Polishing device and polishing device test system

Abstract

The present disclosure provides a polishing device and a polishing device test system, which belong to the technical field of welding. The polishing device comprises a moving mechanism and a polishing mechanism. The moving mechanism comprises a circumferential moving mechanism, a normal moving mechanism and an axial moving mechanism. The circumferential moving mechanism comprises a fixed seat, a driving wheel set and a circumferential driving component. The normal moving mechanism comprises a normal sliding part and a normal driving component. The axial moving mechanism comprises an axial sliding part and an axial driving component. The normal sliding part is in sliding connection with the fixed seat, and the axial driving component is connected with the normal sliding part and the axial sliding part. Since the axial sliding part is also connected with the polishing mechanism, when any component of the driving wheel set, the normal sliding part and the axial sliding part moves, the polishing mechanism can move accordingly, so that the polishing machine of the polishing mechanism can move along the circumferential, normal and axial directions of the outer wall of the pipeline, thereby enabling the polishing mechanism to accurately align the weld and polish the weld.

Description

Technical Field

[0001] This disclosure relates to the field of welding technology, and in particular to a grinding device and a grinding device testing system. Background Technology

[0002] In recent years, with the increase in energy demand, the number of oil and gas pipeline engineering projects has been increasing year by year, and the construction of supporting facilities for oil and gas pipelines will be a key focus of future development. Among them, all-position automatic welding equipment and technology for pipelines, with its characteristics of fast welding speed, high welding quality, and high degree of automation, has become the mainstream technology for pipeline construction. However, weld defects such as weld beads, slag inclusions, undercut, and weld seams are easily generated during the welding process, resulting in poor weld quality. Therefore, it is necessary to grind the weld seam after welding, but currently there is a lack of automatic grinding equipment for pipeline weld seams, which hinders the progress of efficient automatic welding construction of pipelines.

[0003] Therefore, there is an urgent need to design a grinding device that can automatically grind the weld seams on the outer wall of pipes. Summary of the Invention

[0004] This disclosure provides a grinding device and a device testing system, which can solve the technical problems existing in related technologies. The technical solutions of the grinding device and the device testing system are as follows:

[0005] In a first aspect, this disclosure provides a grinding device for grinding welds on the outer wall of a pipe, the grinding device comprising a moving mechanism and a grinding mechanism;

[0006] The moving mechanism includes a circumferential moving mechanism, a normal moving mechanism, and an axial moving mechanism;

[0007] The circumferential moving mechanism includes a fixed base, a drive wheel set, and a circumferential driving component. The drive wheel set is located at the bottom of the fixed base and is connected to the fixed base. The drive wheel set is used to travel on a circular track at the corresponding weld position on the outer wall of the pipe. The circumferential driving component is connected to the fixed base and the drive wheel set respectively, and the circumferential driving component is used to drive the drive wheel set.

[0008] The normal movement mechanism includes a normal sliding member and a normal driving member. The normal sliding member is located on the first side of the fixed base and is slidably connected to the fixed base. The sliding direction of the normal sliding member is perpendicular to the outer wall of the pipe. The normal driving member is connected to the fixed base and the normal sliding member respectively. The normal driving member is used to drive the normal sliding member to slide.

[0009] The axial movement mechanism includes an axial sliding member and an axial driving component. The axial sliding member is located on the second side of the fixed base and is slidably connected to the fixed base. The sliding direction of the axial sliding member is parallel to the axis of the pipe. The axial driving component is connected to the normal sliding member and the axial sliding member respectively. The axial driving component is used to drive the axial sliding member to slide. The second side is adjacent to the first side.

[0010] The grinding mechanism includes a fixed frame and a grinding machine. The fixed frame is located on the side of the axial sliding member away from the fixed seat and is connected to the axial sliding member. The grinding machine is located on the fixed frame and is connected to the fixed frame. The working end of the grinding machine is the lower end.

[0011] In one possible implementation, the grinder includes a pressure sensor, a telescopic airbag, a telescopic connecting plate, a grinding wheel, and a grinding drive component;

[0012] The pressure sensor is located below the fixed frame and is connected to the fixed frame. The pressure sensor, the telescopic airbag, and the telescopic connecting plate are connected in sequence from top to bottom.

[0013] The grinding drive component is located on the third side of the telescopic connecting plate and is connected to the telescopic connecting plate. The third side is the side of the telescopic connecting plate away from the axial sliding member.

[0014] The grinding wheel is located on the side of the grinding drive component near the telescopic connecting plate and is connected to the grinding drive component in a transmission manner. The grinding wheel is located below the telescopic connecting plate.

[0015] In one possible implementation, the grinder further includes two guide wheel frames and two guide wheels;

[0016] The two guide wheel frames are located on the fourth and fifth sides of the telescopic connecting plate, respectively, and are connected to the telescopic connecting plate. The fourth and fifth sides are adjacent to the third side.

[0017] The two guide wheels are rotatably connected to the two guide wheel frames, respectively.

[0018] In one possible implementation, the grinding mechanism further includes a laser sensor located on the fifth side of the telescopic connecting plate and connected to the telescopic connecting plate, for measuring the height difference between the weld and the outer wall of the pipe.

[0019] In one possible implementation, the grinder further includes a rotating mechanism;

[0020] The rotating mechanism is located above the guide wheel frame and on the third side of the telescopic connecting plate, and is connected to the fixed frame;

[0021] The rotation axis of the rotating mechanism is perpendicular to the straight line corresponding to the sliding direction of the normal sliding member and the straight line corresponding to the sliding direction of the axial sliding member.

[0022] In one possible implementation, the circumferential movement mechanism further includes a clamping component;

[0023] The clamping components include a first clamping base, a second clamping base, four clamping wheels, a spring, a telescopic shaft, and a clutch lever;

[0024] The first clamping base and the second clamping base are located at the bottom of the fixed base and are connected to the fixed base;

[0025] Two clamping wheels are located at the bottom of the first clamping base and connected to the first clamping base, and two other clamping wheels are located at the bottom of the second clamping base and connected to the second clamping base. The clamping wheels are used to clamp the annular track.

[0026] The two ends of the spring are respectively connected to the first clamping base and the second clamping base;

[0027] The first clamping base is looped around one end of the telescopic shaft and is slidably connected to the telescopic shaft; the second clamping base is looped around the other end of the telescopic shaft and is slidably connected to the telescopic shaft.

[0028] The fixed seat ring is fitted around the clutch lever and is rotatably connected to the clutch lever. One end of the clutch lever is connected to the first clamping base and is used to push the first clamping base closer to or away from the second clamping base.

[0029] In one possible implementation, the drive wheel assembly includes a driving wheel, a driving wheel shaft, a driven wheel, a timing belt, a driving gear, a driven wheel shaft, and a driven gear;

[0030] The drive wheel is connected to the circumferential drive component, which is used to drive the rotation of the drive wheel;

[0031] The drive wheel shaft is located below the fixed base and is rotatably connected to the fixed base. The axis of the drive wheel shaft is parallel to the axis of the pipe.

[0032] The driven wheel is located at one end of the driving wheel shaft and is connected to the driving wheel shaft. The driven wheel is connected to the driving wheel via the synchronous belt.

[0033] The drive gear is fitted around the drive wheel shaft and connected to the drive wheel shaft. The drive gear is used to travel on the circular track.

[0034] The driven wheel shaft is located below the fixed base and is rotatably connected to the fixed base. The driven wheel shaft is parallel to the axis of the pipe.

[0035] The driven gear is fitted around the driven wheel shaft and connected to the driven wheel shaft. The driven gear is used to travel on the circular track.

[0036] In one possible implementation, the circumferential movement mechanism further includes two handles;

[0037] The two handles are located at the bottom of the fixed base and are connected to the fixed base. The two handles are arranged opposite to each other and are located on both sides of the driving wheel shaft and the driven wheel shaft, respectively.

[0038] In one possible implementation, the circumferential movement mechanism further includes a tilt sensor located on the side of the fixed base away from the axial sliding member and connected to the fixed base, for measuring the angle between the straight line corresponding to the sliding direction of the normal sliding member and the vertical direction.

[0039] Secondly, this disclosure provides a grinding device testing system, which includes a testing platform and the aforementioned grinding device;

[0040] The testing platform includes an operating table, a weld grinding test piece, and a track;

[0041] The weld grinding test piece is located on top of the operating table and is connected to the operating table;

[0042] The track is located on top of the control panel and is connected to the control panel;

[0043] The grinding device is connected to the track.

[0044] The technical solution provided in this disclosure includes at least the following beneficial effects:

[0045] This disclosure provides a grinding apparatus, which includes a moving mechanism and a grinding mechanism. The moving mechanism includes a circumferential moving mechanism, a normal moving mechanism, and an axial moving mechanism. The circumferential moving mechanism includes a fixed base, a drive wheel set, and a circumferential driving component. The normal moving mechanism includes a normal sliding member and a normal driving component. The axial moving mechanism includes an axial sliding member and an axial driving component. The normal sliding member is slidably connected to the fixed base. When the drive wheel set moves, the fixed base can drive the normal sliding member to move. The axial driving component is connected to the normal sliding member and the axial sliding member. Therefore, when the normal sliding member moves, the axial driving component and the axial sliding member can also move accordingly. Since the axial sliding member is connected to the grinding mechanism, when any one of the drive wheel set, the normal sliding member, and the axial sliding member moves, the grinding mechanism can move accordingly, enabling the grinding machine of the grinding mechanism to move circumferentially, normally, and axially along the outer wall of the pipe. This allows the grinding mechanism to accurately align the weld and grind the weld.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. In the drawings:

[0048] Figure 1 This is a schematic diagram of the structure of a polishing device shown in an embodiment of this disclosure;

[0049] Figure 2 This is a schematic diagram of the structure of a moving mechanism shown in an embodiment of this disclosure;

[0050] Figure 3 This is a schematic diagram of the structure of a grinding mechanism shown in an embodiment of this disclosure;

[0051] Figure 4 This is a schematic diagram of the structure of a grinding mechanism shown in an embodiment of this disclosure;

[0052] Figure 5 This is a schematic diagram of the structure of a clamping component shown in an embodiment of this disclosure;

[0053] Figure 6 This is a schematic diagram of the structure of a drive wheel assembly shown in an embodiment of this disclosure;

[0054] Figure 7 This is a schematic diagram of the internal structure of a control box shown in an embodiment of this disclosure;

[0055] Figure 8 This is a schematic diagram of the external structure of a control box according to an embodiment of this disclosure;

[0056] Figure 9 This is a schematic diagram of the structure of a test platform shown in an embodiment of this disclosure.

[0057] Legend:

[0058] 1. Moving mechanism; 11. Circumferential moving mechanism; 111. Fixed base; 1111. Upper top plate; 1112. Lower bottom plate; 1113. First support plate; 1114. Second support plate; 1115. Drive wheel seat; 112. Drive wheel set; 1121. Driving wheel; 1122. Driving wheel shaft; 1123. Driven wheel; 1124. Synchronous belt; 1125. Driving gear; 1126. Driven wheel shaft; 1127. Driven gear; 113. Circumferential drive component; 114. Clamping component; 11 41. First clamping base; 1142. Second clamping base; 1143. Clamping wheel; 1144. Spring; 1145. Telescopic shaft; 1146. Clutch lever; 115. Handle; 1151. Handle; 1152. Connecting rod; 116. Tilt sensor; 12. Normal movement mechanism; 121. Normal sliding component; 1211. Nut fixing block; 1212. Connecting plate; 122. Normal drive component; 13. Axial movement mechanism; 131. Axial sliding component; 132. Axial drive component;

[0059] 2. Grinding mechanism; 21. Fixed frame; 211. Top plate; 212. Fixed connecting plate; 213. Rotating frame; 22. Grinding machine; 221. Pressure sensor; 222. Telescopic airbag; 223. Telescopic connecting plate; 224. Grinding wheel; 225. Grinding drive component; 226. Guide wheel frame; 227. Guide wheel; 228. Rotating mechanism;

[0060] 23. Laser sensor;

[0061] 01. Control box; 011. Motion controller; 0111. Circumferential motion controller; 0112. Normal motion controller; 0113. Axial motion controller; 012. Grinding head controller; 013. Main control unit; 014. Motion buttons; 0141. First circumferential motion button; 0142. Second circumferential motion button; 0143. First normal motion button; 0144. Second normal motion button; 0145. First axial motion button; 0146. Second axial motion button; 015. Grinding button; 016. Stop button;

[0062] 02. Grinding device;

[0063] 03. Testing platform; 031. Operating table; 032. Weld grinding test piece; 033. Track.

[0064] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings.

[0066] The terminology used in the embodiments of this disclosure is for illustrative purposes only and is not intended to limit the disclosure. Unless otherwise defined, the technical or scientific terms used herein should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “a” or “one,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected,” “linked,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” “right,” etc., are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0067] This disclosure provides a grinding apparatus for grinding the weld seam between two oil pipelines. The grinding apparatus includes a moving mechanism 1 and a grinding mechanism 2. The moving mechanism 1 drives the grinding mechanism 2 to move circumferentially, normally, and axially along the pipeline. The grinding mechanism 2 grinds the weld seam between the two oil pipelines.

[0068] (I) Moving Mechanism 1

[0069] like Figure 1 As shown, the moving mechanism 1 includes a circumferential moving mechanism 11, a normal moving mechanism 12, and an axial moving mechanism 13. The circumferential moving mechanism 11 is used to drive the grinding mechanism 2 to move circumferentially along the pipe, the normal moving mechanism 12 is used to drive the grinding mechanism 2 to move normally along the pipe, and the axial moving mechanism 13 is used to drive the grinding mechanism 2 to move axially along the pipe.

[0070] (1) Circumferential movement mechanism 11

[0071] like Figure 1 picture, Figure 2 , Figure 5 and Figure 6 As shown, the circumferential moving mechanism 11 includes a fixed base 111, a drive wheel set 112, and a circumferential driving component 113. The drive wheel set 112 is located at the bottom of the fixed base 111 and is connected to the fixed base 111. The drive wheel set 112 is used to travel on a circular track at the corresponding weld position on the outer wall of the pipe. The circumferential driving component 113 is connected to the fixed base 111 and the drive wheel set 112 respectively, and is used to drive the drive wheel set 112.

[0072] a. Fixed base 111

[0073] like Figure 2 and Figure 6 As shown, the fixed base 111 includes an upper top plate 1111, a lower bottom plate 1112, a first support plate 1113, a second support plate 1114, and a drive wheel seat 1115.

[0074] The upper top plate 1111 can be rectangular and may have a through hole, allowing the output shaft of the motor of the normal drive component 122 to pass through it. The thickness of the upper top plate can be 15-20 mm, such as 15 mm, and the material can be alloy steel. The lower bottom plate 1112 can be rectangular, and its thickness can be 15-20 mm, such as 15 mm, and the material can be alloy steel. The first support plate 1113 and the second support plate 1114 can be rectangular, with a thickness of 15-20 mm, such as 15 mm, and the material can be alloy steel.

[0075] The upper top plate 1111 and the lower bottom plate 1112 are placed parallel to each other. The two ends of the first support plate 1113 are connected to the upper top plate 1111 and the lower bottom plate 1112 respectively. The two ends of the second support plate 1114 are connected to the upper top plate 1111 and the lower bottom plate 1112 respectively, and are used to support the upper top plate 1111 and the lower bottom plate 1112. The lower bottom plate 1112 is connected to the drive wheel seat 1115.

[0076] b. Drive wheel set 112

[0077] The drive wheel assembly 112 is used to drive the entire grinding device to move on the annular track on the outer wall of the pipe, such as... Figure 6 As shown, the drive wheel assembly 112 includes a drive wheel 1121, a drive wheel shaft 1122, a driven wheel 1123, a timing belt 1124, a drive gear 1125, a driven wheel shaft 1126, and a driven gear 1127.

[0078] The drive wheel 1121 is connected to the circumferential drive component 113, which drives the rotation of the drive wheel 1121. The circumferential drive component 113 can be a servo motor or a stepper motor. The drive wheel 1121 can be connected to the output shaft of the circumferential drive component 113 via a spline or a flat key. When the axial drive component 113 outputs power, the output shaft of the circumferential drive component 113 can drive the drive wheel 1121 to rotate together.

[0079] The drive shaft 1122 is located below the drive wheel seat 1115 of the fixed base 111 and is rotatably connected to the drive wheel seat 1115. The axis of the drive shaft 1122 is parallel to the axis of the pipe. The driven wheel 1123 is located at one end of the drive shaft 1122 and is connected to the drive shaft 1122. The driven wheel 1123 is connected to the drive wheel 1121 via a synchronous belt 1124. When the drive wheel 1121 starts to rotate, the synchronous belt 1124 rotates due to the large friction between the drive wheel 1121 and the synchronous belt 1124. At the same time, the synchronous belt 1124 can drive the driven wheel 1123 to rotate due to the large friction between the driven wheel 1123 and the synchronous belt 1124. The driven wheel 1123 and the drive shaft 1122 can be connected by a spline or a key. When power is transmitted to the driven wheel 1123, the driven wheel 1123 can drive the drive shaft 1122 to rotate.

[0080] The timing belt 1124 can be a belt, and the surface of the timing belt 1124 can have trapezoidal teeth or arc teeth, thereby increasing the friction between the timing belt 1124 and the driving pulley 1121 and the driven pulley 1123.

[0081] The driving gear 1125 is ring-enclosed and connected to the driving shaft 1122. The driving gear 1125 is used to travel on the annular track. The driving gear 1125 and the driving shaft 1122 can be connected by a key. When the driving shaft 1122 starts to rotate, the driving gear 1125 also rotates. There are two driving gears 1125. The distance between the two driving gears 1125 on the driving shaft 1122 is the same as the width of the annular track on the outer wall of the pipe. The track has toothed holes, allowing the two driving gears 1125 to precisely mesh with the track, thus enabling the driving gears 1125 to travel on the track.

[0082] Driven wheel shaft 1126 is located below drive wheel seat 1115 of fixed base 111 and is rotatably connected to drive wheel seat 1115. Driven wheel shaft 1126 is parallel to the axis of the pipe. Driven gear 1127 is ring-fitted around driven wheel shaft 1126 and connected to driven wheel shaft 1126. Driven gear 1127 is used to travel on the circular track. There are two driven gears 1127, and the width of the two driven gears 1127 on driven wheel shaft 1126 is the same as the width of the track. When the power output of circumferential drive component 113 is sent to drive gear 1125, drive gear 1125 travels on the track and drags driven gear 1127 on the track.

[0083] c. Clamping component 114

[0084] The circumferential moving mechanism 11 also includes a clamping component 114, which is used to enable the quick installation and removal of the moving mechanism 1 on the annular track, such as... Figure 5 As shown, the clamping component 114 includes a first clamping base 1141, a second clamping base 1142, four clamping wheels 1143, a spring 1144, a telescopic shaft 1145, and a clutch lever 1146.

[0085] The first clamping base 1141 and the second clamping base 1142 are located at the bottom of the drive wheel seat 1115 of the fixed base 111 and are connected to the drive wheel seat 1115. Two clamping wheels 1143 are located at the bottom of the first clamping base 1141 and are connected to the first clamping base 1141. Two other clamping wheels 1143 are located at the bottom of the second clamping base 1142 and are connected to the second clamping base 1142. The clamping wheels 1143 are used to clamp the annular track.

[0086] The two ends of the spring 1144 are connected to the first clamping base 1141 and the second clamping base 1142, respectively. The first clamping base 1141 is looped around one end of the telescopic shaft 1145, and the first clamping base 1141 is slidably connected to the telescopic shaft 1145. The second clamping base 1142 is looped around the other end of the telescopic shaft 1145, and the second clamping base 1142 is slidably connected to the telescopic shaft 1145. When the first clamping base 1141 moves towards the second clamping base 1142 on the telescopic shaft 1145, the spring 1144 acts as a damper to prevent the clamping wheel 1143 from colliding with the circular track due to excessive sliding speed of the first clamping base 1141.

[0087] The drive wheel seat 1115 of the fixed base 111 is ring-fitted with the clutch lever 1146 and rotatably connected to it. One end of the clutch lever 1146 is connected to the first clamping base 1141, which is used to push the first clamping base 1141 closer to or away from the second clamping base 1142. The end of the clutch lever 1146 connected to the first clamping base 1141 has a rotating block. When the clutch lever 1146 rotates, the rotating block pushes the first clamping base 1141 along the telescopic shaft 1145 toward the second clamping base 1142. The rotating block is initially in the first limit position. When the rotating block initially rotates to the second limit position, the four clamping wheels 1143 clamp and lock the annular track. When it is necessary to remove the entire grinding device, the clamping wheels 1143 are rotated back to the first limit position, so that the first clamping base 1141 moves away from the second clamping base 1142 along the telescopic shaft 1145.

[0088] d. Handle 115

[0089] like Figure 6 As shown, the circumferential moving mechanism 11 also includes two handles 115. The two handles 115 are located at the bottom of the drive wheel seat 1115 of the fixed base 111 and are connected to the drive wheel seat 1115. The two handles 115 are arranged opposite to each other and are located on both sides of the driving wheel shaft 1122 and the driven wheel shaft 1126, respectively.

[0090] The handle 115 is mainly used to lift the entire grinding device, so as to place the moving mechanism 1 on the circular track or lift the moving mechanism 1 from the circular track.

[0091] The handle 115 has a U-shaped structure, including a handle 1151 and two connecting rods 1152. Both ends of the handle 1151 are connected to the two connecting rods 1152 respectively. The end of the connecting rod 1152 furthest from the handle 1151 is located at the bottom of the drive wheel seat 1115 of the fixed base 111 and connected to the drive wheel seat 1115. The handle 1151 and the two connecting rods 1152 can be connected together by fasteners such as bolts or screws, or they can be a single-piece structure. To ensure the strength of the handle 115, the handle 1151 and the two connecting rods 1152 can be made of alloy steel to prevent breakage when lifting the grinding device. A layer of rubber can be wrapped around the outside of the handle 1151 to increase the friction between the palm and the handle 1151, making it less likely for the grinding device to slip from the hand when lifted.

[0092] e. Tilt sensor 116

[0093] like Figure 1As shown, the circumferential movement mechanism 11 also includes a tilt sensor 116. The tilt sensor 116 is also called an inclinometer or tilt meter, and the tilt sensor 116 can be a gas pendulum tilt sensor, a solid pendulum tilt sensor, or a liquid pendulum tilt sensor.

[0094] The tilt sensor 116 is located on the side of the fixed base 111 away from the axial sliding member 131 and is connected to the fixed base 111. It is used to measure the angle between the straight line corresponding to the sliding direction of the normal sliding member 121 and the vertical direction.

[0095] (2) Normal movement mechanism 12

[0096] The normal movement mechanism 12 is used to drive the grinding mechanism 2 to move in a direction perpendicular to the outer wall of the pipe, thereby adjusting the distance between the grinding wheel 224 and the weld. Figure 1 and Figure 2 As shown, the normal movement mechanism 12 includes a normal sliding member 121 and a normal driving member 122. The normal sliding member 121 is located on the first side of the fixed base 111 and is slidably connected to the fixed base 111. The sliding direction of the normal sliding member 121 is perpendicular to the outer wall of the pipe. The normal driving member 122 is connected to the upper top plate 1111 of the fixed base 111 and the normal sliding member 121 respectively. The normal driving member 122 is used to drive the normal sliding member 121 to slide.

[0097] a. Normal sliding element 121

[0098] like Figure 2 As shown, the normal sliding member 121 may include a nut fixing block 1211 and a connecting plate 1212. The nut fixing block 1211 is connected to the connecting plate 1212, and the connecting plate 1212 is connected to the axial driving member 132.

[0099] b. Normal drive component 122

[0100] like Figure 2 As shown, the normal drive component 122 may include a motor and a lead screw. The motor drives the lead screw to rotate, so that the lead screw drives the lead screw fixing block 1211 and the connecting plate 1212 to move in a direction perpendicular to the outer wall of the pipe.

[0101] (3) Axial movement mechanism 13

[0102] like Figure 1 and Figure 2 The axial movement mechanism 13 shown includes an axial sliding member 131 and an axial drive member 132.

[0103] a. Axial sliding element 131

[0104] like Figure 2As shown, the axial sliding member 131 can be a rectangular plate with a thickness of 15-20 mm, such as 15 mm, and the material can be alloy steel. The axial sliding member 131 is located on the second side of the fixed base 111 and is slidably connected to the fixed base 111. The sliding direction of the axial sliding member 131 is parallel to the axis of the pipe.

[0105] b. Axial drive component 132

[0106] like Figure 1 As shown. The axial drive component 132 is connected to the normal slider 121 and the axial slider 131 respectively. The axial drive component 132 is used to drive the axial slider 131 to slide. The second side is adjacent to the first side.

[0107] The axial drive component 132 may include a motor and a lead screw. The axial sliding member 131 is connected to the lead screw. The motor drives the lead screw to rotate, so that the lead screw pushes the axial sliding member 131 to slide along the axial direction of the pipe, thereby pushing the pipe of the fixed bracket 21 to slide axially.

[0108] Since the axial drive component 132 is connected to the connecting plate 1212 in the normal sliding component 121, when the motor drive screw of the normal drive component 122 rotates, the connecting plate 1212 will drive the axial drive component 132 to move in a direction perpendicular to the outer wall of the pipe, so that the axial drive component 132 can drive the axial sliding component 131 to move in a direction perpendicular to the outer wall of the pipe.

[0109] (II) Grinding Mechanism 2

[0110] like Figure 3 As shown, the polishing mechanism 2 includes a fixed frame 21, a polishing machine 22, and a laser sensor 23.

[0111] (1) Fixture 21

[0112] like Figure 3 As shown, the fixed frame 21 may include a top plate 211, a fixed connecting plate 212, and a rotating frame 213.

[0113] a. Top plate 211

[0114] like Figure 3 As shown, the top plate 211 can be square, rectangular or circular, and the thickness of the top plate 211 can be 20-25mm, such as 20mm. The material can be alloy steel.

[0115] b. Fixed connecting plate 212

[0116] like Figure 3As shown, the fixed connecting plate 212 can be square, rectangular, or circular, and its thickness can be 20-25mm, such as 20mm. The material can be alloy steel. The fixed connecting plate 212 is located below the top plate 211 and on the third side of the telescopic connecting plate 223. The fixed connecting plate 212 is perpendicular to the top plate 211 and is connected to the top plate 211 by bolts.

[0117] c. Rotating frame 213

[0118] like Figure 3 and Figure 4 As shown, the rotating frame 213 is L-shaped and can be assembled from two rectangular alloy steel plates by welding or bolting. The thickness of the alloy steel plates can be 20-25mm, such as 20mm. The rotating frame 212 is connected to the axial sliding member 131.

[0119] (2) Grinding machine 22

[0120] like Figure 3 and Figure 4 As shown, the grinder 22 includes a pressure sensor 221, a telescopic airbag 222, a telescopic connecting plate 223, a grinding wheel 224, a grinding drive component 225, a guide wheel frame 226, a guide wheel 227, and a rotating mechanism 228.

[0121] a. Pressure sensor 221

[0122] The pressure sensor 221 can be an electromechanical sensor or an electronic sensor, used to measure the grinding force when the grinding wheel 224 grinds the weld.

[0123] The pressure sensor 221 is located below the top plate 211 of the fixed frame 21 and is connected to the top plate 211. The pressure sensor 221, the telescopic airbag 222 and the telescopic connecting plate 223 are connected in sequence from top to bottom.

[0124] b. Telescopic airbag 222

[0125] The air pressure inside the telescopic airbag 222 affects its length. Increasing the internal air pressure causes the airbag 222 to extend, while decreasing the internal air pressure causes it to shorten. When there is a gap between the grinding wheel 224 and the weld, increasing the internal air pressure of the airbag 222 causes it to extend, thereby pushing the telescopic connecting plate 223 to move in a direction perpendicular to the outer wall of the pipe, thus reducing the gap between the grinding wheel 224 and the weld.

[0126] c. Telescopic connecting plate

[0127] The shape of the telescopic connecting plate can be designed according to requirements. It can be rectangular, hexagonal or other polygonal. The thickness of the telescopic plate can be 20-25mm, such as 20mm. The material of the telescopic connecting plate can be alloy steel.

[0128] d. Grinding wheel 224

[0129] like Figure 3 and Figure 4 As shown, the grinding drive component 225 is located on the third side of the telescopic connecting plate 223 and is connected to the telescopic connecting plate 223. The third side is the side of the telescopic connecting plate 223 away from the axial sliding member 131. The grinding wheel 224 is located on the side of the grinding drive component 225 close to the telescopic connecting plate 223 and is connected to the grinding drive component 225 in a transmission manner. The grinding wheel 224 is located below the telescopic connecting plate 223.

[0130] The grinding drive component 225 can be fixed to the telescopic connecting plate 223 by a connecting bracket. The connecting bracket is fixed to the third side of the telescopic connecting plate 223 by bolts. The connecting bracket is connected to the side of the grinding drive component 225, so that when the telescopic connecting plate 223 moves up and down, it can drive the grinding drive component 225 to move up and down as well. The connecting bracket has a shaft hole, so that the output shaft of the grinding drive component 225 passes through the shaft hole on the connecting bracket and is connected to the grinding wheel 224 by a flat key or spline. When the output shaft of the grinding drive component 225 rotates, the grinding wheel 224 also rotates.

[0131] e. Guide wheel frame 226

[0132] like Figure 4 As shown, there are two guide wheel brackets 226, located on the fourth and fifth sides of the telescopic connecting plate 223 respectively, and connected to the telescopic connecting plate 223. Both the fourth and fifth sides are adjacent to the third side. The guide wheel brackets 226 are fixed to the telescopic connecting plate 223 with bolts. To prevent the guide wheel brackets 226 from deflecting, two bolts are used to fix them to the telescopic connecting plate 223. The guide wheel brackets 226 have two bolt adjustment holes 2261. Bolts pass through the bolt adjustment holes 2261 and are screwed into the telescopic connecting plate 223, allowing the telescopic connecting plate 223 and the bolts to clamp the guide wheel brackets 226, thus fixing the guide wheel brackets 226 to the side of the telescopic connecting plate 223. Because the guide wheel brackets 226 have bolt adjustment holes 2261, the height of the guide wheel brackets 226 can be adjusted to a suitable position before tightening the bolts.

[0133] f. Guide wheel 227

[0134] like Figure 4As shown, the guide wheel 227 is connected to the guide wheel frame 226 via the guide wheel shaft. The guide wheel 227 is rotatably connected to the guide wheel shaft. When the drive gear 1125 moves on the track, the guide wheel 225 also rotates and moves on the outer wall of the pipe, thereby assisting the grinding wheel 224 to move on the outer wall of the pipe.

[0135] g. Rotating mechanism 228

[0136] The rotating mechanism 228 can be an electric rotary table, driven by a motor to rotate. The rotation axis of the rotating mechanism 228 is perpendicular to the straight line corresponding to the sliding direction of the normal sliding member 121 and the straight line corresponding to the sliding direction of the axial sliding member 131. The rotating mechanism 228 is rotatably connected to the fixed frame 21.

[0137] like Figure 1 and Figure 4 As shown, the rotating mechanism 228 is located above the guide wheel frame 226 and on the third side of the telescopic connecting plate 223, and is connected to the fixed connecting plate 212 and the rotating frame 213 of the fixed frame 21. The rotating mechanism 228 is rotatably connected to the rotating frame 213 and fixedly connected to the fixed connecting plate 212. When the rotating mechanism 228 rotates, it can drive the fixed connecting plate 212 to rotate, which in turn drives the grinding wheel 224 to rotate, enabling the grinding wheel 224 to grind the arc-shaped weld seam.

[0138] (2) Laser sensor

[0139] like Figure 3 As shown, the laser sensor 23 is located on the fifth side of the telescopic connecting plate 223 and is connected to the telescopic connecting plate 223. It is used to measure the height difference between the weld and the outer wall of the pipe.

[0140] This disclosure also provides a polishing system, which includes a control box 01 and the aforementioned polishing device 02.

[0141] like Figure 7 and Figure 8 As shown, the control box 01 includes a motion controller 011, a grinding head controller 012, a main control unit 013, a motion button 014, a grinding button 015, and a stop button 016. The motion controller 011, the grinding head controller 012, and the main control unit 013 are located inside the control box 01, while the motion button 014 and the grinding button 015 are located on the outer surface of the control box 01.

[0142] The movement controller 011 includes a circumferential movement controller 0111, a normal movement controller 0112, and an axial movement controller 0113. The movement button 014 includes a first circumferential movement button 0141, a second circumferential movement button 0142, a first normal movement button 0143, a second normal movement button 0144, a first axial movement button 0145, and a second axial movement button 0146.

[0143] The first circumferential movement button 0141 and the second circumferential movement button 0142 are electrically connected to the circumferential movement controller 0111 and are used to control the circumferential drive component 113 to drive the grinding mechanism 2 to move circumferentially along the pipe. The first normal movement button 0143 and the second normal movement button 0144 are electrically connected to the normal movement controller 0112 and are used to control the normal drive component 122 to drive the grinding mechanism 2 to move in a direction perpendicular to the outer wall of the pipe. The first axial movement button 0145 and the second axial movement button 0146 are electrically connected to the axial drive component 132 and are used to control the axial drive component 132 to drive the grinding mechanism 2 to move axially along the pipe.

[0144] The grinding head controller 012 is electrically connected to the telescopic airbag 222 and the grinding drive component 225, respectively, and is used to control the telescopic airbag 222's extension and retraction amount and the rotational speed of the output shaft of the grinding drive component 225, that is, to control the rotational speed of the grinding wheel 224.

[0145] The main control unit 013 is electrically connected to the tilt sensor 116, the laser sensor 23, the pressure sensor 221, the circumferential movement controller 0111, and the grinding head controller 012.

[0146] After the tilt sensor 116 sends the measurement result to the main control unit 013, the main control unit 013 can calculate the angle of the grinding wheel 224 moving circumferentially along the pipe and can plan the movement trajectory of the grinding wheel 224 in the circumferential direction of the pipe, so that the circumferential movement controller 0111 controls the circumferential drive component 113 to drive the grinding mechanism 2 to move circumferentially along the pipe.

[0147] After the laser sensor 23 sends the measurement results to the main control unit 013, the main control unit 013 can plan the distance between the grinding wheel 224 and the outer wall of the pipe, and then control the telescopic airbag 222 to adjust the telescopic amount through the grinding head controller 012, thereby adjusting the gap between the grinding wheel 224 and the weld.

[0148] After the pressure sensor 221 sends the measurement result to the main control unit 013, the main control unit 013 can determine whether the grinding force of the grinding wheel 224 needs to be adjusted. When the grinding force needs to be adjusted, since the grinding force is related to the rotational speed and feed rate of the grinding wheel 224, the grinding drive component 225 can be controlled to adjust the rotational speed of the output shaft, and the telescopic airbag 222 can be controlled to adjust the telescopic amount.

[0149] Pressing the first circumferential movement button 0141 or the second circumferential movement button 0142 sends a command to the circumferential movement controller 0111, which then controls the drive gear 1125 to move clockwise or counterclockwise. Pressing the first normal movement button 0143 or the second normal movement button 0144 sends a command to the normal movement controller 0112, which then controls the normal sliding member 121 to move closer to or further away from the outer wall of the pipe. Pressing the first axial movement button 0145 or the second axial movement button 0146 sends a command to the axial movement controller 0113, which controls the axial sliding member 131 to move in a first direction or a second direction, where the first and second directions are opposite. The position of the grinding wheel 224 is adjusted using the movement button 014, so that the grinding wheel 224 reaches the location of the weld.

[0150] Grinding button 015 and stop button 016 are electrically connected to grinding head controller 012. When grinding button 015 is pressed, it sends a command to grinding head controller 012, which controls grinding drive component 225 to rotate grinding wheel 224 and adjust the extension / retraction of telescopic airbag 222. Grinding button 015 is also electrically connected to circumferential movement controller 0111. Pressing grinding button 015 causes circumferential movement controller 0111 to control drive gear 1125 to move, so that grinding wheel 224 moves axially along the pipe while grinding.

[0151] After pressing the stop button 016, the stop button 016 can send a command to the grinding head controller 012 to control the drive grinding wheel 224 and the telescopic air bag 222 to stop working, so that the drive grinding wheel 224 stops rotating and the telescopic air bag 222 returns to its initial position.

[0152] The working process of the polishing system provided in the embodiments of this disclosure will be described in the following illustrative description with reference to the accompanying drawings.

[0153] After the two oil pipelines are welded, a circular track is laid according to the weld location. Workers lift the grinding device using two handles 115, place the grinding device on the circular track, and engage the drive gear 1125 and driven gear 1127 with the teeth on the circular track. Then, the clutch lever 1146 is rotated to push the first clamping base 1141 to the first limit position, so that the first clamping base 1141 and the second clamping base 1142 clamp the track, thereby fixing the grinding device on the circular track.

[0154] Then press either the first circumferential movement button 0141 or the second circumferential movement button 0142 to adjust the circumferential position of the grinding wheel 224. Next, press either the first axial movement button 0145 or the second axial movement button 0146 to adjust the circumferential distance between the grinding wheel 224 and the weld until the grinding wheel 224 is aligned with the weld. Since the weld is arc-shaped, the grinding wheel 224 should be aligned with the lowest point of the weld. Then press either the first normal movement button 0143 or the second normal movement button 0144 to adjust the normal distance between the grinding wheel 224 and the weld until the grinding wheel 224 gradually approaches the weld. When the grinding wheel 224 is close to the weld, release either the first normal movement button 0143 or the second normal movement button 0144 to stop the normal sliding member 131 from sliding.

[0155] Then, pressing the grinding button 015 causes the grinding head controller 012 to adjust the extension of the telescopic airbag 222 until the grinding wheel 224 contacts the lowest point of the weld. Subsequently, the grinding drive component 225 drives the grinding wheel 224 to rotate, and the rotating component 228 drives the grinding mechanism 2 to rotate, causing the grinding wheel 224 to oscillate, so that the trajectory of the grinding wheel 224 can conform to the arc-shaped weld, thereby grinding the weld. At the same time, the circumferential drive component 113 drives the drive gear 1125 to move on the track, so that the grinding wheel 224 moves along the axial direction of the pipe on the weld, and grinds the weld.

[0156] After grinding is completed, press the stop button 016 to stop the grinding wheel 224 from moving. Then rotate the clutch lever 1146 to move the first clamping base 1141 to the second limit position. Then remove the grinding device 02 from the circular track.

[0157] The grinding device provided in this embodiment includes a moving mechanism 1 and a grinding mechanism 2. The moving mechanism 1 includes a circumferential moving mechanism, a normal moving mechanism and an axial moving mechanism, so that the grinding machine 22 of the grinding mechanism 2 can move along the circumferential, normal and axial directions of the outer wall of the pipe, so that the grinding machine 22 can accurately grind the weld.

[0158] This disclosure also provides a grinding device testing system, which includes a testing platform 03 and the aforementioned grinding device 02.

[0159] like Figure 9 As shown, the test platform 03 includes an operating table 031, a weld grinding specimen 032, and a track 033. The weld grinding specimen 032 is located on top of the operating table 031 and is connected to the operating table 031. The track 033 is located on top of the operating table 031 and is connected to the operating table 031. The grinding device 02 is connected to the track 033.

[0160] The operating table 031 can be a high-temperature resistant horizontal tabletop and is fixed to the ground. The weld on the weld grinding test piece 032 is an arc-shaped weld, and the track 033 has toothed holes.

[0161] The main parameters related to grinding include grinding force, grinding travel speed (the travel speed of the drive gear 1125), grinding feed rate (the extension length of the telescopic airbag 222), and grinding speed (the rotational speed of the grinding wheel 224). Because many factors influence grinding, and the grinding process is relatively complex, changing any single parameter can significantly affect the grinding effect. Therefore, a grinding experiment was designed to verify the equipment's grinding performance under different specific conditions. The specific experimental procedure is as follows:

[0162] The grinding device is placed on the circular track, and the driving gear 1125 and driven gear 1127 are engaged with the toothed holes on the track 033. Then, the clutch lever 1146 is rotated to fix the grinding device on the track 013. Then, by driving the axial sliding member 131 and the normal sliding member 121, the grinding wheel 224 is aligned with the weld on the weld grinding specimen 012.

[0163] (1) Grinding force test

[0164] By keeping the grinding travel speed, grinding feed rate, and grinding speed constant, the grinding force was changed, and the grinding effect under different grinding forces was observed. The cutting amount under different grinding forces was recorded, and the conclusion was drawn that: the greater the grinding force, the greater the grinding cutting amount, and the smaller the grinding force, the smaller the grinding cutting amount. When the grinding force is less than 35N, the grinding wheel is prone to slipping.

[0165] (2) Polishing travel speed test

[0166] By keeping the grinding feed, grinding speed, and grinding force constant, the grinding travel speed was changed, and the grinding effect at different grinding travel speeds was observed. The cutting amount at different grinding travel speeds was recorded, and the conclusion was drawn that: the higher the grinding travel speed, the smaller the grinding cutting amount, and the lower the grinding travel speed, the larger the grinding cutting amount.

[0167] (3) Grinding feed rate test

[0168] By keeping the grinding force, grinding travel speed, and grinding speed constant, and observing the grinding effect under different grinding feed rates, the cutting amount under different grinding feed rates was recorded, and the conclusion was drawn that: the larger the grinding feed rate, the larger the grinding cutting amount, but if the grinding feed rate is too large, the grinding wheel 224 is prone to getting stuck in the grinding position.

[0169] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A polishing device, characterized in that, The grinding device is used to grind the weld seam on the outer wall of the pipe. The grinding device includes a moving mechanism (1) and a grinding mechanism (2). The moving mechanism (1) includes a circumferential moving mechanism (11), a normal moving mechanism (12), and an axial moving mechanism (13). The circumferential moving mechanism (11) includes a fixed base (111), a drive wheel assembly (112), and a circumferential driving component (113). The drive wheel assembly (112) is located at the bottom of the fixed base (111) and connected to the fixed base (111). The drive wheel assembly (112) is used to travel on an annular track at the corresponding weld position on the outer wall of the pipe. The annular track has toothed holes. The drive wheel assembly (112) has a drive shaft (1122) and two drive gears (1125). The drive shaft (1122) is located below the fixed base (111) and rotates with the fixed base (111). The drive shaft (1122) is parallel to the axis of the pipe. The two drive gears (1125) are ringed around the drive shaft (1122) and connected to the drive shaft (1122). The distance between the two drive gears (1125) on the drive shaft (1122) is the same as the width of the annular track and is used to mesh with the tooth holes on the annular track for movement. The circumferential drive component (113) is connected to the fixed seat (111) and the drive wheel set (112) respectively. The circumferential drive component (113) is used to drive the drive wheel set (112). The normal movement mechanism (12) includes a normal sliding member (121) and a normal driving member (122). The normal sliding member (121) is located on the first side of the fixed seat (111) and is slidably connected to the fixed seat (111). The sliding direction of the normal sliding member (121) is perpendicular to the outer wall of the pipe. The normal driving member (122) is connected to the fixed seat (111) and the normal sliding member (121) respectively. The normal driving member (122) is used to drive the normal sliding member (121) to slide. The axial moving mechanism (13) includes an axial sliding member (131) and an axial driving member (132). The axial sliding member (131) is located on the second side of the fixed base (111) and is slidably connected to the fixed base (111). The sliding direction of the axial sliding member (131) is parallel to the axis of the pipe. The axial driving member (132) is connected to the normal sliding member (121) and the axial sliding member (131) respectively. The axial driving member (132) is used to drive the axial sliding member (131) to slide. The second side is adjacent to the first side. The grinding mechanism (2) includes a fixed frame (21) and a grinding machine (22). The fixed frame (21) is located on the side of the axial sliding member (131) away from the fixed seat (111) and is connected to the axial sliding member (131). The grinding machine (22) is located on the fixed frame (21) and is connected to the fixed frame (21). The working end of the grinding machine (22) is the lower end. The grinding machine (22) includes a pressure sensor (221), a telescopic airbag (222), a telescopic connecting plate (223), a grinding wheel (224), and a grinding drive component (225). The pressure sensor (221) is located below the fixed frame (21) and is connected to the fixed frame (21). The pressure sensor (221), the telescopic airbag (222) and the telescopic connecting plate (223) are connected in sequence from top to bottom. The grinding drive component (225) is located on the third side of the telescopic connecting plate (223) and is connected to the telescopic connecting plate (223). The third side is the side of the telescopic connecting plate (223) away from the axial sliding member (131). The grinding wheel (224) is located on the side of the grinding drive component (225) near the telescopic connecting plate (223) and is connected to the grinding drive component (225) in a transmission manner. The grinding wheel (224) is located below the telescopic connecting plate (223).

2. The polishing device according to claim 1, characterized in that, The grinder (22) also includes two guide wheel frames (226) and two guide wheels (227); The two guide wheel frames (226) are located on the fourth and fifth sides of the telescopic connecting plate (223) respectively, and are connected to the telescopic connecting plate (223). The fourth and fifth sides are adjacent to the third side. The two guide wheels (227) are rotatably connected to the two guide wheel frames (226) respectively.

3. The polishing apparatus according to claim 1 or 2, characterized in that, The grinding mechanism (2) also includes a laser sensor (23), which is located on the fifth side of the telescopic connecting plate (223) and connected to the telescopic connecting plate (223) for measuring the height difference between the weld and the outer wall of the pipe.

4. The polishing device according to claim 2, characterized in that, The grinding machine (22) also includes a rotating mechanism (228); The rotating mechanism (228) is located above the guide wheel frame (226) and on the third side of the telescopic connecting plate (223), and is connected to the fixed frame (21); The rotation axis of the rotating mechanism (228) is perpendicular to the straight line corresponding to the sliding direction of the normal sliding member (121) and the straight line corresponding to the sliding direction of the axial sliding member (131).

5. The polishing device according to claim 1, characterized in that, The circumferential moving mechanism (11) also includes a clamping component (114). The clamping component (114) includes a first clamping base (1141), a second clamping base (1142), four clamping wheels (1143), a spring (1144), a telescopic shaft (1145), and a clutch lever (1146). The first clamping base (1141) and the second clamping base (1142) are located at the bottom of the fixed base (111) and are connected to the fixed base (111); Two clamping wheels (1143) are located at the bottom of the first clamping base (1141) and connected to the first clamping base (1141), and two other clamping wheels (1143) are located at the bottom of the second clamping base (1142) and connected to the second clamping base (1142). The clamping wheels (1143) are used to clamp the annular track. The two ends of the spring (1144) are respectively connected to the first clamping base (1141) and the second clamping base (1142); The first clamping base (1141) is looped around one end of the telescopic shaft (1145), and the first clamping base (1141) is slidably connected to the telescopic shaft (1145). The second clamping base (1142) is looped around the other end of the telescopic shaft (1145), and the second clamping base (1142) is slidably connected to the telescopic shaft (1145). The fixed seat (111) is looped around the clutch lever (1146) and is rotatably connected to the clutch lever (1146). One end of the clutch lever (1146) is connected to the first clamping base (1141) and is used to push the first clamping base (1141) closer to or away from the second clamping base (1142).

6. The polishing apparatus according to claim 1, characterized in that, The drive wheel assembly (112) includes a drive wheel (1121), a drive wheel shaft (1122), a driven wheel (1123), a timing belt (1124), a drive gear (1125), a driven wheel shaft (1126), and a driven gear (1127). The drive wheel (1121) is connected to the circumferential drive component (113), and the circumferential drive component (113) is used to drive the rotation of the drive wheel (1121); The driven wheel (1123) is located at one end of the driving wheel shaft (1122) and is connected to the driving wheel shaft (1122). The driven wheel (1123) is connected to the driving wheel (1121) through the synchronous belt (1124). The driven wheel shaft (1126) is located below the fixed seat (111) and is rotatably connected to the fixed seat (111). The driven wheel shaft (1126) is parallel to the axis of the pipe. The driven gear (1127) is looped around the driven wheel shaft (1126) and connected to the driven wheel shaft (1126). The driven gear (1127) is used to travel on the circular track.

7. The polishing apparatus according to claim 6, characterized in that, The circumferential moving mechanism (11) also includes two handles (115). The two handles (115) are located at the bottom of the fixed base (111) and connected to the fixed base (111). The two handles (115) are arranged opposite to each other and are located on both sides of the driving wheel shaft (1122) and the driven wheel shaft (1126), respectively.

8. The polishing apparatus according to claim 1, characterized in that, The circumferential moving mechanism (11) further includes an inclination sensor (116), which is located on the side of the fixed base (111) away from the axial sliding member (131) and connected to the fixed base (111). The inclination sensor (116) is used to measure the angle between the straight line corresponding to the sliding direction of the normal sliding member (121) and the vertical direction.

9. A testing system for a grinding device, characterized in that, The polishing device testing system includes a testing platform (03) and a polishing device (02) as described in any one of claims 1-8. The test platform (03) includes an operating table (031), a weld grinding test piece (032), and a track (033); The weld grinding test piece (032) is located on top of the operating table (031) and is connected to the operating table (031); The track (033) is located on top of the operating table (031) and is connected to the operating table (031); The grinding device (02) is connected to the track (033).

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