A grinding unit and method for the root of metal pipe welds

Abstract

A kind of metal pipeline weld root polishing control system, comprising: mainframe box unit, travel unit, monitoring unit, balancing unit, polishing unit and HDMI unit;Wherein: mainframe box unit is used to arrange, fix and run for other units of system;Travel unit is used to walk along the inner wall of pipeline under the drive of motor;Monitoring unit is used to identify metal pipeline weld during the travel of travel unit;Balancing unit is used to provide the stability support of box for the polishing work of polishing unit;Polishing unit is used to polish the metal pipeline weld to be polished according to preset rule;HDMI unit is used to show the real-time image of polishing unit in polishing process, also used to receive user control instruction, and send the control instruction to polishing unit.Compared with prior art, the present application has the advantages of wider application range, visual operation, reduced operation risk, etc., and the present application can achieve smooth transition of weld and base material.

Description

Technical Field

[0001] This invention relates to the field of metal pipe welding technology, specifically to a metal pipe weld root grinding unit and method. Background Technology

[0002] The main benefits of grinding the weld seam at the pipe root are as follows: 1. Improved weld quality: Grinding removes spatter generated during welding, resulting in a smoother weld surface and improved appearance. It also eliminates welding defects such as cracks, slag inclusions, or porosity, ensuring weld integrity and safety. 2. Improved mechanical properties: Grinding reduces stress concentration, allowing for better stress distribution under external forces, thus improving mechanical properties. Furthermore, it reduces the size of the stress-bearing area, further increasing the weld's load-bearing capacity. 3. Facilitated subsequent processing and inspection: Grinding improves surface smoothness and finish, facilitating subsequent processing and surface treatments such as machining and painting. It also makes weld quality inspection, such as non-destructive testing, easier. 4. Extend service life: By eliminating welding defects and stress concentration, weld grinding can reduce the probability of pipeline damage, thereby extending the service life of the pipeline.

[0003] There are two existing methods for grinding weld seams at the root of pipes. One method uses a weld seam grinder inside a cylindrical casing. Its advantages include a large grinding contact area and high grinding efficiency. However, its disadvantages include instability due to the weight of the grinding equipment, its support structure, and grinding vibrations, making it unsuitable for pipes with large horizontal inclination angles. Furthermore, the abrasive belt in this type of machine is generally wide and flat to achieve a large contact area, limiting the angle and preventing a smooth transition between the weld seam and the pipe base material at the weld toe. This results in sharp, discontinuous defects and stress concentration in the weld seam, affecting structural safety. The other method uses a traditional handheld angle grinder for manual grinding. Its advantages include convenient, flexible, and highly mobile tools. However, it requires manual entry into the pipe, operating in a confined space, making it unsuitable for pipes with small diameters or high risks that are inaccessible to personnel. Therefore, there is an urgent need for a dedicated metal pipe weld seam grinding unit to address the problems of existing technologies. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a metal pipe weld root grinding unit and method to overcome or at least partially solve the above problems.

[0005] To address the aforementioned technical problems, the embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of the present invention disclose a metal pipe weld root grinding control system, comprising: a main unit housing unit, a travel unit, a monitoring unit, a balancing unit, a grinding unit, and an HDMI unit; wherein...

[0007] The main unit is a cylindrical outer shell made of metal, used for arranging, fixing, and operating other units in the system;

[0008] The traveling unit, installed on the side wall of the main unit housing, is used to receive the traveling start signal sent by the user, and moves along the inner wall of the pipe under the drive of the motor, maintaining the balance of the traveling posture of the main unit housing in the pipe space position; and sends a monitoring start signal to the monitoring unit after receiving the traveling start signal;

[0009] The monitoring unit is installed on the rotating turntable at the front of the main unit housing in the direction of travel. It is used to receive the monitoring start signal sent by the traveling unit, identify the metal pipe weld during the travel of the traveling unit, identify the metal pipe weld to be ground, and after identifying the metal pipe weld to be ground, send the balancing signal and the grinding signal to the balancing unit and the grinding unit respectively.

[0010] The balancing unit is used to receive the balancing signal sent by the monitoring unit and provide stability support for the grinding unit's grinding operation.

[0011] The grinding unit is used to receive grinding signals sent by the monitoring unit and grind the metal pipe weld seam to be ground according to preset rules.

[0012] The HDMI unit is used to display real-time images of the polishing unit during the polishing process, and also to receive user control commands and send the control commands to the polishing unit.

[0013] The traveling unit has multiple sets arranged at both ends of the side wall of the main unit housing. Each set has multiple traveling arms, and each set of traveling arms is evenly distributed along the side wall of the main unit housing. Each traveling arm includes a traveling wheel, bearing, arm, motor, electric hydraulic support rod, and the required wires and fasteners. One end of the traveling arm is fixed to the main unit housing and can rotate radially along the main unit housing under the force of the motor-driven hydraulic support rod. Multiple traveling arms can rotate synchronously so that the other end is close to and presses against the inner wall of the pipe.

[0014] Furthermore, the monitoring unit includes a full-view camera, an image display, and lighting fixtures. The full-view camera and lighting fixtures are both mounted on a rotating turntable at the front of the main unit housing in the direction of travel. The image display is mounted outside the pipe. The full-view camera is used to identify the weld seams of the metal pipe during travel and to identify the weld seams of the metal pipe to be ground. The lighting fixtures are used to provide supplementary lighting for the image recognition of the full-view camera in low-light conditions. The image display is used to provide real-time grinding images for personnel outside the pipe.

[0015] Furthermore, the balancing unit includes a support arm, a motor, and a suspension safety lock. The support arm is mounted on the side wall of the main unit housing and consists of a support pad and an electro-hydraulic strut. The support arm and the traveling arm are evenly distributed along the side wall of the main unit housing. The support pad and the electro-hydraulic strut are fixed together. The strut is installed perpendicular to the side wall of the housing. The hydraulic strut extends under the drive of the motor, causing the support pad to press against the inner wall of the pipe, providing stable support for the housing for the subsequent grinding work of the grinding unit. The suspension safety lock includes a wire rope fixing device and a wire rope. The wire rope fixing device is in the form of a lifting lug and is installed on the rear shell cover of the main unit housing in the direction of travel. One end of the wire rope is connected to the fixing device, and the other end extends to the outside of the pipe opening side, connecting to any suitable traction power to pull out in case of a failure of the traveling unit or to provide fall protection for the traveling unit when the pipe is in a large-angle spatial position relative to the horizontal plane.

[0016] Furthermore, the polishing unit includes an electric rotating shaft, a rotating shaft fixing rod, a rotating turntable, a belt polisher, and a rod polisher;

[0017] The electric rotating shaft is rigidly connected to the rotating shaft fixing rod and installed inside the front end of the main unit housing in the direction of travel. The other end of the fixing rod is rigidly connected to the inner wall of the main unit housing. The rotating turntable at the front end of the housing is rigidly connected to the electric rotating shaft, and the rotating turntable completely covers the front end of the housing in the direction of travel. Driven by the motor, the electric rotating shaft can drive the rotating turntable and the grinder installed on the turntable to rotate by an angle, thereby realizing the tracking of the intended grinding position at the root of the pipe weld.

[0018] Furthermore, the belt grinder consists of an electric hydraulic strut, a strut fixing arm, a grinding belt, a grinding drive wheel, and an electric motor. The electric hydraulic strut is mounted on the rotating turntable via the fixing arm, and the other end of the hydraulic strut arm is connected to the grinding drive wheel and the grinding belt. During operation, the electric hydraulic strut extends its arm under the drive of the electric motor, so that the grinding belt approaches the area to be ground.

[0019] Furthermore, the rod grinder consists of a hydraulic strut, a strut fixing arm, a round rod hard grinding head, a grinding drive wheel, and an electric motor. The electric hydraulic strut is mounted on the rotating turntable through the fixing arm, and the other end of the hydraulic strut arm is connected to the grinding drive wheel and the round rod hard grinding head. During operation, the electric hydraulic strut extends its arm under the drive of the electric motor, so that the grinding belt approaches the area to be ground.

[0020] Furthermore, after the grinding unit grinds the metal pipe weld seam to be ground according to the preset rules, it will also send a secondary identification signal to the monitoring unit. After the monitoring unit identifies the secondary identification signal, it will perform a secondary identification on the weld seam after grinding by the grinding unit. If the weld seam is identified as successfully ground, it will send a walking start signal to the walking unit to start grinding the next weld seam; if the weld seam is identified as unsuccessfully ground, it will send a secondary grinding signal to the grinding unit to perform a secondary grinding on the weld seam.

[0021] Secondly, embodiments of the present invention disclose a method for controlling the grinding of the root of a metal pipe weld, comprising:

[0022] The traveling unit receives the traveling start signal sent by the user, and moves along the inner wall of the pipe under the drive of the motor, maintaining the balance of the traveling posture of the main unit in the pipe space position; and sends a monitoring start signal to the monitoring unit after receiving the traveling start signal;

[0023] The monitoring unit receives the monitoring start signal sent by the traveling unit, identifies the metal pipe weld during the traveling unit's movement, and identifies the metal pipe weld to be ground; after identifying the metal pipe weld to be ground, it sends a balancing signal and a grinding signal to the balancing unit and the grinding unit respectively.

[0024] The balancing unit receives the balancing signal sent by the monitoring unit, providing stability support for the grinding unit's grinding operation.

[0025] The grinding unit receives the grinding signal sent by the monitoring unit and grinds the weld seam of the metal pipe to be ground according to the preset rules.

[0026] Furthermore, a method for controlling the grinding of the root of a metal pipe weld is characterized by further comprising: after the grinding unit grinds the metal pipe weld to be ground according to a preset rule, it also sends a secondary identification signal to the monitoring unit. After the monitoring unit identifies the secondary identification signal, it performs a secondary identification on the weld after it has been ground by the grinding unit. If the weld grinding is identified as successful, it sends a walking start signal to the walking unit to start grinding the next weld. If the weld grinding is identified as unsuccessful, it sends a secondary grinding signal to the grinding unit to perform a secondary grinding on the weld.

[0027] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0028] This invention discloses a metal pipe weld root grinding control system, comprising: a main unit housing, a traveling unit, a monitoring unit, a balancing unit, a grinding unit, and an HDMI unit; wherein: the main unit housing is composed of a cylindrical shell made of metal material, used for arranging, fixing, and operating other units of the system; the traveling unit is installed on the side wall of the main unit housing, used for receiving a traveling start signal sent by the user, traveling along the inner wall of the pipe under the drive of a motor, maintaining the balance of the traveling posture of the main unit housing in the pipe space position; and sending a monitoring start signal to the monitoring unit after receiving the traveling start signal; the monitoring unit is installed on a rotating turntable at the front end of the main unit housing in the traveling direction, used for receiving... The system receives a monitoring start signal from the traveling unit, identifies the weld seams of the metal pipes during its movement, and identifies the weld seams to be ground. After identifying the weld seams, it sends a balancing signal and a grinding signal to the balancing unit and grinding unit, respectively. The balancing unit receives the balancing signal from the monitoring unit and provides stability support for the grinding unit's grinding operation. The grinding unit receives the grinding signal from the monitoring unit and grinds the weld seams according to preset rules. The HDMI unit displays real-time images of the grinding unit during the grinding process and also receives user control commands, sending these commands to the grinding unit. Compared to existing technologies, this invention has advantages such as wider applicability, remote manual operation, visual operation, reduced operational risks, and a smooth transition between the weld seam and the base material.

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is a structural diagram of a metal pipe weld root grinding control system according to Embodiment 1 of the present invention;

[0032] Figure 2 This is a flowchart of a method for controlling the grinding of the root of a metal pipe weld in Embodiment 2 of the present invention.

[0033] Figure 3 This is a structural diagram of a metal pipe weld root grinding control device in Embodiment 3 of the present invention. Detailed Implementation

[0034] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0035] To address the problems existing in the prior art, embodiments of the present invention provide a control system and method for grinding the root of weld seams in metal pipes.

[0036] Example 1

[0037] This invention discloses a metal pipe weld root grinding control system, such as... Figure 1 It includes: main unit chassis, travel unit, monitoring unit, balancing unit, polishing unit, and HDMI unit; among which:

[0038] The main unit is a cylindrical outer shell made of metal, used for arranging, fixing, and operating other units in the system;

[0039] The traveling unit, installed on the side wall of the main unit housing, is used to receive the traveling start signal sent by the user, and moves along the inner wall of the pipe under the drive of the motor, maintaining the balance of the traveling posture of the main unit housing in the pipe space position; and sends a monitoring start signal to the monitoring unit after receiving the traveling start signal;

[0040] In this embodiment, the traveling unit has multiple sets of traveling arms arranged at both ends of the side wall of the main unit housing. Each set has multiple traveling arms, and each set of traveling arms is evenly distributed along the side wall of the main unit housing. Each traveling arm includes a traveling wheel, bearing, arm, motor, electro-hydraulic support rod, and the necessary wiring and fasteners. One end of the traveling arm is fixed to the main unit housing and can rotate radially along the main unit housing under the force of the motor-driven hydraulic support rod. Multiple traveling arms can rotate synchronously so that the other end approaches and presses against the inner wall of the pipe. Preferably, two sets of traveling arms are arranged at each end of the side wall of the cylindrical main unit housing, with three traveling arms in each set.

[0041] The monitoring unit is installed on the rotating turntable at the front of the main unit housing in the direction of travel. It is used to receive the monitoring start signal sent by the traveling unit, identify the metal pipe weld during the travel of the traveling unit, identify the metal pipe weld to be ground, and after identifying the metal pipe weld to be ground, send the balancing signal and the grinding signal to the balancing unit and the grinding unit respectively.

[0042] In this embodiment, the monitoring unit includes a full-view camera, an image display, and lighting fixtures. The full-view camera and lighting fixtures are both mounted on a rotating turntable at the front end of the main unit housing in the direction of travel. The image display is mounted outside the pipe. The full-view camera is used to identify the weld seams of the metal pipe during travel and to identify the weld seams of the metal pipe to be ground. The lighting fixtures are used to provide supplementary lighting for the image recognition of the full-view camera under low light conditions. The image display is used to provide real-time grinding images for personnel outside the pipe.

[0043] A balancing unit receives balancing signals from the monitoring unit, providing stability support for the grinding unit's grinding operation. In this embodiment, the balancing unit includes a support arm, a motor, and a suspension safety lock. The support arm is mounted on the side wall of the main unit housing and consists of a support pad and an electro-hydraulic strut. The support arm and the traveling arm are evenly distributed along the side wall of the main unit housing. The support pad and the electro-hydraulic strut are fixed together. The strut is installed perpendicular to the side wall of the housing. The hydraulic strut extends under the drive of the motor, causing the support pad to press against the inner wall of the pipe, providing stability support for the grinding unit's grinding operation. The suspension safety lock includes a wire rope fixing device and a wire rope. The wire rope fixing device is in the form of a lifting lug and is installed on the rear end cover of the main unit housing in the direction of travel. One end of the wire rope is connected to the fixing device, and the other end extends to the outside of the pipe opening side, connecting to any suitable traction power to pull out when the traveling unit malfunctions or to provide fall protection for the traveling device when the pipe is at a large angle to the horizontal plane.

[0044] The grinding unit receives grinding signals from the monitoring unit and grinds the metal pipe weld to be ground according to preset rules. In this embodiment, the grinding unit includes an electric rotating shaft, a rotating shaft fixing rod, a rotating turntable, a belt grinder, and a rod grinder. The electric rotating shaft is rigidly connected to the rotating shaft fixing rod and installed inside the front end of the main unit housing in the direction of travel. The other end of the fixing rod is rigidly connected to the inner wall of the main unit housing. The rotating turntable at the front end of the housing is rigidly connected to the electric rotating shaft, and the rotating turntable completely covers the front end of the housing in the direction of travel. Driven by a motor, the electric rotating shaft can drive the rotating turntable and the grinder installed on the turntable to rotate by an angle, thereby realizing the tracking of the intended grinding position at the root of the pipe weld.

[0045] In some preferred embodiments, the belt grinder consists of an electro-hydraulic strut, a strut fixing arm, a grinding belt, a grinding drive wheel, and an electric motor. The electro-hydraulic strut is mounted on a rotating turntable via the fixing arm, and the other end of the hydraulic strut arm is connected to the grinding drive wheel and the grinding belt. During operation, the electro-hydraulic strut extends its arm under the drive of the electric motor, so that the grinding belt approaches the area to be ground.

[0046] In some preferred embodiments, the rod grinder consists of a hydraulic strut, a strut fixing arm, a round rod hard grinding head, a grinding drive wheel, and an electric motor. The electric hydraulic strut is mounted on a rotating turntable via the fixing arm, and the other end of the hydraulic strut arm is connected to the grinding drive wheel and the round rod hard grinding head. During operation, the electric hydraulic strut extends its arm under the drive of the electric motor, so that the grinding belt approaches the area to be ground.

[0047] The HDMI unit is used to display real-time images of the polishing unit during the polishing process, and also to receive user control commands and send the control commands to the polishing unit.

[0048] This embodiment discloses a metal pipe weld root grinding control system, including: a main unit housing, a traveling unit, a monitoring unit, a balancing unit, a grinding unit, and an HDMI unit; wherein: the main unit housing is composed of a cylindrical shell made of metal material, used for arranging, fixing, and operating other units of the system; the traveling unit is installed on the side wall of the main unit housing, used for receiving a traveling start signal sent by the user, traveling along the inner wall of the pipe under the drive of a motor, maintaining the balance of the traveling posture of the main unit housing in the pipe space position; and sending a monitoring start signal to the monitoring unit after receiving the traveling start signal; the monitoring unit is installed on the rotating turntable at the front end of the main unit housing in the traveling direction, used for receiving... The system receives a monitoring start signal from the traveling unit, identifies the weld seams of the metal pipes during its movement, and identifies the weld seams to be ground. After identifying the weld seams, it sends a balancing signal and a grinding signal to the balancing unit and grinding unit, respectively. The balancing unit receives the balancing signal from the monitoring unit and provides stability support for the grinding unit's grinding operation. The grinding unit receives the grinding signal from the monitoring unit and grinds the weld seams according to preset rules. The HDMI unit displays real-time images of the grinding unit during the grinding process and also receives user control commands, sending these commands to the grinding unit. Compared to existing technologies, this invention has advantages such as wider applicability, remote manual operation, visual operation, reduced operational risks, and a smooth transition between the weld seam and the base material.

[0049] Example 2

[0050] Based on the same inventive concept, this disclosure also provides a method for controlling the grinding of the root of a metal pipe weld, such as... Figure 2 ,include:

[0051] The traveling unit receives the traveling start signal sent by the user, and moves along the inner wall of the pipe under the drive of the motor, maintaining the balance of the traveling posture of the main unit in the pipe space position; and sends a monitoring start signal to the monitoring unit after receiving the traveling start signal;

[0052] The monitoring unit receives the monitoring start signal sent by the traveling unit, identifies the metal pipe weld during the traveling unit's movement, and identifies the metal pipe weld to be ground; after identifying the metal pipe weld to be ground, it sends a balancing signal and a grinding signal to the balancing unit and the grinding unit respectively.

[0053] The balancing unit receives the balancing signal sent by the monitoring unit, providing stability support for the grinding unit's grinding operation.

[0054] The grinding unit receives the grinding signal sent by the monitoring unit and grinds the weld seam of the metal pipe to be ground according to the preset rules.

[0055] In some preferred embodiments, after the grinding unit grinds the weld seam of the metal pipe to be ground according to preset rules, it also sends a secondary identification signal to the monitoring unit. After the monitoring unit identifies the secondary identification signal, it performs a secondary identification on the weld seam after grinding by the grinding unit. If the weld seam is identified as successfully ground, it sends a walking start signal to the walking unit to start grinding the next weld seam; if the weld seam is identified as unsuccessfully ground, it sends a secondary grinding signal to the grinding unit to perform a secondary grinding on the weld seam.

[0056] In this embodiment, the specific working methods of the main unit chassis unit, the travel unit, the monitoring unit, the balancing unit, the polishing unit, and the HDMI unit have been described in detail in Embodiment 1, and will not be repeated here.

[0057] Example 3

[0058] To better understand the present invention, this embodiment also discloses a metal pipe 06 weld root grinding device. This metal pipe 06 weld root grinding device is applied to a metal pipe 06 weld root grinding control system described in Embodiment 1. The device comprises six parts: a main unit housing 05, a traveling device, a monitoring device, a balancing device, a grinding device, and a control device; specifically, as shown... Figure 3 As shown, the main unit housing 05 is composed of a cylindrical shell made of metal material and is the main body of the device. Other structures are arranged, fixed and operated around it.

[0059] The traveling device is mounted on the side wall of the main unit housing 05. Two sets of three traveling arms 01 are arranged at each end of the axial direction of the side wall of the cylindrical main unit housing 05. Each set of traveling arms 01 is evenly distributed along the side wall of the main unit housing 05. Each traveling arm 01 includes a traveling wheel, bearing, arm, motor, electro-hydraulic strut, and the necessary wiring and fasteners. The end of the traveling arm 01 near the main unit housing 05 is fixed to the main unit housing, and the end near the metal pipe 06 is close to and presses against the inner wall of the pipe 06. When the traveling device receives the traveling start signal and begins to travel, the traveling arm 01 fixed to the main unit housing rotates radially along the main unit housing under the action of the motor-driven hydraulic strut. The two sets of six traveling arms 01 can rotate synchronously so that the other end is close to and presses against the inner wall of the pipe 06. This allows the traveling wheel to travel along the inner wall of the pipe 06 under the drive of the motor, and maintains the balance of the main unit housing 05 in all spatial positions of the pipe 06.

[0060] The monitoring device includes a full-view camera 07, an image display, and a lighting fixture 11. Both the full-view camera 07 and the lighting fixture 11 are mounted on a rotating turntable 10 at the front end of the main unit housing 05 in the direction of travel. The image display is integrated into the control system. The full-view camera 07, equipped with a pan-tilt unit, provides a field of view for the traveling device to move within the pipe 06, identify its position, and determine its status. The lighting fixture 11 provides supplementary lighting for image recognition in low-light conditions. The image display provides a screen view for remote operators outside the pipe 06.

[0061] The balancing device includes a support arm 02, a motor, and a suspension safety lock. The support arm 02 is mounted on the side wall of the main unit housing 05 and consists of a support pad and an electro-hydraulic strut. There are two sets, each with three struts, evenly distributed along the side wall of the main unit housing 05, interspersed with the traveling arm 01. The support pad and the electro-hydraulic strut are integrally fixed, with the strut installed perpendicular to the side wall of the housing. Its function is to extend the hydraulic strut under the drive of the motor when the traveling device reaches the working position, causing the support pad to press against the inner wall of the pipe 06, providing stability support for the housing during subsequent grinding work. The strut retracts when the traveling device moves forward. The suspension safety lock includes a wire rope fixing device 15 and a wire rope 14. The wire rope fixing device 15 can be made into a lifting lug and installed on the rear end cover of the main unit housing 05 in the direction of travel. One end of the steel wire rope 14 is connected to the fixing device, and the other end extends to the outside of the opening side of the pipe 06. It can be connected to any suitable traction power to pull out when the equipment's travel system fails or to provide fall protection for the equipment when the pipe 06 is in a large-angle spatial position with the horizontal plane.

[0062] The grinding device includes an electric rotating shaft 03, a rotating shaft fixing rod 04, a rotating turntable 10, a belt grinder 08, and a rod grinder 08. The electric rotating shaft 03 is rigidly connected to the rotating shaft fixing rod 04 and is installed inside the front end of the main unit housing 05 in the direction of travel. The other end of the fixing rod is rigidly connected to the inner wall of the main unit housing 05. The rotating turntable 10 at the front end of the housing is rigidly connected to the electric rotating shaft 03, completely covering the front end of the housing in the direction of travel. Driven by an electric motor, the electric rotating shaft 03 can rotate the rotating turntable 10 and the grinder mounted on the turntable, thereby tracing the intended grinding position at the root of the weld seam of pipe 06. The belt grinder 08 consists of an electric hydraulic support rod, a support rod fixing arm, a grinding belt, a grinding drive wheel, and an electric motor. The electro-hydraulic strut is mounted on the rotating turntable 10 via a fixed arm. The other end of the hydraulic strut arm is connected to the grinding drive wheel and the grinding belt. During operation, the electro-hydraulic strut extends its arm under the drive of the motor, bringing the grinding belt closer to the area to be ground. The overall function of the belt grinder 08 is to perform preliminary grinding of the weld seam or area to be ground. After grinding away most of the material, the rod grinder 08 is used to grind the details. The rod grinder 08 has a basically the same structure as the belt grinder 08, except that the grinding belt is replaced with a round rod-shaped hard grinding head, and the number of stepper motors is increased to allow for vertical and horizontal adjustment of the grinding head. The overall function of the rod grinder 08 is to perform secondary fine grinding of the area to be ground at different fine angles.

[0063] The control device, mainly an intelligent controller, includes wireless and wired transmission modules, a control panel, and a display panel. In this embodiment, the intelligent operation terminal 16 and the microcontroller 17 are connected via signal line 12, and the control panel enables real-time camera, walking, fixing, grinding, lighting, and other actions.

[0064] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0065] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0066] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0067] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0068] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0069] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A metal pipe weld root grinding control system, characterized by, The system comprises a main box unit, a traveling unit, a monitoring unit, a balancing unit, a polishing unit and an HDMI unit, wherein: The main box unit is composed of a cylindrical shell of metal material, used for arranging, fixing and running of other units of the system; The traveling unit is installed on the side wall of the main box unit, used for receiving a traveling start signal sent by a user, walking along the inner wall of the pipeline under the drive of a motor, maintaining the balance of the traveling posture of the main box unit at the spatial position of the pipeline, and sending a monitoring start signal to the monitoring unit after receiving the traveling start signal; The monitoring unit is installed on the rotating disc at the front end of the main box unit in the traveling direction, used for receiving the monitoring start signal sent by the traveling unit, identifying the metal pipeline weld in the traveling process of the traveling unit, and identifying the metal pipeline weld to be polished, and sending a balancing signal and a polishing signal to the balancing unit and the polishing unit respectively after identifying the metal pipeline weld to be polished; The balancing unit is used for receiving the balancing signal sent by the monitoring unit, providing stability support for the polishing work of the polishing unit; The polishing unit is used for receiving the polishing signal sent by the monitoring unit, polishing the metal pipeline weld to be polished according to the preset rule; The HDMI unit is used for displaying the real-time image of the polishing process of the polishing unit, and receiving a user control instruction and sending the control instruction to the polishing unit. The traveling unit is arranged at both ends of the main box side wall in the axial direction, each group of multiple walking arms is arranged, each group of walking arms is uniformly distributed along the main box side wall, each walking arm comprises a walking wheel, a bearing, an arm rod, a motor, an electric hydraulic support rod and required wires and fasteners; one end of the arm rod of the walking arm is fixed on the main box, and can rotate an angle along the radial direction of the main box under the action force of the motor driven hydraulic support rod, and multiple walking arms can rotate an angle synchronously to make the other end close to and press the inner wall of the pipeline.

2. A metal pipe weld root grinding control system as defined in claim 1, wherein, The monitoring unit comprises a full-view camera, an image display and a lighting lamp, the full-view camera and the lighting lamp are installed on the rotating disc at the front end of the main box in the traveling direction, and the image display is installed outside the pipeline; the full-view camera is used for identifying the metal pipeline weld in the traveling process, identifying the metal pipeline weld to be polished, the lighting lamp is used for supplementing light for the image identification of the full-view camera in dark light conditions, and the image display is used for providing real-time polishing image for personnel outside the pipeline.

3. A metal pipe weld root grinding control system as defined in claim 1, wherein, ​ 4. A metal pipe weld root grinding control system as defined in claim 1, wherein, The balancing unit comprises a support arm, a motor and a suspension safety lock; the support arm is installed on the side wall of the main box body and is composed of a support pad and an electric hydraulic support rod; the support arm and the walking arm are evenly distributed along the side wall of the main box body in a staggered manner; the support pad and the electric hydraulic support rod are integrally fixed; the support rod is installed perpendicularly to the side wall of the box body; the hydraulic support rod is extended under the drive of the motor so that the support pad is pressed against the inner wall of the pipeline, thereby providing stability support for the box body for the grinding work of the grinding unit; the suspension safety lock comprises a wire rope fixing device and a wire rope; the wire rope fixing device is in the form of an eye and is installed on the rear end shell cover of the main box body in the direction of travel; one end of the wire rope is connected with the fixing device and the other end extends to the outside of one side of the pipeline opening; any suitable traction power is connected to provide anti-falling insurance for the walking unit when the walking unit fails or when the pipeline is at a large angle with the horizontal plane.

5. A metal pipe weld root grinding control system as defined in claim 1, wherein, The grinding unit comprises an electric rotating shaft, a rotating shaft fixing rod, a rotating disc, a belt grinder and a rod grinder; the electric rotating shaft is rigidly connected with the rotating shaft fixing rod and is installed inside the front end of the main box body in the direction of travel; the other end of the fixing rod is rigidly connected with the inner side wall of the main box body; the rotating disc at the front end of the box body is rigidly connected with the electric rotating shaft; the rotating disc completely covers the front end of the box body in the direction of travel; the electric rotating shaft can drive the rotating disc and the grinder installed on the disc to rotate under the drive of the motor, thereby realizing the tracing of the grinding position of the root of the pipeline weld.

6. A metal pipe weld root grinding control system as defined in claim 5, wherein, The belt grinder is composed of an electric hydraulic support rod, a support rod fixing arm, a grinding belt, a grinding drive wheel and a motor; the electric hydraulic support rod is installed on the rotating disc through the fixing arm; the other end of the hydraulic rod arm is connected with the grinding drive wheel and the grinding belt; the electric hydraulic support rod is extended under the drive of the motor to make the grinding belt close to the area to be ground.

7. A metal pipe weld root grinding control system as defined in claim 5 wherein, The rod grinder is composed of a hydraulic support rod, a support rod fixing arm, a circular rod hard grinding head, a grinding drive wheel and a motor; the electric hydraulic support rod is installed on the rotating disc through the fixing arm; the other end of the hydraulic rod arm is connected with the grinding drive wheel and the circular rod hard grinding head; the electric hydraulic support rod is extended under the drive of the motor to make the grinding belt close to the area to be ground.

8. A metal pipe weld root grinding control system as defined in claim 1, wherein, After the metal pipeline weld to be ground is ground according to the preset rule, the grinding unit sends a secondary identification signal to the monitoring unit; after the monitoring unit identifies the secondary identification signal, the weld ground by the grinding unit is identified again; if the weld grinding is successful, a walking start signal is sent to the walking unit to start grinding the next weld; if the weld grinding is unsuccessful, a secondary grinding signal is sent to the grinding unit to grind the weld again.

Images