A grinding device and method for grinding the circumferential weld seam inside the launch tube.

Abstract

This invention relates to a grinding device and method for the annular weld seam of the inner wall of a launch tube. The device further comprises a self-propelled grinding robot (100), a storage and docking mechanism (200), a host computer control cabinet (300), a dust extraction device (400), and an air compressor device (500). The self-propelled grinding robot (100) is installed inside the storage and docking mechanism (200), which is connected to the self-propelled grinding robot (100) via a cable drag chain to transmit stable electrical power and control signals to each actuator. This invention solves the problem of incomplete grinding caused by insufficient roundness of the inner wall of the launch tube due to deformation after annular welding, ensuring grinding accuracy and quality.

Description

Technical Field

[0001] This invention relates to a grinding device and method for grinding annular weld seams on the inner wall of a launch tube, belonging to the field of equipment manufacturing. More specifically, it relates to a grinding device and method for grinding annular weld seams on the inner wall of a launch tube, particularly for flexible grinding and polishing of annular weld seams on the inner wall of launch tubes in military weapon equipment. Background Technology

[0002] In the fields of aerospace, petroleum, chemical and weapons manufacturing, cylindrical cavities are usually chosen as the main method for storing and transporting products. Their manufacturing process usually involves multiple sections being welded together. After the cylindrical sections are welded, the weld seams need to be ground.

[0003] The inventors discovered that in the manufacturing process of launch tubes with a diameter of 400-500mm and a wall thickness of 3-6mm, the annular welding between these small-diameter, thin-walled tube segments results in annular weld seams and deformation on the inner wall after welding. Currently, the removal of these weld seams generally requires manual entry into the tube to grind and polish them using handheld tools. This is particularly problematic for slender pipe products with small dimensions, making manual operation difficult. Furthermore, manual grinding is time-consuming, labor-intensive, and produces uneven thickness, which is detrimental to the production of precision pipes. Existing pipe internal grinding robots are mostly designed for pipes with diameters exceeding 600mm and are rarely used for grinding and polishing annular weld seams after laser welding. Equipment applied to grinding annular weld seams on the inner wall of launch tubes is extremely rare. Therefore, this invention proposes a solution to the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a grinding device and method for the annular weld seam of the inner wall of a launch tube, so as to overcome the problems of the existing grinding of the annular weld seam of small-diameter thin-walled cylinders, which requires manual entry into the cylinder, resulting in high construction difficulty, high safety risks, and time and labor costs.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A grinding device for the annular weld seam inside a launch tube, characterized in that it further comprises: a self-propelled grinding robot 100, a storage and docking mechanism 200, a host computer control cabinet 300, a dust collection device 400, and an air compressor device 500; the self-propelled grinding robot 100 is disposed inside the storage and docking mechanism 200, which is connected to the self-propelled grinding robot 100 via a cable drag chain, and is used to transmit stable electrical power and control signals to each actuator; the host computer control cabinet 300 is connected to the storage and docking mechanism 200 via a circuit. The connection provides a stable electrical supply and signal transmission; the dust collection device 400 is located on the left side of the storage docking mechanism 200, and is connected to the self-propelled grinding robot 100 through a dust collection pipe, for collecting and removing grinding dust inside the launch tube; the air compressor device 500 is located on the left side of the host computer control cabinet 300, and is connected to the host computer control cabinet 300 through an air pipe, for providing a stable air pressure supply to each actuator; the storage docking mechanism 200 is located at the rear end interface of the launch tube being ground;

[0007] The self-propelled grinding robot 100 includes two crawling fixing devices 110, a central connecting frame 120, and a rotary grinding device 130. The two crawling fixing devices 110 are located on both sides of the central connecting frame 120 and connected to both sides of the central connecting frame 120. The crawling fixing devices 110 are used to support the self-propelled grinding robot 100 to move axially and to provide radial clamping and positioning. The rotary grinding device 130 is fitted in the middle of the central connecting frame 120 and is fixedly connected to the central connecting frame 120. The central connecting frame 120 provides accurate positioning and electrical power to the rotary grinding device 130. The rotary grinding device 130 is used for flexible grinding of the annular weld seam on the inner wall of the launch tube.

[0008] The storage docking mechanism 200 includes a storage compartment 210, a lifting bracket 220, and a movable base 230. The storage compartment 210 is fixed to the top of the lifting bracket 220 by bolts. The lifting bracket 220 is mounted on the top of the movable base 230 by a slide rail. The movable base 230 is used to support the storage docking mechanism 200 and the self-propelled grinding robot 100 inside it.

[0009] The host computer control cabinet 300 includes an anti-static housing 310, a main power control unit 320, a physical button module 330, an electrical control system 340, and a display unit 350. The main power control unit 320 is installed on the side of the anti-static housing 310 and is used to connect and disconnect external and internal circuits. The physical button module 330 is located on the upper surface of the anti-static housing 310 and is used to send specific instructions to each actuator. The electrical control system 340 is located inside the anti-static housing 310 and is used to connect the actuators to the control system for signal transmission. The display unit 350 is located on the upper surface of the anti-static housing 310 and provides a human-machine interface and data analysis capabilities.

[0010] The central connecting frame 120 includes a flange 121, a connecting pipe 122, a fixing plate 123, a dust collection box 124, a sleeve 125, a slip ring 126, an air nozzle 127, and a right flange 128. The connecting pipe 122 is welded to the right side of the flange 121, and the fixing plate 123 is welded to the middle section of the connecting pipe 122. The dust collection box 124 is installed at the bottom of the fixing plate 123. A sleeve 125 is welded to the right end of the connecting pipe 122, and a slip ring 126 is fitted on the sleeve 125. An air nozzle 127 is installed on the slip ring 126, and the right flange 128 is threaded onto the right side of the sleeve 125. Crawling fixing devices 110 are bolted to the left side of the flange 121 and the right side of the right flange 128, respectively. A rotary grinding device 130 is bolted to the right end face of the fixing plate 123.

[0011] The crawling fixing device 110 has a sleeve shaft 111 in the middle. A support plate 112 is bolted to the right side of the sleeve shaft 111. Three T-shaped support legs 113 are evenly distributed on the support plate 112. A pressure cap 114 is bolted to the right side of the support plate 112. A conical ring 115 is fitted on the right side of the sleeve shaft 111. The conical ring 115 is to the right of the support plate 112. A fixing plate 116 is installed at the right end of the sleeve shaft 111. The fixing plate 116 is to the right of the conical ring 115. Two cylinders 117 are symmetrically installed on the fixing plate 116. Two servo drive wheels 118 are installed on the support plate 112 at an included angle of 120°.

[0012] The rotary grinding device 130 includes a rotary feed turntable 131, a rotary connecting plate 132, a radial feed slide 133, a belt sander 134, a distance sensor 135, a camera 136, and a laser sight 137. The rotary feed turntable 131 has the rotary connecting plate 132 mounted on its right side. The radial feed slide 133 is mounted on the upper end of the rotary connecting plate 132. The belt sander 134 is mounted on the radial feed slide 133, and a distance sensor 135 is mounted on the right end face of the belt sander 134. A camera 136 is mounted on the upper part of the distance sensor 135, and a laser sight 137 is mounted directly above the sanding belt of the belt sander 134.

[0013] The storage compartment 210 includes front and rear end frames 211, a storage cylinder section 212, a cable chain guide plate 213, a de-energized electromagnet 214, a window cover plate 215, and a movable handle 216. The front and rear end frames 211 are welded to the two ends of the storage cylinder section 212. The cable chain guide plate 213 is fixed to the inner surface of the storage cylinder section 212 with bolts. The de-energized electromagnet 214 is installed on the cable chain guide plate 213 in a direction that rotates 135° axially. The window cover plate 215 is connected to the middle position of the outer side of the storage cylinder section 212 by a hinge. The movable handle 216 is connected to the outer side of the window cover plate 215 and around the perimeter of the storage cylinder section 212 by bolts.

[0014] The lifting bracket 220 includes a U-shaped bracket 221, a reversing transmission component 222, a lifting frame 223, a cable drag chain 224, a lifting drive motor 225, a protective cover 226, a cable connection box 227, a horizontal slider 228, and a horizontal movement mechanism 229. The top consists of two sets of U-shaped brackets 221, which are connected to two symmetrically distributed reversing transmission components 222 via evenly distributed lead screw shafts. The lower end of each reversing transmission component 222 is bolted to the lifting frame 223. The rear end of the lifting frame 223 is bolted to the cable drag chain 224. The left end of the upper surface of the lifting frame 223 is bolted to the lifting drive motor 225 and the protective cover 226. The right end of the upper surface of the lifting frame 223 is bolted to the cable connection box 227. Two sets of horizontal sliders 228 are symmetrically distributed at the front and rear positions of the lower end of the lifting frame 223 via bolts. The right end of the lower end of the lifting frame 223 is bolted to the horizontal movement mechanism 229.

[0015] The movable base 230 includes a slider guide rail 231, a support base 232, a lateral movement stop 233, and four sets of universal wheels 234. Multiple slider guide rails 231 are symmetrically distributed on two opposing beams at the top of the upper part of the support base 232. The slider guide rails 231 are symmetrically distributed on the upper part of the support base 232 by bolts. The lateral movement stop 233 is fixed to the inner side of the support base 232 by bolts. Four sets of universal wheels 234 are installed at the bottom of the support base 232 by bolts.

[0016] The electrical control system 340 includes a multi-axis controller 241, a power module 242, a wireless transmission module 243, a motor drive module 244, a relay module 245, and a solenoid valve module 246. The display unit 350 is bidirectionally electrically connected to the multi-axis controller 241. The multi-axis controller 241 is bidirectionally electrically connected to the wireless transmission module 243. The wireless transmission module 243 is bidirectionally electrically connected to the camera 136. The output terminal of the multi-axis controller 241 is electrically connected to the input terminals of the motor drive module 244 and the relay module 245. The output terminal of the motor drive module 244 is connected to the servo valve module 246. The input terminals of the drive wheel 118, rotary feed turntable 131, and radial feed slide 133 are electrically connected. The output terminal of the relay module 245 is electrically connected to the input terminals of the solenoid valve module 246, lifting drive motor 225, belt sander motor 134, de-energized electromagnet 214, vacuum cleaner 400, laser aiming device 137, and air compressor 500. The output terminal of the solenoid valve module 246 is connected to the air pipe at the input terminal of the cylinder 117 and air nozzle 127. The output terminals of the power module 242, physical button 330, and sensor 135 are all electrically connected to the input terminal of the multi-axis controller 241.

[0017] A grinding method for annular weld seam grinding device on the inner wall of a launch tube, characterized by the use of the annular weld seam grinding device on the inner wall of a launch tube as described in claim 8, comprising the following steps:

[0018] Step 1: The operator moves the storage docking mechanism 200 to the rear end face of the launch tube to be polished, then presses the locking device on the universal wheel 234 to pre-position it, manually adjusts the handwheel in the transverse movement mechanism 229 to align the axis of the storage compartment 210 with the axis of the launch tube to be polished, drives the lifting drive motor 225 in the lifting bracket 220, so that the lifting drive motor 225 drives the reversing transmission component 222 to rotate through the belt and pulley, and the reversing transmission component 222 drives the U-shaped bracket to move up and down through the rotation of the lead screw shaft, so that the storage compartment 210 moves to be coaxial with the end face of the launch tube to be polished.

[0019] Step Two: Connect the air compressor 500 to the host computer control cabinet 300 via air pipes to provide stable air pressure. Connect the cables and air pipes in the host computer control cabinet 300 to the cable connection box 227 in the storage docking mechanism 200. The cables and air pipes in the cable connection box 227 are always connected to the various actuators in the self-propelled grinding robot 100 via cable drag chains. Connect the other end of the dust collection pipe in the dust collection device 400 to the dust collection box 124 in the self-propelled grinding robot 100. After the connection is completed, turn on the main power control switch 320 in the host computer control cabinet 300.

[0020] Step 3: Activate the de-energized electromagnet 214 in the storage compartment via the physical button module 330 in the host computer control cabinet 300, releasing the brake of the self-propelled grinding robot 100. Drive the servo drive wheel 118 in the self-propelled grinding robot 100 to rotate, causing the robot to move along the grinding cylinder. As it moves forward, the laser aiming device 137 in the rotating grinding device 130 emits a laser line onto the inner wall of the grinding cylinder. Simultaneously, the camera 136 in the rotating grinding device 130 transmits the captured image to the display unit 350 via the wireless transmission module in the host computer control cabinet 300. When the laser line is aligned with the weld seam to be ground, stop the servo drive wheel 118.

[0021] Step 4: Activate cylinder 117 in the crawling fixing device 110. Cylinder 117 drives cone ring 115 to move axially through cylinder push rod. Cone ring 115 contacts and squeezes the bottom of T-shaped support leg 113, causing T-shaped support leg 113 to radially tighten the inner wall of the launch tube along the slide groove of support plate 112. This makes the axis of self-propelled grinding robot 100 coaxial with the inner wall of the launch tube, further accurately positioning self-propelled grinding robot 100 and providing conditions for reliable operation of rotary grinding mechanism.

[0022] Step 5: Start the belt grinder 134 in the rotary grinding device 130 to keep the grinding belt rotating. Move the radial feed slide 133 so that the belt grinder 134 contacts the weld to be ground in the radial direction. Start the rotary feed turntable 131 so that the rotary feed turntable 131 drives the radial feed slide 133 and the belt grinder 134 to rotate synchronously through the rotary connecting plate 132, thereby completing the grinding operation of the annular weld inside the cylinder.

[0023] Step Six: During the grinding process, the operator sets the radial feed value and number of rotations between the belt grinder 134 and the inner wall of the pipe in advance in the display unit 350, and monitors the real-time distance between the belt grinder 134 and the inner wall of the pipe through the distance sensor 135. The detection data signal is transmitted to the multi-axis controller 241, which analyzes the data. When the detection data is greater than or less than the set value, the multi-axis controller 241 sends a signal to the motor drive module 244. The motor drive module 244 drives the radial feed slide 133 to feed radially outward or inward, ensuring that the belt grinder 134 grinds the inner wall of the launch tube at a constant distance according to the system set value for each revolution. This solves the problem of insufficient roundness caused by the deformation of the inner wall of the launch tube after circumferential welding, which leads to incomplete grinding and ensures grinding accuracy and quality.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. This invention achieves the grinding of the annular weld seam inside the launch tube by coordinating the operation of a self-propelled grinding robot, a storage docking mechanism, a host computer control cabinet, a dust collection device, and an air compressor. In use, first, the storage docking mechanism is moved to the rear end face of the launch tube to be ground. Then, the locking device on the universal wheel is pressed for pre-positioning. The handwheel in the lateral movement mechanism is manually adjusted to align the axis of the storage compartment with the axis of the launch tube to be ground. The lifting drive motor in the lifting bracket is then driven, causing the lifting drive motor to move the storage compartment to be coaxial with the end face of the launch tube to be ground. Next, the air compressor is connected to the host computer control cabinet via an air pipe. The cables and air pipes in the host computer control cabinet are connected to the cable connection box in the storage docking mechanism. The other end of the dust collection pipe in the dust collection device is connected to the dust collection box in the self-propelled grinding robot. Finally, the main power switch in the host computer control cabinet is turned on. By using the physical button module in the host computer control cabinet, the de-energized electromagnet in the storage compartment is activated, causing the self-propelled grinding robot to release its brake and move along the launch cylinder to be ground. As it moves forward, the laser aiming device in the rotating grinding device emits a laser line onto the inner wall of the cylinder to be ground. The camera in the rotating grinding device captures the image and transmits it to the display unit via the wireless transmission module in the host computer control cabinet. When the laser line is aligned with the weld to be ground, the cylinder in the crawling fixing device is activated. The cylinder push rod drives the conical ring to move axially. The conical ring contacts and presses the bottom of the T-shaped support, causing the T-shaped support to radially tighten the inner wall of the launch cylinder along the support plate groove. This ensures that the axis of the self-propelled grinding robot is coaxial with the inner wall of the launch cylinder, further accurately positioning the self-propelled grinding robot. Finally, the belt grinder in the rotary grinding device is activated. The radial feed slide is moved according to pre-set motion parameters, bringing the belt grinder into radial contact with the weld seam to be ground. The rotary feed turntable is then activated, causing it to rotate synchronously with the radial feed slide and belt grinder via a rotating connecting plate, thus completing the grinding operation of the annular weld seam inside the cylinder. This grinding method establishes signal interaction and coordinated linkage among the various devices in the annular weld seam grinding device, allowing operators to control the self-propelled grinding robot's movement inside the launch cylinder, weld seam identification, positioning and tensioning, and constant-distance grinding via buttons on an external control cabinet. This solves the problem of existing grinding methods that require manual entry into the cylinder to perform grinding and polishing operations using handheld tools, which are difficult to implement, have high safety risks, and are time-consuming and labor-intensive.

[0026] 2. The operator pre-sets the radial feed value and number of rotations between the belt sander and the inner wall of the pipe in the display unit. The distance sensor monitors the real-time distance between the belt sander and the inner wall of the pipe and transmits the detection data signal to the multi-axis controller. The multi-axis controller analyzes the data, and when the detection data is greater than or less than the set value, the multi-axis controller sends a signal to the motor drive module. The motor drive module drives the radial feed slide to move radially outward or inward, ensuring that the belt sander performs constant-distance sanding on the inner wall of the launch tube according to the system set value for each round of sanding. This invention solves the problem of incomplete sanding caused by insufficient roundness of the inner wall of the launch tube due to deformation after circumferential welding, ensuring sanding accuracy and quality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the self-propelled grinding robot in this invention;

[0029] Figure 3 This is a schematic diagram of the storage docking mechanism in this invention;

[0030] Figure 4 This is a schematic diagram of the upper computer control cabinet structure in this invention;

[0031] Figure 5 This is a structural diagram of the crawling fixing device in this invention;

[0032] Figure 6 This is a structural diagram of the central connecting frame in this invention;

[0033] Figure 7 This is a structural diagram of the rotary polishing device in this invention;

[0034] Figure 8 This is a structural diagram of the storage compartment section in this invention;

[0035] Figure 9 This is a structural diagram of the lifting bracket in this invention;

[0036] Figure 10 This is a structural diagram of the movable base in this invention;

[0037] Figure 11 This is a schematic diagram of the grinding device for the annular weld seam inside the launch tube in this invention.

[0038] Among them, 100 is a self-propelled grinding robot; 110 is a crawling fixing device; 111 is a sleeve shaft; 112 is a support plate; 113 is a T-shaped support leg; 114 is a pressure cap; 115 is a conical ring; 116 is a fixing plate; 117 is a cylinder; 118 is a servo drive wheel; 120 is a central connecting frame; 121 is a flange; 122 is a connecting pipe; 123 is a fixing plate; 124 is a dust collection box; 125 is a sleeve; 126 is a slip ring; 127 is... Air nozzle; 128 is the right flange; 130 is the rotary grinding device; 131 is the rotary feed turntable; 132 is the rotary connecting plate; 133 is the radial feed slide; 134 is the belt sander; 135 is the distance sensor; 136 is the camera; 137 is the laser sight; 200 is the storage docking mechanism; 210 is the storage compartment; 211 is the front and rear end frames; 212 is the storage cylinder section; 213 is the cable chain guide plate; 214 is the de-energized electromagnet; 2 15 is a window cover; 216 is a movable handle; 220 is a lifting bracket; 221 is a U-shaped bracket; 222 is a reversing transmission component; 223 is a lifting frame; 224 is a cable drag chain; 225 is a lifting drive motor; 226 is a protective cover; 227 is a cable connection box; 228 is a horizontal slider; 229 is a horizontal moving mechanism; 230 is a movable base; 231 is a slider guide rail; 232 is a support base; 233 is a horizontal moving block. 234 is a caster wheel; 241 is a multi-axis controller; 242 is a power module; 243 is a wireless transmission module; 244 is a motor drive module; 245 is a relay module; 246 is a solenoid valve module; 300 is a host computer control cabinet; 310 is an anti-static housing for the control cabinet; 320 is a main power control unit; 330 is a physical button module; 340 is an electrical control system; 350 is a display unit; 400 is a vacuum cleaner; 500 is an air compressor. Detailed Implementation

[0039] A grinding device for the annular weld seam inside a launch tube includes a self-propelled grinding robot, a storage and docking mechanism, a host computer control cabinet, a dust extraction device, and an air compressor. The self-propelled grinding robot is installed inside the storage and docking mechanism, the host computer control cabinet is located on the right side of the storage and docking mechanism, the dust extraction device is located on the left side of the storage and docking mechanism, the air compressor is located on the left side of the host computer control cabinet, and the storage and docking mechanism is located at the rear end interface of the launch tube being ground.

[0040] Its characteristic is that it also includes:

[0041] A crawling fixing device is provided on both sides of the self-propelled grinding robot. The crawling fixing device is used to support the self-propelled grinding robot to move axially and to brace and position it radially.

[0042] A central connecting frame is located at the center of the self-propelled grinding robot. The central connecting frame is used to install the crawling fixing device and the rotary grinding device, and to provide accurate positioning and electrical power to the rotary grinding device.

[0043] A rotary grinding device is installed in the middle of the central connecting frame. The rotary grinding device is used for flexible grinding of the annular weld seam on the inner wall of the launch tube.

[0044] The storage compartment is located on top of the storage docking mechanism. The storage compartment is used to position and store the self-propelled grinding robot and to guide the self-propelled grinding robot during docking.

[0045] A lifting bracket is installed at the lower part of the storage compartment. The lifting bracket is used to adjust the storage compartment to move up and down and left and right, and to precisely align the storage compartment with the rear end face of the launch tube to be polished.

[0046] A movable base is located at the lower part of the lifting bracket. The movable base is used to support the horizontal movement and coarse positioning of the storage docking mechanism and the self-propelled grinding robot. An anti-static housing for the control cabinet is located on the outside of the host computer control cabinet. The anti-static housing for the control cabinet is used to support the installation positions of various components in the host computer control system.

[0047] The main power control is located on the side of the anti-static housing of the control cabinet. The main power control is used to switch the external circuit and the internal circuit.

[0048] A physical button module is located in the middle of the anti-static housing of the control cabinet. The physical button module is used to send specific instructions to each actuator.

[0049] An electrical control system is installed inside the anti-static housing of the control cabinet. The electrical control system is used to connect the signal transmission between each actuator and the control system.

[0050] The display unit is located on the top of the anti-static housing of the control cabinet. The display unit is used to provide a good human-machine interface and data analysis.

[0051] A dust collection device, which is connected to a self-propelled grinding robot via a dust collection pipe, is used to collect and remove grinding dust from inside the firing tube.

[0052] An air compressor device, which is connected to a host computer control cabinet via an air pipe, is used to provide a stable air pressure supply to each actuator.

[0053] The host computer control cabinet is connected to the storage docking mechanism via cables and air pipes; it is used to provide a stable electrical supply and signal transmission.

[0054] The self-storage docking mechanism is connected to the self-propelled grinding robot via a cable drag chain, and is used to transmit stable electrical supply and control signals to each actuator.

[0055] Preferably, the crawling fixing device has a sleeve shaft in the middle, a support plate is bolted to the right side of the sleeve shaft, three T-shaped support feet are evenly distributed on the support plate, a pressure cap is bolted to the right side of the support plate, a conical ring is fitted on the right side of the sleeve shaft, a fixing plate is installed at the right end of the sleeve shaft, and two cylinders are symmetrically installed on the fixing plate. Two servo drive wheels are installed on the support plate at an included angle of 120°.

[0056] Preferably, the left end of the central connecting frame is a flange, a connecting pipe is welded to the right side of the flange, a fixing plate is welded to the middle section of the connecting pipe, and a dust collection box is installed at the bottom of the fixing plate. A sleeve is welded to the right end of the connecting pipe, a slip ring is fitted on the sleeve, an air nozzle is installed on the slip ring, and a right flange is threaded onto the right side of the sleeve.

[0057] Preferably, the rotary grinding device has a rotary feed turntable on the left side, a rotary connecting plate on the right side of the rotary feed turntable, a radial feed slide on the upper end of the rotary connecting plate, a belt sander on the radial feed slide, a distance sensor on the right end face of the belt sander, a camera on the upper part of the distance sensor, and a laser aiming device on the top of the belt sander.

[0058] Preferably, the storage compartment has front and rear end frames on both sides, and the storage cylinder section is installed on the front and rear end frames by welding. The storage cylinder section has a drag chain guide plate fixed to its inner surface by bolts. The drag chain guide plate is equipped with a de-energized electromagnet in a direction that rotates 135° axially. The storage cylinder section has a window cover plate connected to the middle position of its outer side by a hinge. The window cover plate and the storage cylinder section are respectively connected to movable handles by bolts on the outer side and around the perimeter.

[0059] Preferably, the top of the lifting bracket is a U-shaped bracket, and two sets of U-shaped brackets are symmetrically distributed at the lower end of the storage compartment section via bolts. The two sets of U-shaped brackets are connected to two sets of symmetrically distributed reversing transmission components via evenly distributed lead screw shafts. The lower end of the reversing transmission components is bolted to a lifting frame. A cable drag chain is bolted to the rear end of the lifting frame. A lifting drive motor and protective cover are bolted to the left end of the lifting frame, and a cable connection box is bolted to the right end. Two sets of transverse sliders are symmetrically distributed at the front and rear positions of the lower end of the lifting frame via bolts, and a transverse movement mechanism is bolted to the right end of the lower end of the lifting frame. Preferably, the top of the movable base is a slider guide rail, which is symmetrically distributed on the upper part of the support base via bolts. A transverse movement stop is bolted to the inner side of the support base, and four sets of universal wheels are bolted to the bottom of the support base.

[0060] Preferably, the electrical control system internally installs a multi-axis controller, a power supply module, a wireless transmission module, a motor drive module, a relay module, and a solenoid valve module. The display unit is bidirectionally electrically connected to the multi-axis controller, the multi-axis controller is bidirectionally electrically connected to the wireless transmission module, the wireless transmission module is bidirectionally electrically connected to the camera, the output terminal of the multi-axis controller is electrically connected to the input terminals of the motor drive module and the relay module, the output terminal of the motor drive module is electrically connected to the input terminals of the servo drive wheel, the rotary feed turntable, and the radial feed slide, the output terminal of the relay module is electrically connected to the input terminals of the solenoid valve module, the lifting drive motor, the belt sander, the de-energized electromagnet, the vacuum cleaner, the laser sight, and the air compressor, the output terminal of the solenoid valve module is connected to the input air pipe of the cylinder and the air nozzle, and the output terminals of the power supply module, the physical button, and the sensor are all electrically connected to the input terminal of the multi-axis controller.

[0061] The grinding method of the aforementioned grinding device for the annular weld seam of the inner wall of the launch tube includes the following steps:

[0062] Step 1: The staff moves the storage docking mechanism to the rear end face of the launch tube pipe to be ground, then presses the locking device on the universal wheel to pre-position it, manually adjusts the handwheel in the lateral movement mechanism to align the axis of the storage compartment with the axis of the launch tube to be ground, drives the lifting drive motor in the lifting bracket, and drives the reversing transmission component to rotate through the belt and pulley. The reversing transmission component rotates through the lead screw shaft to drive the U-shaped bracket to move up and down, thereby moving the storage compartment to be coaxial with the end face of the launch tube to be ground.

[0063] Step Two: Connect the air compressor to the host computer control cabinet via air hoses to provide stable air pressure. Connect the cables and air hoses in the host computer control cabinet to the cable connection box in the storage docking mechanism. The cables and air hoses in the cable connection box should always be connected to the various actuators in the self-propelled grinding robot via cable chains. Connect the other end of the dust collection pipe in the dust collection equipment to the dust collection box in the self-propelled grinding robot. After connection, turn on the main power switch in the host computer control cabinet.

[0064] Step 3: Activate the de-energized electromagnet in the storage compartment via the physical button module in the host computer control cabinet to release the brake of the self-propelled grinding robot. This drives the servo drive wheels of the self-propelled grinding robot to rotate, causing it to move along the grinding cylinder. As it moves forward, the laser aiming device in the rotating grinding device emits a laser line onto the inner wall of the grinding cylinder. Simultaneously, the camera in the rotating grinding device captures the image and transmits it to the display unit via the wireless transmission module in the host computer control cabinet. When the laser line is aligned with the weld seam to be ground, the servo drive wheels stop.

[0065] Step 4: Activate the cylinder in the crawling fixing device. The cylinder drives the cone ring to move axially through the cylinder push rod. The cone ring contacts and squeezes the bottom of the T-shaped support, causing the T-shaped support to radially tighten the inner wall of the launch tube along the support plate groove. This makes the axis of the self-propelled grinding robot coaxial with the inner wall of the launch tube, further accurately positioning the self-propelled grinding robot and providing conditions for the reliable operation of the rotary grinding mechanism.

[0066] Step 5: Start the belt grinder in the rotary grinding device, move the radial feed slide to make the belt grinder contact the weld to be ground in the radial direction, start the rotary feed turntable, and make the rotary feed turntable drive the radial feed slide and the belt grinder to rotate synchronously through the rotary connecting plate to complete the grinding operation of the annular weld inside the cylinder.

[0067] Step Six: During the grinding process, the operator pre-sets the radial feed value and number of rotations between the belt grinder and the inner wall of the pipe in the display unit. The distance sensor monitors the real-time distance between the belt grinder and the inner wall of the pipe and transmits the detection data signal to the multi-axis controller. The multi-axis controller analyzes the data, and when the detection data is greater than or less than the set value, the multi-axis controller sends a signal to the motor drive module. The motor drive module drives the radial feed slide to feed radially outward or inward, ensuring that the belt grinder grinds the inner wall of the launch tube at a constant distance according to the system set value for each revolution. This solves the problem of insufficient roundness caused by deformation of the inner wall of the launch tube after circumferential welding, which leads to incomplete grinding and ensures grinding accuracy and quality.

[0068] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0069] Please see Figure 1-11 An embodiment of the present invention provides a grinding device for the annular weld seam of the inner wall of a launch tube, comprising a self-propelled grinding robot 100, a storage and docking mechanism 200, a host computer control cabinet 300, a dust collection device 400, and an air compressor device 500. The self-propelled grinding robot 100 is disposed inside the storage and docking mechanism 200, the host computer control cabinet 300 is disposed on the right side of the storage and docking mechanism 200, the dust collection device 400 is disposed on the left side of the storage and docking mechanism 200, the air compressor device 500 is disposed on the left side of the host computer control cabinet 300, and the storage and docking mechanism 200 is disposed at the rear end interface of the launch tube to be ground.

[0070] Its characteristic is that it also includes:

[0071] The crawling fixing device 110 is disposed on both sides of the self-propelled grinding robot 100. The crawling fixing device 110 is used to support the self-propelled grinding robot 100 to move axially and to brace and position it radially.

[0072] The central connecting frame 120 is located at the center of the self-propelled grinding robot 100. The central connecting frame 120 is used to install the crawling fixing device 110 and the rotary grinding device 130, and provides accurate positioning and electrical supply for the rotary grinding device 130.

[0073] The rotary grinding device 130 is located in the middle of the central connecting frame 120. The rotary grinding device 130 is used for flexible grinding of the annular weld seam on the inner wall of the launch tube.

[0074] The storage compartment 210 is located on top of the storage docking mechanism 200. The storage compartment 210 is used to position and store the self-propelled grinding robot 100 and to guide the self-propelled grinding robot 100 during docking.

[0075] The lifting bracket 220 is located at the lower part of the storage compartment 210. The lifting bracket 220 is used to adjust the storage compartment 210 to move up and down and left and right, and to accurately connect the storage compartment 210 with the rear end face of the launch tube to be polished.

[0076] The movable base 230 is located under the lifting bracket 220. The movable base 230 is used to support the horizontal movement and coarse positioning of the storage docking mechanism 200 and the self-propelled grinding robot 100.

[0077] The anti-static housing 310 of the control cabinet is located on the outside of the host computer control cabinet 300. The anti-static housing 310 is used to support the installation position of various components in the host computer control system.

[0078] The main power control 320 is located on the side of the anti-static housing 310 of the control cabinet. The main power control 320 is used to switch the external circuit and the internal circuit.

[0079] The physical button module 330 is located in the middle of the anti-static housing 310 of the control cabinet. The physical button module 330 is used to send specific instructions to each actuator.

[0080] The electrical control system 340 is located inside the anti-static housing 310 of the control cabinet. The electrical control system 340 is used to connect the signal transmission between each actuator and the control system.

[0081] The display unit 350 is located on the top of the anti-static housing 310 of the control cabinet. The display unit 350 is used to provide a good human-machine interface and data analysis.

[0082] The vacuum cleaner 400 is connected to the self-propelled polishing robot 100 via a vacuum pipe and is used to collect and remove polishing dust from inside the discharge tube.

[0083] Air compressor equipment 500 is connected to the host computer control cabinet 300 via air pipes; it is used to provide a stable air pressure supply to each actuator.

[0084] The host computer control cabinet 300 is connected to the storage docking mechanism 200 via cables and air pipes; it is used to provide a stable electrical supply and signal transmission.

[0085] The self-storage docking mechanism 200 is connected to the self-propelled grinding robot 100 via a cable drag chain, and is used to transmit stable electrical supply and control signals to each actuator.

[0086] Please see Figure 5 The crawling fixing device 110 has a sleeve shaft 111 in the middle. A support plate 112 is bolted to the right side of the sleeve shaft 111. Three T-shaped support feet 113 are evenly distributed on the support plate 112. A pressure cover 114 is bolted to the right side of the support plate 112. A conical ring 115 is fitted on the right side of the sleeve shaft 111. A fixing plate 116 is installed at the right end of the sleeve shaft 111. Two cylinders 117 are symmetrically installed on the fixing plate 116. Two servo drive wheels 118 are installed on the support plate 112 at an angle of 120°.

[0087] Please see Figure 6 The left end of the central connecting frame 120 is a flange 121. A connecting pipe 122 is welded to the right side of the flange 121. A fixing plate 123 is welded to the middle section of the connecting pipe 122. A dust collection box 124 is installed at the bottom of the fixing plate. A sleeve 125 is welded to the right end of the connecting pipe 122. A slip ring 126 is fitted on the sleeve 125. An air nozzle 127 is installed on the slip ring 126. A right flange 128 is threaded onto the right side of the sleeve 125.

[0088] Please see Figure 7 The rotary grinding device 130 has a rotary feed turntable 131 on the left side, a rotary connecting plate 132 on the right side of the rotary feed turntable 131, a radial feed slide 133 on the upper end of the rotary connecting plate 132, a belt sander 134 on the radial feed slide 133, a distance sensor 135 on the right end face of the belt sander 134, a camera 136 on the upper part of the distance sensor 135, and a laser aiming device 137 directly above the sanding belt of the belt sander 134.

[0089] Please see Figure 8The storage compartment 210 has front and rear end frames 211 on both sides. The storage cylinder section 212 is installed on the front and rear end frames 211 by welding. The storage cylinder section 212 has a drag chain guide plate 213 fixed to its inner surface by bolts. The drag chain guide plate 213 is equipped with a de-energized electromagnet 214 in a direction that rotates 135° axially. The window cover plate 215 is connected to the middle position of the outer side of the storage cylinder section 212 by a hinge. The moving handle 216 is connected to the outer side of the window cover plate 215 and around the storage cylinder section 212 by bolts.

[0090] Please see Figure 9 The top of the lifting bracket 220 is a U-shaped bracket 221. The lower end of the storage compartment 210 has two sets of U-shaped brackets 221 symmetrically distributed by bolts. The two sets of U-shaped brackets 221 are connected to two sets of symmetrically distributed reversing transmission components 222 by evenly distributed lead screw shafts. The lower end of the reversing transmission components 222 is bolted to the lifting frame 223. The rear end of the lifting frame 223 is bolted to the cable drag chain 224. The left end of the lifting frame 223 is bolted to the lifting drive motor 225 and the protective cover 226. The right end is bolted to the cable connection box 227. The front and rear positions of the lower end of the lifting frame 223 are symmetrically distributed by bolts to the horizontal sliders 228. The right end of the lower end of the lifting frame 223 is bolted to the horizontal moving mechanism 229.

[0091] Please see Figure 10 The top of the movable base 230 is a slider guide rail 231, which is symmetrically distributed on the upper part of the support base 232 by bolts. The inner side of the support base 232 is fixed with a transverse movement stop 233 by bolts, and the bottom of the support base 232 is equipped with four sets of universal wheels 234 by bolts.

[0092] Please see Figure 11The electrical control system 340 internally houses a multi-axis controller 241, a power supply module 242, a wireless transmission module 243, a motor drive module 244, a relay module 245, and a solenoid valve module 246. The display unit 350 is bidirectionally electrically connected to the multi-axis controller 241, and the multi-axis controller 241 is bidirectionally electrically connected to the wireless transmission module 243. The wireless transmission module 243 is bidirectionally electrically connected to the camera 136. The output of the multi-axis controller 241 is electrically connected to the input of the motor drive module 244 and the relay module 245. The output of the motor drive module 244 is connected to the servo... The input terminals of drive wheel 119, rotary feed turntable 131, and radial feed slide 133 are electrically connected. The output terminal of relay module 245 is electrically connected to the input terminals of solenoid valve module 246, lifting drive motor 225, belt sander 134, de-energized electromagnet 214, vacuum cleaner 400, laser aiming device 137, and air compressor 500. The output terminal of solenoid valve module 246 is connected to the air pipe at the input terminal of cylinder 117 and nozzle 127. The output terminals of power module 242, physical button 330, and sensor 135 are all electrically connected to the input terminal of multi-axis controller 241.

[0093] Please see Figure 1-11 A grinding method for a grinding device for the annular weld seam inside a launch tube includes the following steps:

[0094] Step 1: The staff moves the storage docking mechanism 200 to the rear end face of the launch tube pipe to be ground, then presses the locking device on the universal wheel 234 to pre-position it, manually adjusts the handwheel in the transverse movement mechanism 229 to align the axis of the storage compartment 210 with the axis of the launch tube to be ground, drives the lifting drive motor 225 in the lifting bracket 220, so that the lifting drive motor 225 drives the reversing transmission component 222 to rotate through the belt and pulley, and the reversing transmission component 222 drives the U-shaped bracket to move up and down through the rotation of the lead screw shaft, so that the storage compartment 210 moves to be coaxial with the end face of the launch tube to be ground.

[0095] Step Two: Connect the air compressor 500 to the host computer control cabinet 300 via air pipes to provide stable air pressure. Connect the cables and air pipes in the host computer control cabinet 300 to the cable connection box 227 in the storage docking mechanism 200. The cables and air pipes in the cable connection box 227 are always connected to the various actuators in the self-propelled grinding robot 100 via cable drag chains. Connect the other end of the dust collection pipe in the dust collection device 400 to the dust collection box 124 in the self-propelled grinding robot 100. After the connection is completed, turn on the main power control switch 320 in the host computer control cabinet 300.

[0096] Step 3: Activate the de-energized electromagnet 214 in the storage compartment via the physical button module 330 in the host computer control cabinet 300, releasing the brake of the self-propelled grinding robot 100. Drive the servo drive wheel 118 in the self-propelled grinding robot 100 to rotate, causing the robot to move along the grinding cylinder. As it moves forward, the laser aiming device 137 in the rotating grinding device 130 emits a laser line onto the inner wall of the grinding cylinder. Simultaneously, the camera 136 in the rotating grinding device 130 transmits the captured image to the display unit 350 via the wireless transmission module in the host computer control cabinet 300. When the laser line is aligned with the weld seam to be ground, stop the servo drive wheel 118.

[0097] Step 4: Activate cylinder 117 in the crawling fixing device 110. Cylinder 117 drives cone ring 115 to move axially through cylinder push rod. Cone ring 115 contacts and squeezes the bottom of T-shaped support leg 113, causing T-shaped support leg 113 to radially tighten the inner wall of the launch tube along the slide groove of support plate 112. This makes the axis of self-propelled grinding robot 100 coaxial with the inner wall of the launch tube, further accurately positioning self-propelled grinding robot 100 and providing conditions for reliable operation of rotary grinding mechanism.

[0098] Step 5: Start the belt grinder 134 in the rotary grinding device 130 to keep the grinding belt rotating. Move the radial feed slide 133 so that the belt grinder 134 contacts the weld to be ground in the radial direction. Start the rotary feed turntable 131 so that the rotary feed turntable 131 drives the radial feed slide 133 and the belt grinder 134 to rotate synchronously through the rotary connecting plate 132, thereby completing the grinding operation of the annular weld inside the cylinder.

[0099] Step Six: During the grinding process, the operator sets the radial feed value and number of rotations between the belt grinder 134 and the inner wall of the pipe in advance in the display unit 350, and monitors the real-time distance between the belt grinder 134 and the inner wall of the pipe through the distance sensor 135. The detection data signal is transmitted to the multi-axis controller 241, which analyzes the data. When the detection data is greater than or less than the set value, the multi-axis controller 241 sends a signal to the motor drive module 244. The motor drive module 244 drives the radial feed slide 133 to feed radially outward or inward, ensuring that the belt grinder 134 grinds the inner wall of the launch tube at a constant distance according to the system set value for each revolution. This solves the problem of insufficient roundness caused by the deformation of the inner wall of the launch tube after circumferential welding, which leads to incomplete grinding and ensures grinding accuracy and quality.

[0100] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0101] This invention discloses a grinding device and method for the annular weld seam on the inner wall of a launch tube, relating to the field of launch tube weld seam grinding. The grinding device includes a self-propelled grinding robot, a storage and docking mechanism, a host computer control system, a dust extraction device, and an air compressor device. The purpose of this invention is to provide an automated grinding device that can replace manual grinding operations inside the launch tube, improving grinding efficiency and safety. It can automatically identify, precisely position, perform constant-distance grinding, and handle dust from annular weld seams on the inner wall of launch tubes with diameters between 350mm and 500mm. The advantages of this invention are low manual intervention, high processing accuracy, high efficiency, wide applicability, and meeting the actual production needs of enterprises.

[0102] A grinding device for the annular weld seam inside a launch tube includes a self-propelled grinding robot 100, a storage and docking mechanism 200, a host computer control cabinet 300, a dust collection device 400, and an air compressor device 500. The self-propelled grinding robot 100 is disposed inside the storage and docking mechanism 200; the host computer control cabinet 300 is disposed on the right side of the storage and docking mechanism 200; the dust collection device 400 is disposed on the left side of the storage and docking mechanism 200; the air compressor device 500 is disposed on the left side of the host computer control cabinet 300; and the storage and docking mechanism 200 is disposed at the rear end interface of the launch tube to be ground.

[0103] Its characteristic is that it also includes:

[0104] A crawling fixing device 110 is disposed on both sides of the self-propelled grinding robot 100. The crawling fixing device 110 is used to support the self-propelled grinding robot 100 to move axially and to brace and position it radially.

[0105] A central connecting frame 120 is set at the center of the self-propelled grinding robot 100. The central connecting frame 120 is used to install the crawling fixing device 110 and the rotary grinding device 130, and to provide accurate positioning and electrical supply for the rotary grinding device 130.

[0106] A rotary grinding device 130 is disposed in the middle of the central connecting frame 120. The rotary grinding device 130 is used for flexible grinding of the annular weld seam on the inner wall of the launch tube.

[0107] Storage compartment 210 is located on top of storage docking mechanism 200. Storage compartment 210 is used to position and store self-propelled grinding robot 100 and to provide docking guidance for self-propelled grinding robot 100.

[0108] The lifting bracket 220 is located at the lower part of the storage compartment 210. The lifting bracket 220 is used to adjust the up-down and left-right movement of the storage compartment 210 and to provide precise docking between the storage compartment 210 and the rear end face of the launch tube to be polished.

[0109] A movable base 230 is disposed under the lifting bracket 220. The movable base 230 is used to support the horizontal movement and coarse positioning of the storage docking mechanism 200 and the self-propelled grinding robot 100.

[0110] The anti-static housing 310 of the control cabinet is disposed on the outside of the host computer control cabinet 300. The anti-static housing 310 is used to support the installation position of various components in the host computer control system.

[0111] The main power control 320 is located on the side of the anti-static housing 310 of the control cabinet. The main power control 320 is used to switch the external circuit and the internal circuit.

[0112] A physical button module 330 is located in the middle of the anti-static housing 310 of the control cabinet. The physical button module 330 is used to send specific instructions to each actuator.

[0113] An electrical control system 340 is installed inside the anti-static housing 310 of the control cabinet. The electrical control system 340 is used to connect the signal transmission of each actuator and the control system.

[0114] The display unit 350 is located on the top of the anti-static housing 310 of the control cabinet. The display unit 350 is used to provide a good human-machine interface and data analysis.

[0115] A dust collection device 400 is connected to a self-propelled grinding robot 100 via a dust collection pipe, and is used to collect and remove grinding dust inside the firing tube.

[0116] An air compressor device 500 is connected to a host computer control cabinet 300 via an air pipe, and is used to provide a stable air pressure supply to each actuator.

[0117] The host computer control cabinet 300 is connected to the storage docking mechanism 200 via cables and air pipes to provide a stable electrical supply and signal transmission.

[0118] The storage docking mechanism 200 is connected to the self-propelled grinding robot 100 via a cable drag chain, and is used to transmit stable electrical supply and control signals to each actuator.

[0119] The self-propelled grinding robot 100 is generally three-sectioned, consisting of a crawling fixing device 110, a central connecting frame 120, and a rotary grinding device 130. The crawling fixing device 110 is bolted to both sides of the central connecting frame 120, and the rotary grinding device 130 is bolted to the center of the central connecting frame 120. The crawling fixing device 110 supports the central connecting frame 120 on the inner wall of the launch tube, ensuring that the central connecting frame 120 is coaxial with the launch tube; the central connecting frame 120 mounts the rotary grinding device 130 and provides accurate positioning and electrical power to the rotary grinding device 130; the rotary grinding device 130 is used for flexible grinding of the circumferential weld seam on the inner wall of the launch tube.

[0120] The storage docking mechanism 200 consists of a storage compartment 210, a lifting bracket 220, and a movable base 230. The storage compartment 210 is fixed to the top of the lifting bracket 220 with bolts. The lifting bracket 220 is mounted on the top of the movable base 230 via a slide rail. The movable base 230 is used to support the storage docking mechanism 200 and the self-propelled grinding robot 100.

[0121] The host computer control cabinet 300 mainly consists of an anti-static housing 310, a main power control unit 320, a physical button module 330, an electrical control system 340, and a display unit 350. The display unit 350 is bolted to the top of the anti-static housing 310. The electrical control system 340 is installed inside the anti-static housing 310. The physical button module 330 is threaded into the middle of the anti-static housing 310. The main power control unit 320 is threaded into the side of the anti-static housing 310. The anti-static housing 310 supports the mounting positions of the components in the host computer control system; the main power control unit 320, physical button module 330, electrical control system 340, and display unit 350 are electrically connected.

[0122] The crawling fixing device 110 has a sleeve shaft 111 in the middle. A support plate 112 is bolted to the right side of the sleeve shaft 111. Three T-shaped support legs 113 are evenly distributed on the support plate 112. A pressure cap 114 is bolted to the right side of the support plate 112. A conical ring 115 is fitted on the right side of the sleeve shaft 111. A fixing plate 116 is installed at the right end of the sleeve shaft 111. Two cylinders 117 are symmetrically installed on the fixing plate 116. Two servo drive wheels 118 are installed on the support plate 112 at an included angle of 120°.

[0123] The left end of the central connecting frame 120 is a flange 121. A connecting pipe 122 is welded to the right side of the flange 121. A fixing plate 123 is welded to the middle section of the connecting pipe 122, and a dust collection box 124 is installed at the bottom of the fixing plate. A sleeve 125 is welded to the right end of the connecting pipe 122, and a slip ring 126 is fitted on the sleeve 125. An air nozzle 127 is installed on the slip ring 126, and a right flange 128 is threaded onto the right side of the sleeve 125.

[0124] The rotary grinding device 130 has a rotary feed turntable 131 on its left side, a rotary connecting plate 132 on its right side, a radial feed slide 133 on its upper end, a belt sander 134 on its radial feed slide 133, and a distance sensor 135 on the right end face of the belt sander 134. A camera 136 is mounted on the upper part of the distance sensor 135, and a laser aiming device 137 is mounted directly above the sanding belt of the belt sander 134.

[0125] The storage compartment section 210 has front and rear end frames 211 on both sides. The front and rear end frames 211 are welded to the storage cylinder section 212. The storage cylinder section 212 has a drag chain guide plate 213 fixed to its inner surface by bolts. The drag chain guide plate 213 is equipped with a de-energized electromagnet 214 in a direction that rotates 135° axially. The storage cylinder section 212 is connected to a window cover plate 215 at the middle position on its outer side by a hinge. The window cover plate 215 and the storage cylinder section 212 are respectively connected to moving handles 216 by bolts on the outer side of the window cover plate 215 and around the perimeter of the storage cylinder section 212.

[0126] The top of the lifting bracket 220 is a U-shaped bracket 221. Two sets of U-shaped brackets 221 are symmetrically distributed at the lower end of the storage compartment section 210 via bolts. These two sets of U-shaped brackets 221 are connected to two symmetrically distributed reversing transmission components 222 via evenly distributed lead screw shafts. A lifting frame 223 is bolted to the lower end of each reversing transmission component 222. A cable drag chain 224 is bolted to the rear end of the lifting frame 223. A lifting drive motor 225 and a protective cover 226 are bolted to the left end of the lifting frame 223, and a cable connection box 227 is bolted to the right end. Two sets of transverse sliders 228 are symmetrically distributed at the front and rear positions of the lower end of the lifting frame 223 via bolts. A transverse moving mechanism 229 is bolted to the right end of the lower end of the lifting frame 223.

[0127] The top of the movable base 230 is a slider guide rail 231, which is symmetrically distributed on the upper part of the support base 232 by bolts. The inner side of the support base 232 is fixed with a transverse movement stop 233 by bolts, and the bottom of the support base 232 is equipped with four sets of universal wheels 234 by bolts.

[0128] The electrical control system 340 internally houses a multi-axis controller 241, a power module 242, a wireless transmission module 243, a motor drive module 244, a relay module 245, and a solenoid valve module 246. The display unit 350 is bidirectionally electrically connected to the multi-axis controller 241. The multi-axis controller 241 is bidirectionally electrically connected to the wireless transmission module 243. The wireless transmission module 243 is bidirectionally electrically connected to the camera 136. The output terminal of the multi-axis controller 241 is electrically connected to the input terminals of the motor drive module 244 and the relay module 245. The output terminal of the motor drive module 244 is... The input terminals of the servo drive wheel 118, rotary feed turntable 131, and radial feed slide 133 are electrically connected. The output terminal of the relay module 245 is electrically connected to the input terminals of the solenoid valve module 246, lifting drive motor 225, belt sander 134, de-energized electromagnet 214, vacuum cleaner 400, laser aiming device 137, and air compressor 500. The output terminal of the solenoid valve module 246 is connected to the air pipe at the input terminal of the cylinder 117 and air nozzle 127. The output terminals of the power module 242, physical button 330, and sensor 135 are all electrically connected to the input terminal of the multi-axis controller 241.

[0129] A grinding method for a grinding device for the annular weld seam on the inner wall of a launch tube, characterized by comprising the following steps:

[0130] Step 1: The operator moves the storage docking mechanism 200 to the rear end face of the launch tube to be polished, then presses the locking device on the universal wheel 234 to pre-position it, manually adjusts the handwheel in the transverse movement mechanism 229 to align the axis of the storage compartment 210 with the axis of the launch tube to be polished, drives the lifting drive motor 225 in the lifting bracket 220, so that the lifting drive motor 225 drives the reversing transmission component 222 to rotate through the belt and pulley, and the reversing transmission component 222 drives the U-shaped bracket to move up and down through the rotation of the lead screw shaft, so that the storage compartment 210 moves to be coaxial with the end face of the launch tube to be polished.

[0131] Step Two: Connect the air compressor 500 to the host computer control cabinet 300 via air pipes to provide stable air pressure. Connect the cables and air pipes in the host computer control cabinet 300 to the cable connection box 227 in the storage docking mechanism 200. The cables and air pipes in the cable connection box 227 are always connected to the various actuators in the self-propelled grinding robot 100 via cable drag chains. Connect the other end of the dust collection pipe in the dust collection device 400 to the dust collection box 124 in the self-propelled grinding robot 100. After the connection is completed, turn on the main power control switch 320 in the host computer control cabinet 300.

[0132] Step 3: Activate the de-energized electromagnet 214 in the storage compartment via the physical button module 330 in the host computer control cabinet 300, releasing the brake of the self-propelled grinding robot 100. Drive the servo drive wheel 118 in the self-propelled grinding robot 100 to rotate, causing the robot to move along the grinding cylinder. As it moves forward, the laser aiming device 137 in the rotating grinding device 130 emits a laser line onto the inner wall of the grinding cylinder. Simultaneously, the camera 136 in the rotating grinding device 130 transmits the captured image to the display unit 350 via the wireless transmission module in the host computer control cabinet 300. When the laser line is aligned with the weld seam to be ground, stop the servo drive wheel 118.

[0133] Step 4: Activate cylinder 117 in the crawling fixing device 110. Cylinder 117 drives cone ring 115 to move axially through cylinder push rod. Cone ring 115 contacts and squeezes the bottom of T-shaped support leg 113, causing T-shaped support leg 113 to radially tighten the inner wall of the launch tube along the slide groove of support plate 112. This makes the axis of self-propelled grinding robot 100 coaxial with the inner wall of the launch tube, further accurately positioning self-propelled grinding robot 100 and providing conditions for reliable operation of rotary grinding mechanism.

[0134] Step 5: Start the belt grinder 134 in the rotary grinding device 130 to keep the grinding belt rotating. Move the radial feed slide 133 so that the belt grinder 134 contacts the weld to be ground in the radial direction. Start the rotary feed turntable 131 so that the rotary feed turntable 131 drives the radial feed slide 133 and the belt grinder 134 to rotate synchronously through the rotary connecting plate 132, thereby completing the grinding operation of the annular weld inside the cylinder.

[0135] Step Six: During the grinding process, the operator sets the radial feed value and number of rotations between the belt grinder 134 and the inner wall of the pipe in advance in the display unit 350, and monitors the real-time distance between the belt grinder 134 and the inner wall of the pipe through the distance sensor 135. The detection data signal is transmitted to the multi-axis controller 241, which analyzes the data. When the detection data is greater than or less than the set value, the multi-axis controller 241 sends a signal to the motor drive module 244. The motor drive module 244 drives the radial feed slide 133 to feed radially outward or inward, ensuring that the belt grinder 134 grinds the inner wall of the launch tube at a constant distance according to the system set value for each revolution. This solves the problem of insufficient roundness caused by the deformation of the inner wall of the launch tube after circumferential welding, which leads to incomplete grinding and ensures grinding accuracy and quality.

Claims

1. A grinding device for the annular weld seam inside a launch tube, characterized in that: Also includes: The system includes a self-propelled grinding robot (100), a storage docking mechanism (200), a host computer control cabinet (300), a dust collection device (400), and an air compressor device (500). The self-propelled grinding robot (100) is installed inside the storage docking mechanism (200), which is connected to the self-propelled grinding robot (100) via a cable drag chain, and is used to transmit stable electrical power and control signals to each actuator. The host computer control cabinet (300) is connected to the storage docking mechanism (200) via a circuit, and is used to provide stable power. Air supply and signal transmission; the dust collection device (400) is located on the left side of the storage docking mechanism (200), and the dust collection device (400) is connected to the self-propelled grinding robot (100) through the dust collection pipe, for collecting and removing grinding dust inside the launch tube; the air compressor device (500) is located on the left side of the host computer control cabinet (300), and the air compressor device (500) is connected to the host computer control cabinet (300) through the air pipe, for providing a stable air pressure supply to each actuator; the storage docking mechanism (200) is located at the rear end interface of the launch tube being ground; The self-propelled grinding robot (100) includes two crawling fixing devices (110), a central connecting frame (120), and a rotary grinding device (130). The two crawling fixing devices (110) are arranged on both sides of the central connecting frame (120) and connected to both sides of the central connecting frame (120). The crawling fixing devices (110) are used to support the self-propelled grinding robot (100) to move axially and to be radially braced and positioned. The rotary grinding device (130) is fitted in the middle of the central connecting frame (120) and is fixedly connected to the central connecting frame (120). The central connecting frame (120) provides accurate positioning and electrical power to the rotary grinding device (130). The rotary grinding device (130) is used for flexible grinding of the annular weld seam on the inner wall of the launch tube. The storage docking mechanism (200) includes a storage compartment (210), a lifting bracket (220), and a movable base (230). The storage compartment (210) is fixed to the top of the lifting bracket (220) by bolts. The lifting bracket (220) is mounted on the top of the movable base (230) by a slide rail. The movable base (230) is used to support the storage docking mechanism (200) and the self-propelled grinding robot (100) inside it. The host computer control cabinet (300) includes an anti-static housing (310), a main power control unit (320), a physical button module (330), an electrical control system (340), and a display unit (350). The main power control unit (320) is installed on the side of the anti-static housing (310) and is used to switch between external and internal circuits. The physical button module (330) is located on the upper surface of the anti-static housing (310) and is used to send specific instructions to each actuator. The electrical control system (340) is located inside the anti-static housing (310) and is used to connect the actuators to the control system for signal transmission. The display unit (350) is located on the upper surface of the anti-static housing (310) and provides a human-machine interface and data analysis capabilities. The storage compartment (210) includes front and rear end frames (211), a storage cylinder section (212), a drag chain guide plate (213), a de-energized electromagnet (214), a window cover plate (215), and a moving handle (216). The front and rear end frames (211) are welded to the two ends of the storage cylinder section (212). The drag chain guide plate (213) is fixed to the inner surface of the storage cylinder section (212) by bolts. The de-energized electromagnet (214) is installed on the drag chain guide plate (213) in a direction that rotates 135° axially. The window cover plate (215) is connected to the middle position of the outer side of the storage cylinder section (212) by a hinge. The moving handle (216) is connected to the outer side of the window cover plate (215) and around the perimeter of the storage cylinder section (212) by bolts. The lifting bracket (220) includes a U-shaped bracket (221), a reversing transmission component (222), a lifting frame (223), a cable drag chain (224), a lifting drive motor (225), a protective cover (226), a cable connection box (227), a horizontal slider (228), and a horizontal moving mechanism (229); wherein, the top consists of two sets of U-shaped brackets (221), which are connected to two symmetrically distributed reversing transmission components (222) via evenly distributed lead screw shafts, and the lower end of the reversing transmission component (222) is bolted on. The lifting frame (223) is equipped with a cable drag chain (224) at the rear end of the lifting frame (223) by bolts. The lifting drive motor (225) and protective cover (226) are installed on the left end of the upper surface of the lifting frame (223) by bolts. The cable connection box (227) is installed on the right end of the upper surface of the lifting frame (223). Two sets of transverse sliders (228) are symmetrically distributed at the front and rear positions of the lower end of the lifting frame (223) by bolts. The transverse moving mechanism (229) is installed on the right end of the lower end of the lifting frame (223) by bolts.

2. The device for grinding the annular weld seam inside the launch tube according to claim 1, characterized in that: The central connecting frame (120) includes a flange (121), a connecting pipe (122), a fixing plate (123), a dust collection box (124), a sleeve (125), a slip ring (126), an air nozzle (127), and a right flange (128); the connecting pipe (122) is welded to the right side of the flange (121), the fixing plate (123) is welded to the middle section of the connecting pipe (122), and the dust collection box (124) is installed at the bottom of the fixing plate (123); the connecting... A sleeve (125) is welded to the right end of the pipe (122), and a slip ring (126) is fitted on the sleeve (125); an air nozzle (127) is installed on the slip ring (126); a right flange (128) is threadedly installed on the right side of the sleeve (125); a crawling fixing device (110) is bolted to the left side of the flange (121) and the right side of the right flange (128); a rotary grinding device (130) is bolted to the right end face of the fixing plate (123).

3. A grinding device for the annular weld seam inside a launch tube according to claim 1 or 2, characterized in that: The crawling fixing device (110) has a sleeve shaft (111) in the middle. A support plate (112) is bolted to the right side of the sleeve shaft (111). Three T-shaped support feet (113) are evenly distributed on the support plate (112). A pressure cap (114) is bolted to the right side of the support plate (112). A conical ring (115) is fitted on the right side of the sleeve shaft (111). The conical ring (115) is on the right side of the support plate (112). A fixing plate is installed at the right end of the sleeve shaft (111). The fixing plate is on the right side of the conical ring (115). Two cylinders (117) are symmetrically installed on the fixing plate. Two servo drive wheels (118) are installed on the support plate (112) at an angle of 120°.

4. The device for grinding the annular weld seam inside the launch tube according to claim 3, characterized in that: The rotary grinding device (130) includes a rotary feed turntable (131), a rotary connecting plate (132), a radial feed slide (133), a belt grinder (134), a distance sensor (135), a camera (136), and a laser sight (137). The rotary feed turntable (131) is mounted on the right side of the rotary feed turntable (132), the radial feed slide (133) is mounted on the upper end of the rotary connecting plate (132), the belt grinder (134) is mounted on the radial feed slide (133), and a distance sensor (135) is mounted on the right end face of the belt grinder (134). A camera (136) is mounted on the upper part of the distance sensor (135), and a laser sight (137) is mounted directly above the belt of the belt grinder (134).

5. The device for grinding the annular weld seam inside the launch tube according to claim 4, characterized in that: The movable base (230) includes a slider guide rail (231), a support base (232), a transverse movement stop (233), and four sets of universal wheels (234). Multiple slider guide rails (231) are symmetrically distributed on two opposing beams at the top of the upper part of the support base (232). The slider guide rails (231) are symmetrically distributed on the upper part of the support base (232) by bolts. A transverse movement stop (233) is fixed to the inner side of the support base (232) by bolts. Four sets of universal wheels (234) are installed at the bottom of the support base (232) by bolts.

6. The device for grinding the annular weld seam inside the launch tube according to claim 5, characterized in that: The electrical control system (340) includes a multi-axis controller (241), a power supply module (242), a wireless transmission module (243), a motor drive module (244), a relay module (245), and a solenoid valve module (246). The display unit (350) is bidirectionally electrically connected to the multi-axis controller (241), the multi-axis controller (241) is bidirectionally electrically connected to the wireless transmission module (243), the wireless transmission module (243) is bidirectionally electrically connected to the camera (136), the output terminal of the multi-axis controller (241) is electrically connected to the input terminals of the motor drive module (244) and the relay module (245), and the output terminal of the motor drive module (244) is connected to the servo drive module. The input ends of the drive wheel (118), rotary feed turntable (131), and radial feed slide (133) are electrically connected. The output end of the relay module (245) is electrically connected to the input ends of the solenoid valve module (246), lifting drive motor (225), belt sander (134), de-energized electromagnet (214), vacuum cleaner (400), laser aiming device (137), and air compressor device (500). The output end of the solenoid valve module (246) is connected to the air pipe at the input end of the cylinder (117) and air nozzle (127). The output ends of the power module (242), physical button module (330), and sensor (135) are all electrically connected to the input end of the multi-axis controller (241).

7. A grinding method for a grinding device for the annular weld seam on the inner wall of a launch tube, characterized in that, The grinding device for the annular weld seam inside the launch tube according to claim 6 includes the following steps: Step 1: The staff moves the storage docking mechanism (200) to the rear end face of the launch tube to be polished, then presses the locking device on the universal wheel (234) to pre-position it, manually adjusts the handwheel in the transverse moving mechanism (229) to align the axis of the storage compartment (210) with the axis of the launch tube to be polished, drives the lifting drive motor (225) in the lifting bracket (220) to drive the reversing transmission component (222) to rotate through the belt and pulley, and the reversing transmission component (222) drives the U-shaped bracket to move up and down through the rotation of the screw shaft, so that the storage compartment (210) moves to the coaxial position with the end face of the launch tube to be polished; Step 2: Connect the air compressor (500) to the host computer control cabinet (300) via an air pipe and provide stable air pressure. Connect the cables and air pipes in the host computer control cabinet (300) to the cable connection box (227) in the storage docking mechanism (200). The cables and air pipes in the cable connection box (227) are always connected to the actuators in the self-propelled grinding robot (100) via a cable drag chain. Connect the other end of the dust collection pipe in the dust collection equipment (400) to the dust collection box (124) in the self-propelled grinding robot (100). After the connection is completed, turn on the power control switch (320) in the host computer control cabinet (300). Step 3: Activate the de-energized electromagnet (214) in the storage compartment via the physical button module (330) in the host computer control cabinet (300) to release the brake of the self-propelled grinding robot (100); drive the servo drive wheel (118) in the self-propelled grinding robot (100) to rotate, so that the self-propelled grinding robot (100) moves along the grinding cylinder. When moving forward, the laser aiming device (137) in the rotating grinding device (130) will emit a laser line to the inner wall of the grinding cylinder. At the same time, the camera (136) in the rotating grinding device (130) will transmit the captured image to the display unit (350) through the wireless transmission module in the host computer control cabinet (300). When the laser line is aligned with the weld seam to be ground, stop the servo drive wheel (118). Step 4: Start the cylinder (117) in the crawling fixing device (110). The cylinder (117) drives the cone ring (115) to move axially through the cylinder push rod. The cone ring (115) contacts and squeezes the bottom of the T-shaped support (113), so that the T-shaped support (113) radially tightens the inner wall of the launch tube along the slide groove of the support plate (112), so that the axis of the self-propelled grinding robot (100) is coaxial with the inner wall of the launch tube, and further accurately positions the self-propelled grinding robot (100), providing conditions for the reliable operation of the rotary grinding mechanism. Step 5: Start the belt grinder (134) in the rotary grinding device (130) so that the grinding belt is always rotating. Move the radial feed slide (133) so that the belt grinder (134) contacts the weld to be ground in the radial direction. Start the rotary feed turntable (131) so that the rotary feed turntable (131) drives the radial feed slide (133) and the belt grinder (134) to rotate synchronously through the rotary connecting plate (132) to complete the grinding operation of the annular weld inside the cylinder. Step Six: During the grinding process, the operator sets the radial feed value and number of rotations of the belt grinder (134) and the inner wall of the pipe in advance in the display unit (350), and monitors the real-time distance between the belt grinder (134) and the inner wall of the pipe through the distance sensor (135), and transmits the detection data signal to the multi-axis controller (241). The multi-axis controller (241) analyzes the data. When the detection data is greater than or less than the set value, the multi-axis controller (241) sends a signal to the motor drive module (244). The motor drive module (244) drives the radial feed slide (133) to feed radially outward or inward, ensuring that the belt grinder (134) grinds the inner wall of the launch tube at a constant distance according to the system set value for each grinding cycle. This solves the problem of insufficient roundness caused by the deformation of the inner wall of the launch tube after ring welding, which leads to incomplete grinding and ensures grinding accuracy and grinding quality.

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