the fixed disk (24). The outer periphery of the driven sprocket (29) and The outer peripheries of the driving sprockets (27) are connected by chains (30); three mounting frames (31) are fixedly connected to the middle of the outer periphery of the grinding driving shaft (28); a grinding driven lever (32) is rotatably connected to the outer side of the mounting frame (31); a connecting seat (33) is fixedly connected to the end of the grinding driven lever (32) away from the mounting frame (31); a grinding block (34) is fixedly connected to the outer side of the connecting seat (33); a sliding groove (35) is provided inside the grinding driven lever (32); an adjustment component is installed on the other side of the outer periphery of the frame main shaft (1); and an obstacle avoidance connection component is installed between the adjustment component and the grinding driving shaft (28); The adjustment assembly comprises a rotating disk (37), the middle portion of the rotating disk (37) is rotatably connected to the outer periphery of the frame main shaft (1), and three positioning shafts (38) are fixedly connected to one side edge of the rotating disk (37) close to the fixed disk (24), and the outer periphery of the positioning shaft (38) passes through and is slidably connected to the inside of the slide groove (35); The obstacle avoidance connection assembly comprises three stop blocks (36) and a drive ring (39); the stop block (36) is fixedly connected to a side of the outer periphery of the grinding active shaft (28) close to the rotating disk (37), and the three stop blocks (36) are equidistantly distributed circumferentially; the drive ring (39) is fixedly connected to the middle of a side of the rotating disk (37) close to the grinding active shaft (28); three equidistantly distributed drive blocks (40) are fixedly connected to the outer side of the drive ring (39); and the outer side of the stop block (36) is arranged between two adjacent drive blocks (40).

2. The tube blank inner surface grinding trolley capable of automatically avoiding obstacles according to claim 1 is characterized in that: The centering assembly comprises a bracket (2) and a movable fulcrum frame (7); the bracket (2) is internally rotatably connected to the outer periphery of the frame main shaft (1); the outer periphery of the bracket (2) is rotatably connected to three centering driven rods (3); one end of the centering driven rod (3) away from the bracket (2) is rotatably connected to a centering wheel frame (4); both sides of the centering wheel frame (4) are fixedly connected to wheel frame covers (5); the inner side of the wheel frame cover (5) is rotatably connected to a polyurethane rubber-coated bearing (6); the movable fulcrum frame (7) is internally threadedly connected to the outer periphery of the frame main shaft (1); and a centering active rod (8) is provided between the outer periphery of the movable fulcrum frame (7) and the middle of the centering driven rod (3).

3. The tube blank inner surface grinding trolley capable of automatically avoiding obstacles according to claim 2 is characterized in that: One end of the centering active rod (8) is rotatably connected to the middle of the centering driven rod (3), and the other end of the centering active rod (8) is rotatably connected to the outside of the movable fulcrum frame (7).

4. The tube blank inner surface grinding trolley capable of automatically avoiding obstacles according to claim 2 is characterized in that: The moving assembly comprises a walking frame (9), the top of the walking frame (9) is rotatably connected to the bottom of one of the brackets (2), a motor (10) is fixedly connected to one side of the top of the walking frame (9), an output end of the motor (10) is fixedly connected to a driving pulley (11), an arc block (12) is fixedly connected to the bottom of the walking frame (9), both sides of the top of the arc block (12) are provided with buckle plates (13), a mounting wheel frame (15) is fixedly connected between the bottoms of the two buckle plates (13), a rotating shaft (16) is rotatably connected to the inner side of the mounting wheel frame (15), and the outer periphery of the rotating shaft (16) is A walking wheel (17) is fixedly connected on one side, a driven pulley (18) is fixedly connected on the other side of the outer periphery of the rotating shaft (16), the driven pulley (18) and the driving pulley (11) are connected via a synchronous belt (19), two supporting shafts (20) are rotatably connected to the outer side of the walking frame (9), an electric telescopic rod (21) is fixedly connected to the outer periphery of the supporting shaft (20), the output ends of the two electric telescopic rods (21) are respectively hingedly connected to the tops of the two buckle plates (13), and a walking active rod (23) is arranged between the middle of the walking frame (9) and one of the movable fulcrum frames (7).

5. The tube blank inner surface grinding trolley capable of automatically avoiding obstacles according to claim 4 is characterized in that: A square hole is provided between the tops of the two buckle plates (13), and the bottom of the walking frame (9) is slidably connected inside the square hole. A notch (22) is provided on the top of one of the buckle plates (13), and the synchronous belt (19) passes through the notch (22).

6. The tube blank inner surface grinding vehicle capable of automatically avoiding obstacles according to claim 4 is characterized in that: The bottoms of the two buckle plates (13) are each provided with an arc-shaped groove (14), and the outer side of the arc-shaped block (12) is slidably connected between the insides of the two arc-shaped grooves (14).

7. The tube blank inner surface grinding vehicle capable of automatically avoiding obstacles according to claim 4 is characterized in that: One end of the walking active rod (23) is rotatably connected to the middle of the walking frame (9), the other end of the walking active rod (23) is rotatably connected to the bottom of one of the movable fulcrum frames (7), and the outer side of the walking active rod (23) is slidably connected to the inner side of the limit frame (25).

8. The tube blank inner surface grinding vehicle capable of automatically avoiding obstacles according to claim 2 is characterized in that: Locking members (41) are installed on both sides of the outer periphery of the frame main shaft (1), and the locking members (41) are arranged between the movable fulcrum frame (7) and the bracket (2).

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