A gasbag-inflatable variable diameter pipe grinding robot

Abstract

This invention relates to the field of grinding robot technology, and more particularly to a gasbag-inflatable variable-diameter pipe grinding robot. It includes an inflatable grinding component, a dual-rotation component, a moving component, and a steering connection mechanism. The inflatable grinding component covers the dual-rotation component. The moving component is mounted and fixed on both sides of the dual-rotation component and has three branches, each connected to a support wheel. The steering connection mechanism is fixedly installed on both sides of the moving component via steering connecting rods and bolts. This invention uses a gasbag inflator, which improves the efficiency of grinding the inner wall of the pipe and ensures sufficient and uniform coverage of the grinding surface. By controlling the inflation pressure of the gasbag, the grinding force can be controlled and adjusted. Simultaneously, the variable-diameter function can be achieved through the connecting rod, adapting to different pipe diameter conditions, and enabling continuous movement within multiple sections of the pipe.

Description

Technical Field

[0001] This invention relates to the field of polishing robot technology, and in particular to a variable diameter pipe polishing robot with airbag expansion. Background Technology

[0002] To improve pipeline transportation efficiency and service life, specialized grinding operations are needed to address long-term corrosion and rust on the pipeline inner wall, weld seams at joints, and cast risers. Currently, gear hobbing cutters are used for grinding the inner wall of small-diameter pipes, which damages the inner wall, reduces service life, and has limitations for long pipes. Manual grinding is used for large-diameter pipes, which is inefficient, inaccurate, and poses significant health risks to workers. Pipe grinding robots, on the other hand, are specialized robots used to perform grinding operations on complex, narrow pipes. They possess the ability to quickly pass through narrow pipes, perform grinding operations on specific sections of the pipe, and adapt to pipes of different diameters and pipe bends.

[0003] Chinese invention patent CN106041652A discloses a pipe inner wall grinding robot based on a parallel mechanism, including a first joint, a second and third joint located behind the first joint, a grinding device located at the front end of the first joint, a cleaning device located at the rear end of the third joint, a miniature camera, and an infrared sensor. The first and second joints, and the second and third joints, are all connected by universal couplings. The grinding device includes a first plate, six grinding cylinders, a second plate, a grinding motor, and a grinding wheel. This invention can perform grinding operations inside straight long steel pipes and complex-shaped steel pipes such as curved pipes. However, the grinding efficiency of this prior art is low, the grinding fit with the pipe is insufficient, and the robot may rotate as a whole due to its own friction during the grinding process. Summary of the Invention

[0004] In response to the aforementioned technical problems, an airbag-inflatable variable diameter pipe grinding robot is provided.

[0005] The technical means employed in this invention are as follows:

[0006] An airbag-inflatable variable-diameter pipe grinding robot includes an inflatable grinding component, a first moving component, and a second moving component. The inflatable grinding component covers a double-rotating component, one side of which is fixed to the inner side of a main fixed plate. The double-rotating component includes an inner shaft and an outer pipe. A grinding mechanism is provided on the outside of the inflatable grinding component, and an expansion mechanism is provided on the inside. The expansion mechanism is sleeved on the outside of the outer pipe, and the grinding mechanism is connected to the inner shaft. Based on the rotation of the double-rotating component, the expansion and contraction of the expansion mechanism and the grinding mechanism grind the inner wall of the pipe to be ground are realized. The first and second moving components are connected to the fixed plate to realize the movement of the device inside the pipe. Both the first and second moving components include retractable wheels, and the outside of the wheels is provided with an anti-slip mechanism that fits the inside of the pipe. The grinding of pipes with different diameters is realized based on the extension and retraction of the wheels and the extension and retraction of the expansion mechanism.

[0007] The expansion grinding component, the first moving component, and the second moving component are connected to form a grinding device. The number of grinding devices is at least one set. When there are multiple sets, the sets are connected by a connecting mechanism. The connecting mechanism can realize the adjustment of the pipeline in the bending section.

[0008] Specifically, it includes an expansion grinding assembly, which covers the double rotating assembly, one side of which is fixed to the inner side of the main fixing plate; it also includes a first moving assembly, which is fixedly installed on the outer side of the main fixing plate, and the first moving assembly has three branches, each of which is connected to a first support wheel;

[0009] The second moving component is fixedly mounted on the disc fixing plate, which is fixedly mounted on the other side of the double rotating component. The second moving component has three branches, each of which is connected to a second support wheel. The steering connection mechanism is fixedly mounted to the first moving component and the second moving component on both sides through steering connection rods and bolts.

[0010] The dual-rotation assembly includes an inner shaft and an outer pipe. One end of the outer pipe is fixedly installed inside the center hole of the main fixing plate through an outer pipe bearing. The outer pipe is driven to rotate by an outer pipe motor. One end of the inner shaft is connected to an inner shaft motor fixedly installed on the main fixing plate, and the other end is connected to the outer pipe through an inner shaft bearing. The inner shaft is driven to rotate by an inner shaft motor.

[0011] The expansion grinding assembly includes a main airbag, an expansion air tube, and a main elastic rope. The lower end of the main airbag is fixedly installed on the outer pipe of the double rotation assembly. The main airbag is covered with long sandpaper, and both ends of the long sandpaper are fixedly installed on the inner shaft of the double rotation assembly. The expansion air tube passes through the outer pipe and sequentially passes through the lower end of the main airbag to supply air. One end of the main elastic rope is fixed to the lower end of one side of the main airbag, and the other end sequentially passes through the upper end of each main airbag on the other side.

[0012] The steering connection mechanism includes a pair of steering fixing discs. Three sets of steering airbags are fixedly installed in the center of the steering fixing discs along the circumference. Three air pumps corresponding to the steering airbags are fixedly installed on the outer ring of the steering fixing discs. The upper end of the air pumps is connected to an air supply pipe and passes through the adjacent set of steering airbags in sequence. Vertical elastic ropes and cross elastic ropes are respectively connected between the outer ring and the inner ring of the steering fixing discs on both sides.

[0013] Furthermore, the first moving component includes a first fixed plate, which is fixedly mounted on the main fixed plate by a first fixed cylinder and a first fixed bolt. A first moving motor is fixedly mounted on the first fixed plate. The first moving motor transmits power to the second driven wheel through a second driving wheel and a second synchronous belt, thereby driving the first rotating disk to rotate. The three branches of the first rotating disk are respectively connected to one end of a first long connecting rod through a first connecting piece. The other end of the first long connecting rod is connected to the upper middle part of a first claw-shaped connecting rod. One end of the first claw-shaped connecting rod is connected to the second rotating disk, and the other end is connected to the first support wheel through a second connecting piece. The second rotating disk can rotate to form a misalignment angle with the first fixed plate. A first limiting plate is fixedly mounted on each branch of the second rotating disk by a first limiting screw.

[0014] Furthermore, the first support wheel includes a first wheel frame and a first elastic rope. A first airbag and a first support frame are fixedly mounted on the first wheel frame. A first motor is fixedly mounted on the first support frame. The first motor transmits power to the third driven wheel through a third driving wheel and a third synchronous belt, thereby driving the pulley to rotate. The three first elastic ropes are respectively connected to the inner middle of the first airbag and the outer ring of the first wheel frame. The outer surface of the first airbag is a sandpaper surface.

[0015] Furthermore, the second moving component includes a second fixed disk, which is fixedly mounted on a disc fixed plate by a second fixed cylinder and a second fixed bolt. A second moving motor is fixedly mounted on the second fixed disk. The second moving motor transmits power to a fourth driven wheel through a fourth driving wheel and a fourth synchronous belt, thereby driving the third rotating disk to rotate. The three branches of the third rotating disk are respectively connected to one end of a second long connecting rod through a third connecting piece. The other end of the second long connecting rod is connected to the upper middle part of a second claw-shaped connecting rod. One end of the second claw-shaped connecting rod is connected and installed to the fourth rotating disk, and the other end is connected to a second support wheel through a fourth connecting piece. The fourth rotating disk is fixedly mounted to the second fixed disk. A second limiting plate is fixedly mounted on each branch of the fourth rotating disk by a second limiting screw.

[0016] Furthermore, the second support wheel includes a second wheel frame and a second elastic rope. The second wheel frame is fixedly mounted with a second airbag and a second support frame. The second support frame is mounted with a second connecting shaft. The second connecting shaft is rotatably mounted with a second pulley. The four second elastic ropes are respectively connected to the inner middle of the second airbag and the outer ring of the second wheel frame. The outer surface of the second airbag is sandpaper-like.

[0017] Furthermore, the dual-rotation assembly also includes a first driving wheel, which is fixedly connected to the output end of the external pipe motor. The first driving wheel is connected to a first driven wheel via a first synchronous belt. The first driven wheel is fixedly connected to the external pipe. The external pipe motor drives the external pipe to rotate by driving the first driving wheel to rotate.

[0018] Furthermore, the inner shaft motor is fixedly mounted on the main fixing plate by a first screw, and the outer pipe motor is fixedly mounted on the main fixing plate by a second screw.

[0019] Furthermore, the first long connecting rod and the first claw-shaped connecting rod are connected by a first connecting member, and the first claw-shaped connecting rod and the second rotating disk are connected by a first connecting member.

[0020] Furthermore, the second long connecting rod is connected to the second claw-shaped connecting rod via a third connector, and the second claw-shaped connecting rod is connected to the fourth rotating disk via a third connector.

[0021] This invention employs an airbag expansion device, which improves the efficiency of grinding the inner wall of the pipe and ensures full and uniform coverage of the grinding surface. By controlling the inflation pressure of the airbag, the grinding force of the pipe can be controlled and adjusted. At the same time, the diameter can be changed through the connecting rod to adapt to different pipe diameter conditions, and it can also achieve continuous travel in multiple sections inside the pipe.

[0022] The beneficial effects of this invention compared with the prior art are: (1) This invention achieves adaptive grinding of pipes by setting up an expansion grinding component. The airbag inflation allows the long sandpaper to fully contact the grinding surface, making the grinding work more comprehensive and ensuring uniform grinding of the inner wall of the pipe. At the same time, by controlling the inflation pressure of the airbag, the grinding force of the pipe can be controlled and adjusted; (2) This invention achieves variable diameter function through a linkage mechanism. In conjunction with the airbag inflation, it can perform grinding operations on pipes of different diameters; (3) This invention achieves continuous movement of the multi-segment grinding component in the pipe through a steering connection mechanism. The airbag assists in steering, making this invention adaptable to various bends; (4) This invention adds airbags with sandpaper surfaces to the ends of the drive wheel and driven wheel, ensuring that the moving component is firm and does not rotate during the grinding operation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a front view of the overall structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 3 This is a side view of the main fixing plate and the double rotating assembly of the present invention.

[0027] Figure 4 for Figure 3 Sectional view of AA.

[0028] Figure 5 This is a schematic diagram of the structure for connecting and installing the main fixing plate and the double rotating assembly of the present invention.

[0029] Figure 6 This is a schematic diagram of the expansion grinding assembly of the present invention.

[0030] Figure 7 This is a side view of the expansion grinding assembly of the present invention.

[0031] Figure 8 for Figure 7 A cross-sectional view of BB.

[0032] Figure 9 This is a side view of the first moving component of the present invention.

[0033] Figure 10 for Figure 9 Enlarged view of point C in the middle.

[0034] Figure 11 This is a schematic diagram of the structure in which the first moving component, the first support wheel, and the main fixing plate of the present invention are installed and fixed.

[0035] Figure 12 for Figure 11 Enlarged view of point D in the middle.

[0036] Figure 13 This is a schematic diagram of the structure of the first support wheel of the present invention.

[0037] Figure 14 for Figure 13 Enlarged view of point E in the middle.

[0038] Figure 15 This is a schematic diagram of the single-segment structure of the present invention with the steering connection mechanism and the expansion grinding assembly removed. Figure 1 .

[0039] Figure 16 for Figure 15 Enlarged view of point F in the middle.

[0040] Figure 17 This is a schematic diagram of the single-segment structure of the present invention with the steering connection mechanism and the expansion grinding assembly removed. Figure 2 .

[0041] Figure 18 This is a top view of the second support wheel of the present invention.

[0042] Figure 19 This is a single-segment side view of the present invention without the steering connection mechanism.

[0043] Figure 20 This is a schematic diagram of the present invention without the steering connection mechanism.

[0044] Figure 21 This is a schematic diagram of the steering connection mechanism of the present invention.

[0045] Figure 22 This is a schematic diagram of the steering connection mechanism of the present invention without the steering airbag.

[0046] Figure 23 This is a schematic diagram of the structure of the present invention, in which the two sections are connected by a steering connection mechanism.

[0047] Reference numerals: 1-Main fixed plate; 2-Dual rotating assembly; 201-Inner shaft motor; 202-Inner shaft; 203-Inner shaft bearing; 204-Outer pipe; 205-Outer pipe bearing; 206-Outer pipe motor; 207-First driving wheel; 208-First synchronous belt; 209-First driven wheel; 210-First semi-circular key; 211-Second semi-circular key; 212-First screw; 213-Second screw; 3-Expansion grinding assembly; 301-Long sandpaper; 302-Main airbag; 303-Expansion air tube; 304-Main elastic rope; 4-First moving assembly; 401-First fixed disc; 402-First moving motor; 403-Second driving wheel; 404-Second synchronous belt; 405-Second driven wheel; 406-First rotating disc; 407-First long connecting rod; 408-First claw-shaped connecting rod; 409-Second rotating disc; 410-First connecting rod; 411-First limiting plate; 412-First limiting screw; 413-First fixing bolt; 414-First fixing cylinder; 415-Second connecting piece; 5-First support wheel; 501-First wheel frame; 502-First airbag; 503-First support frame; 504- First motor; 505-Third driving pulley; 506-Third synchronous belt; 507-Third driven pulley; 508-First connecting shaft; 509-Pulley; 510-First elastic rope; 6-Disc fixing plate; 7-Second moving assembly; 701-Second fixed disc; 702-Second moving motor; 703-Fourth driving pulley; 704-Fourth synchronous belt; 705-Fourth driven pulley; 706-Third rotating disc; 707-Second long connecting rod; 708-Second claw-shaped connecting rod; 709-Fourth rotating disc; 710-Third connecting rod; 711-Second limiting plate; 712 - Second limiting screw; 713- Second fixing bolt; 714- Second fixing cylinder; 715- Fourth connecting rod; 8- Second support wheel; 801- Second wheel frame; 802- Second airbag; 803- Second support frame; 804- Second connecting shaft; 805- Second pulley; 806- Second elastic rope; 9- Steering connection mechanism; 901- Steering fixing plate; 902- Air pump; 903- Air supply pipe; 904- Steering airbag; 905- Vertical elastic rope; 906- Cross elastic rope; 907- Fixing nut; 10- Steering connecting rod; 11- Bolt connecting rod. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0053] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0054] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0055] like Figure 1-2 The illustrated airbag-inflatable variable-diameter pipe grinding robot includes an inflatable grinding component 3, which covers a double-rotating component 2. One side of the double-rotating component 2 is fixed to the inner side of a main fixed plate 1. It also includes a first moving component 4, which is fixedly installed on the outer side of the main fixed plate 1. The first moving component 4 has three branches, each connected to a first support wheel 5. A second moving component 7 is fixedly installed on a disc fixed plate 6, which is fixedly installed on the other side of the double-rotating component 2. The second moving component 7 has three branches, each connected to a second support wheel 8. A steering connection mechanism 9 is fixedly installed on both sides of the steering connection mechanism 9 via steering connecting rods 10 and bolted connectors 11, respectively, to the first moving component 4 and the second moving component 7.

[0056] like Figures 3-4As shown, the dual-rotation assembly 2 includes an inner shaft 202 and an outer pipe 204. One end of the outer pipe 204 is fixedly installed inside the center hole of the main fixing plate 1 through an outer pipe bearing 205. The outer pipe 204 is driven to rotate by an outer pipe motor 206. One end of the inner shaft 202 is connected to an inner shaft motor 201 fixedly installed on the main fixing plate 1, and the other end is connected to the outer pipe 204 through an inner shaft bearing 203. The inner shaft 202 is driven to rotate by the inner shaft motor 201. The dual-rotation assembly 2 also includes a first driving wheel 207. The first driving wheel 207 is fixedly connected to the output end of the outer pipe motor 206. The first driving wheel 207 is connected to a first driven wheel 209 through a first synchronous belt 208. The first driven wheel 209 is fixedly connected to the outer pipe 204. The outer pipe motor 206 drives the outer pipe 204 to rotate by driving the first driving wheel 206 to rotate.

[0057] like Figure 5 As shown, the inner shaft motor 201 is fixedly mounted on the main fixing plate 1 by the first screw 212, and the outer pipe motor 206 is fixedly mounted on the main fixing plate 1 by the second screw 213.

[0058] like Figures 6-8 As shown, the expansion grinding assembly 3 includes a main airbag 302, an expansion air pipe 303, and a main elastic rope 304. The lower end of the main airbag 302 is fixedly installed on the outer pipe 204 in the double rotation assembly 2. The main airbag 302 is covered with a long sandpaper 301. Both ends of the long sandpaper 301 are fixedly installed on the inner shaft 202 in the double rotation assembly 2. The expansion air pipe 303 passes through the outer pipe 204 and passes through the lower end of the main airbag 302 to supply air. One end of the main elastic rope 304 is fixed to the lower end of one side of the main airbag 302, and the other end passes through the upper end of each main airbag 302 on the other side.

[0059] like Figures 9-12As shown, the first moving component 4 includes a first fixed disk 401, which is fixedly mounted on the main fixed plate 1 by a first fixed cylinder 414 and a first fixed bolt 413. A first moving motor 402 is fixedly mounted on the first fixed disk 401. The first moving motor 402 transmits power to a second driven wheel 405 through a second driving wheel 403 and a second synchronous belt 404. The second driven wheel 405 meshes with the internal gear ring of the first rotating disk 406, thereby driving the first rotating disk 406 to rotate. The three branches of the first rotating disk 406 are respectively connected to one end of a first long connecting rod 407 through a first connecting piece 410. The other end of the long connecting rod 407 is connected to the upper middle part of the first claw-shaped connecting rod 408. One end of the first claw-shaped connecting rod 408 is connected and installed to the second rotating disk 409, and the other end is connected to the first support wheel 5 through the second connecting piece 415. The second rotating disk 409 can rotate to form a misalignment angle with the first fixed disk 401. Each branch of the second rotating disk 409 is fixedly installed with a first limiting plate 411 by a first limiting screw 412. The first long connecting rod 407 and the first claw-shaped connecting rod 408 are connected by a first connecting piece 410, and the first claw-shaped connecting rod 408 and the second rotating disk 409 are connected by a first connecting piece 410. In this embodiment, the first connecting piece 410 can be a hinge shaft.

[0060] like Figures 13-14 As shown, the first support wheel 5 includes a first wheel frame 501 and a first elastic rope 510. A first airbag 502 and a first support frame 503 are fixedly mounted on the first wheel frame 501. A first motor 504 is fixedly mounted on the first support frame 503. The first motor 504 transmits power to the third driven wheel 507 through the third driving wheel 505 and the third synchronous belt 506. The third driven wheel 507 and the pulley 509 are coaxially connected through the first connecting shaft 508, thereby driving the pulley 509 to rotate. The three first elastic ropes 510 are respectively connected to the inner middle of the first airbag 502 and the outer ring of the first wheel frame 501. The outer surface of the first airbag 502 is sandpaper-like.

[0061] like Figures 15-17As shown, the second moving component 7 includes a second fixed disk 701, which is fixedly mounted on the disc fixed plate 6 via a second fixed cylinder 714 and a second fixed bolt 713. A second moving motor 702 is fixedly mounted on the second fixed disk 701. The second moving motor 702 transmits power to a fourth driven wheel 705 via a fourth driving wheel 703 and a fourth synchronous belt 704. The fourth driven wheel 705 meshes with the internal gear ring of the third rotating disk 706, thereby driving the third rotating disk 706 to rotate. The three branches of the third rotating disk 706 are respectively connected to one end of the second long connecting rod 707 via a third connecting piece 710. The other end of the second long connecting rod 707 is connected to the upper middle part of the second claw-shaped connecting rod 708. One end of the second claw-shaped connecting rod 708 is connected and installed to the fourth rotating disk 709, and the other end is connected to the second support wheel 8 through the fourth connecting piece 715. The fourth rotating disk 709 is fixedly installed to the second fixed disk 701. Each branch of the fourth rotating disk 709 is fixedly installed with a second limiting plate 711 through a second limiting screw 712. The second long connecting rod 707 and the second claw-shaped connecting rod 708 are connected through a third connecting piece 710, and the second claw-shaped connecting rod 708 and the fourth rotating disk 709 are connected through a third connecting piece 710.

[0062] like Figure 18 As shown, the second support wheel 8 includes a second wheel frame 801 and a second elastic rope 806. A second airbag 802 and a second support frame 803 are fixedly mounted on the second wheel frame 801. A second connecting shaft 804 is mounted on the second support frame 803, and a second pulley 805 is rotatably mounted on the second connecting shaft 804. Four second elastic ropes 806 are respectively connected to the inner middle of the second airbag 802 and the outer ring of the second wheel frame 801. The outer surface of the second airbag 802 is a sandpaper-like surface. The first and second airbags provide support, and the sandpaper-like surface on their outer surfaces increases friction. Insufficient friction can easily cause the wheel to slip during rotational grinding in the middle grinding section.

[0063] like Figures 19-23 As shown, the steering connection mechanism 9 includes a pair of steering mounting plates 901. Three sets of steering airbags 904 are fixedly installed around the center of the steering mounting plates 901. Three air pumps 902, corresponding to the steering airbags 904, are fixedly installed on the outer ring of the steering mounting plates 901. Air supply pipes 903 are connected to the upper ends of the air pumps 902 and pass through the adjacent sets of steering airbags 904 in sequence. Vertical elastic ropes 905 and cross elastic ropes 906 are respectively connected between the outer and inner rings of the two steering mounting plates 901. The two sides of the steering connection mechanism 9 are fixedly installed to the first moving component 4 and the second moving component 7 respectively through steering connecting rods 10 and bolt connectors 11, and the fixing is completed by fixing nuts.

[0064] Working principle: When the device enters the pipeline, the first moving motor (402) and the second moving motor (702) drive the first rotating disk and the second rotating disk to rotate respectively. The resulting linkage mechanism drives the claw-shaped connecting rod at the end of the branch to extend outward until the first support wheel and the second support wheel contact the inner wall of the pipe. Then, the first motor on the first support wheel drives the pulley to rotate, moving the entire device towards the target grinding area. After the device moves to the target grinding area, the airbags on the first support wheel and the second support wheel inflate and contact the inner wall of the pipe, increasing the friction between the device and the pipeline. Then, the main airbag inflates and unfolds in the stacked order. Simultaneously, the inner shaft motor drives the release of the long sandpaper covering the main airbag until the main airbag expands the long sandpaper and makes close contact with the inner wall of the pipe; then the outer pipe motor drives the outer pipe to rotate, which in turn drives the expansion and grinding component to rotate, and the long sandpaper rubs against the inner wall of the pipe to perform the grinding operation; after the target area is ground, the main airbag deflates, the inner shaft motor rolls the long sandpaper inward, and the main airbag retracts inward to its initial state under the tension of the main elastic rope; then the airbag on the support wheel deflates and moves to a new target area. When encountering a curved pipe, the air pump controls the airbag in the corresponding turning direction to deflate through the air supply pipe, and the device bends in the target direction.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable-diameter pipe grinding robot with airbag inflatability, characterized in that: The device includes an expansion grinding assembly (3), a first moving assembly (4), and a second moving assembly (7). The expansion grinding assembly (3) is wrapped around the double rotating assembly (2). One side of the double rotating assembly (2) is fixed to the inside of the main fixing plate (1). The double rotating assembly (2) includes an inner shaft (202) and an outer pipe (204). The expansion grinding assembly (3) has a grinding mechanism on its outside and an expansion mechanism on its inside. The expansion mechanism is sleeved on the outside of the outer pipe (204). The grinding mechanism is connected to the inner shaft (202). Based on the rotation of the double rotating assembly (2), the expansion mechanism expands and shrinks, and the grinding mechanism grinds the inner wall of the pipe to be ground. The first moving assembly (4) and the second moving assembly (7) are connected to the fixing plate to realize the movement of the device inside the pipe. Both the first moving assembly (4) and the second moving assembly (7) include retractable support wheels. The support wheels are provided with an anti-slip mechanism that fits the inside of the pipe. The grinding of pipes of different diameters is realized based on the extension and retraction of the support wheels and the extension and retraction of the expansion mechanism. The expansion grinding assembly (3), the first moving assembly (4), and the second moving assembly (7) are connected to form a grinding device. The number of grinding devices is at least one set. When there are multiple sets, the sets are connected by a steering connection mechanism (9). The steering connection mechanism (9) can realize the adjustment of the pipeline in the bending section. One end of the outer pipe (204) is fixedly installed inside the center hole of the main fixing plate (1) through the outer pipe bearing (205). The outer pipe (204) is driven to rotate by the outer pipe motor (206). One end of the inner shaft (202) is connected to the inner shaft motor (201) fixedly installed on the main fixing plate (1), and the other end is connected to the outer pipe (204) through the inner shaft bearing (203). The inner shaft (202) is driven to rotate by the inner shaft motor (201). The expansion grinding assembly (3) includes a main airbag (302), an expansion air tube (303), and a main elastic rope (304). The lower end of the main airbag (302) is fixedly installed on the outer pipe (204) in the double rotation assembly (2). The main airbag (302) is covered with a long sandpaper (301). Both ends of the long sandpaper (301) are fixedly installed on the inner shaft (202) in the double rotation assembly (2). The expansion air tube (303) passes through the outer pipe (204) and passes through the lower end of the main airbag (302) to supply air. One end of the main elastic rope (304) is fixed to the lower end of one side of the main airbag (302), and the other end passes through the upper end of each main airbag (302) on the other side. The steering connection mechanism (9) includes a pair of steering fixing discs (901). Three sets of steering airbags (904) are fixedly installed in the center of the steering fixing disc (901) along the circumference. Three air pumps (902) corresponding to the steering airbags (904) are fixedly installed on the outer ring of the steering fixing disc (901). The upper end of the air pump (902) is connected to an external air supply pipe (903) and passes through the adjacent set of steering airbags (904) in sequence. Vertical elastic ropes (905) and cross elastic ropes (906) are respectively connected between the outer ring and the inner ring of the steering fixing disc (901) on both sides.

2. The airbag-inflatable variable-diameter pipe grinding robot according to claim 1, characterized in that: The first moving component (4) is fixedly installed on the outside of the main fixed plate (1). The first moving component (4) has three branches, and each branch is connected to a first support wheel (5). The second moving component (7) is fixedly installed on the disc fixing plate (6), which is fixedly installed on the other side of the double rotating component (2). The second moving component (7) has three branches, and each branch is connected to a second support wheel (8). Steering connection mechanism (9) is fixedly installed on both sides of the steering connection mechanism (9) with the first moving component (4) and the second moving component (7) respectively through steering connection rod (10) and bolt connection (11).

3. The airbag-inflatable variable-diameter pipe grinding robot according to claim 1, characterized in that: The first moving component (4) includes a first fixed plate (401), which is fixedly mounted on the main fixed plate (1) by a first fixed cylinder (414) and a first fixed bolt (413). A first moving motor (402) is fixedly mounted on the first fixed plate (401). The first moving motor (402) transmits power to the second driven wheel (405) through the second driving wheel (403) and the second synchronous belt (404), thereby driving the first rotating plate (406) to rotate. The three branches of the first rotating plate (406) are respectively connected by a first connecting member. (410) Connected to one end of the first long connecting rod (407), the other end of the first long connecting rod (407) is connected to the upper middle part of the first claw-shaped connecting rod (408), one end of the first claw-shaped connecting rod (408) is connected and installed to the second rotating disk (409), and the other end is connected to the first support wheel (5) through the second connecting piece (415). The second rotating disk (409) can rotate to form a misalignment angle with the first fixed disk (401). Each branch of the second rotating disk (409) is fixedly installed with a first limiting plate (411) by a first limiting screw (412).

4. The airbag-inflatable variable-diameter pipe grinding robot according to claim 2, characterized in that: The first support wheel (5) includes a first wheel frame (501) and a first elastic rope (510). The first airbag (502) and the first support frame (503) are fixedly mounted on the first wheel frame (501). The first motor (504) is fixedly mounted on the first support frame (503). The first motor (504) transmits power to the third driven wheel (507) through the third driving wheel (505) and the third synchronous belt (506), thereby driving the pulley (509) to rotate. The three first elastic ropes (510) are respectively connected to the inner middle of the first airbag (502) and the outer ring of the first wheel frame (501). The outer surface of the first airbag (502) is sandpaper.

5. The airbag-inflatable variable-diameter pipe grinding robot according to claim 1, characterized in that: The second moving component (7) includes a second fixed disk (701), which is fixedly mounted on a disc fixed plate (6) by a second fixed cylinder (714) and a second fixed bolt (713). A second moving motor (702) is fixedly mounted on the second fixed disk (701). The second moving motor (702) transmits power to a fourth driven wheel (705) through a fourth driving wheel (703) and a fourth synchronous belt (704), thereby driving the third rotating disk (706) to rotate. The three branches of the third rotating disk (706) are respectively One end of the second long connecting rod (707) is connected by the third connecting piece (710), and the other end of the second long connecting rod (707) is connected to the upper middle part of the second claw-shaped connecting rod (708). One end of the second claw-shaped connecting rod (708) is connected and installed to the fourth rotating disk (709), and the other end is connected to the second support wheel (8) through the fourth connecting piece (715). The fourth rotating disk (709) is fixedly installed to the second fixed disk (701). A second limiting plate (711) is fixedly installed on each branch of the fourth rotating disk (709) by a second limiting screw (712).

6. The airbag-inflatable variable-diameter pipe grinding robot according to claim 2, characterized in that: The second support wheel (8) includes a second wheel frame (801) and a second elastic rope (806). The second wheel frame (801) is fixedly mounted with a second airbag (802) and a second support frame (803). The second support frame (803) is mounted with a second connecting shaft (804). The second connecting shaft (804) is rotatably mounted with a second pulley (805). The four second elastic ropes (806) are respectively connected to the inner middle of the second airbag (802) and the outer ring of the second wheel frame (801). The outer surface of the second airbag (802) is sandpaper-like.

7. The airbag-inflatable variable-diameter pipe grinding robot according to claim 1, characterized in that: The dual-rotation assembly (2) further includes a first driving wheel (207), which is fixedly connected to the output end of the external pipe motor (206). The first driving wheel (207) is connected to the first driven wheel (209) via a first synchronous belt (208). The first driven wheel (209) is fixedly connected to the external pipe (204). The external pipe motor (206) drives the external pipe (204) to rotate by driving the first driving wheel (207) to rotate.

8. The airbag-inflatable variable-diameter pipe grinding robot according to claim 1, characterized in that: The inner shaft motor (201) is fixedly mounted on the main fixing plate (1) by the first screw (212), and the outer pipe motor (206) is fixedly mounted on the main fixing plate (1) by the second screw (213).

9. The airbag-inflatable variable-diameter pipe grinding robot according to claim 3, characterized in that: The first long connecting rod (407) and the first claw-shaped connecting rod (408) are connected by a first connector (410), and the first claw-shaped connecting rod (408) and the second rotating disk (409) are connected by a first connector (410).

10. The airbag-inflatable variable-diameter pipe grinding robot according to claim 5, characterized in that: The second long connecting rod (707) is connected to the second claw-shaped connecting rod (708) through a third connector (710), and the second claw-shaped connecting rod (708) is connected to the fourth rotating disk (709) through a third connector (710).

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