Grinding tool for internal and external weld joints of steel pipe

Abstract

The invention relates to but is not limited to the technical field of grinding tools, and discloses a steel pipe inner and outer welding seam grinding tool which comprises a connecting arm, a first flange plate arranged on one side of the connecting arm and a second flange plate arranged on the outer wall of the connecting arm, and a servo motor is arranged on the side, away from the first flange plate, of the connecting arm. A cable shield is arranged on the outer wall of the connecting arm, a detection mechanism used for detecting a welding seam is arranged on the side, away from the connecting arm, of the cable shield, a cleaning component used for processing welding slag is arranged on the side, away from the cable shield, of the detection box, and the cleaning component comprises a sweeping assembly arranged on the outer wall of the detection box. According to the steel pipe inner and outer welding seam polishing tool, accurate track control and consistent polishing quality can be achieved through an automatic polishing technology, welding slag on the surface of a steel pipe can be cleaned before polishing, and after polishing is finished, the welding slag and polishing remaining materials in the steel pipe can be brought out.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding tools, but is not limited to it, and in particular to a grinding tool for inner and outer welds of a steel pipe. Background Art

[0002] With the development of industry, the application of industrial robots in the polishing industry is gradually increasing. Oil pipelines are needed in all links from oil field development, oil refining to oil transportation. Similarly, a large amount of chemical raw materials, intermediates and products are needed in the chemical production process, and the transportation of these substances is also inseparable from oil pipelines.

[0003] Among them, the straight seam steel pipe is a steel pipe made by roll forming and welding of steel plates or steel strips. It is usually used to transport liquids or gases. Its advantages include relatively low production costs and simple production processes. When connecting the straight seam steel pipe with other pipelines or equipment, it is necessary to ensure the sealing and quality of the connection. For the connected port part, the inner and outer walls need to be polished to remove rust, oxides, dirt, etc. to ensure a flat sealing surface.

[0004] Welding slag will be produced after welding straight seam steel pipes. The weld slag usually needs to be removed before grinding. If the weld slag is not removed, it will spread on the surface of the steel pipe during the grinding process, which may damage the grinding tool and cause scratches.

[0005] At present, traditional steel pipe weld grinding tools mostly use resin grinding wheels or CBN grinding wheels. Therefore, during the grinding process, it is necessary to manually set the grinding position of the robot to ensure that the robot can accurately grind on the weld. The manually set grinding position is easily affected by the operator's technical level and experience, which may lead to inaccurate grinding position and affect the grinding quality and efficiency. In addition, steel pipe weld grinding and welding slag treatment are necessary processes after welding, but most of the existing steel pipe weld grinding tools usually need to use the two separately, and it is difficult to combine the two together, which easily introduces additional waiting and downtime, causing jams on the production line and reducing production efficiency. Summary of the invention

[0006] In view of the fact that the manually set grinding position in the prior art is easily affected by the operator's technical level and experience, and the problem that the existing steel pipe weld grinding tools are difficult to combine steel pipe weld grinding and weld slag treatment, a steel pipe internal and external weld grinding tool is proposed.

[0007] On the one hand, the present application provides a tool for grinding the inner and outer welds of a steel pipe, the purpose of which is to integrate a steel pipe inner and outer wall grinder and a weld slag treatment device into an automated device, thereby realizing continuous operation of inner and outer wall grinding and weld slag treatment, improving production efficiency, and ensuring consistent grinding and treatment quality.

[0008] The technical solution of the present invention is: a steel pipe internal and external weld grinding tool, comprising a connecting arm, a first flange plate arranged on one side of the connecting arm and a second flange plate arranged on the outer wall of the connecting arm, a servo motor is arranged on the side of the connecting arm away from the first flange plate, a driving box is arranged on the outer wall of the servo motor, a driving rubber wheel is arranged on the outer wall of the driving box, a contact rubber wheel is arranged on the outer wall of the driving box, a tensioning wheel is arranged on the outer wall of the driving box, a reducer is arranged inside the driving box, the output shaft of the servo motor is connected to the axial end of the driving rubber wheel through the reducer, an anti-deviation limiting wheel group is arranged on the outer wall of the driving box, an abrasive belt is detachably installed on the outer wall of the tensioning wheel, and the abrasive belt is located on the outer walls of the driving rubber wheel, the contact rubber wheel and the anti-deviation limiting wheel group;

[0009] The outer wall of the connecting arm is provided with a cable shield, and a detection mechanism for detecting the weld is provided on a side of the cable shield away from the connecting arm, the detection mechanism comprising a detection box provided on a side of the cable shield away from the connecting arm, a dust cover provided on the outer wall of the detection box, a weld scanner provided inside the detection box, a point laser sensor provided inside the detection box, and a cover opening and closing cylinder provided on the outer wall of the detection box;

[0010] A cleaning component for processing welding slag is arranged on one side of the detection box away from the cable shield, and the cleaning component includes a cleaning assembly arranged on the outer wall of the detection box.

[0011] By adopting the above solution, precise trajectory control and consistent grinding quality can be achieved through automated grinding technology, which is beneficial to improving the stability and consistency of product quality. Compared with manual grinding, the use of automated grinding technology can significantly improve grinding efficiency and accuracy, shorten working hours, and reduce human resource consumption and costs.

[0012] Furthermore, a sliding seat is provided on the outer wall of the driving box, a mounting seat is provided inside the sliding seat, and the tensioning wheel is rotatably mounted on the inner wall of the mounting seat, a cam is provided on the outer wall of the driving box, and the end of the cam is in conflict with the outer wall of the sliding seat, and a spring sheet is sleeved on the outer wall of the mounting seat, and one end of the spring sheet is fixedly connected to the outer wall of the mounting seat, and the other end of the spring sheet is fixedly connected to the inner wall of the sliding seat.

[0013] By adopting the above scheme, by holding the long handle of the sliding seat and then rotating the cam so that the cam no longer contacts the outer wall of the sliding seat, and then releasing the long handle of the sliding seat, the tensioning wheel can be retracted and the sanding belt can be replaced. Conversely, by rotating the cam again, the cam pushes the sliding seat out, the tensioning wheel can be extended, and the sanding belt can be tensioned.

[0014] Furthermore, the cleaning assembly includes a support box arranged on the side of the detection box away from the cable guard, a movable plate arranged inside the support box, a wire brush arranged on one side of the movable plate, and a cleaning wipe arranged on the side of the movable plate away from the wire brush.

[0015] By adopting the above scheme, when the grinding tool enters the interior of the steel pipe, the welding slag on the inner wall of the steel pipe is brushed off by the wire brush, and when the grinding tool withdraws from the interior of the steel pipe, the welding slag and grinding dust on the inner wall of the steel pipe are wiped off by the cleaning wipe, so that the weld surface is flat and smooth, thereby improving the quality and appearance of the weld.

[0016] Furthermore, the cleaning component also includes a fixed plate arranged on the inner wall of the support box, a mounting bracket arranged inside the support box, a first T-shaped block arranged on the top surface of the mounting bracket, a sliding groove opened on the inner wall of the support box for the first T-shaped block to slide, a first fixed rod arranged on the outer wall of the movable plate, a second fixed rod arranged on the outer wall of the movable plate, a first baffle arranged on the outer wall of the mounting bracket, a first through groove opened on the outer wall of the fixed plate for the first baffle to be inserted, a second baffle arranged on the outer wall of the mounting bracket, a second through groove opened on the outer wall of the fixed plate for the second baffle to be inserted, a lifting ring arranged on the inner wall of the support box, a second sliding groove opened on the top surface of the movable plate, a sliding block arranged inside the second sliding groove, a rotating block arranged on the outer wall of the sliding block, and a second elastic member arranged between the lifting ring and the rotating block, and one end of the second elastic member is slidably connected to the outer wall of the lifting ring, and the other end of the second elastic member is fixedly connected to the outer wall of the rotating block.

[0017] By adopting the above scheme, the welding slag on the surface of the steel pipe can be cleaned before grinding, which can effectively reduce the damage of the welding slag to the grinding tool and the workpiece during grinding, thereby improving the efficiency and quality of grinding. After grinding, the welding slag inside the steel pipe is taken out, which can make the internal surface of the steel pipe smoother, which is beneficial to improving the quality and processing accuracy of the inside of the steel pipe.

[0018] Furthermore, the cleaning assembly also includes a trigger plate arranged on the outer wall of the detection box, a first rack arranged on the bottom surface of the trigger plate, a first sector gear arranged on the wall of the first fixed rod, a second rack arranged on the bottom surface of the trigger plate, a second sector gear arranged on the wall of the second fixed rod, a pushing block arranged on the top surface of the trigger plate, and a linkage plate arranged on the bottom surface of the mounting frame.

[0019] By adopting the above scheme, power can be provided for the conversion between the wire brush and the cleaning wipe through the cooperation among the trigger plate, the first rack, the first sector gear, the second rack, the second sector gear, the push block, and the linkage plate.

[0020] Furthermore, the cleaning assembly also includes a first T-shaped rod arranged on the outer wall of the detection box, a first sliding groove opened in the interior of the support box for the first T-shaped rod to slide, and a first elastic member mounted on the outer wall of the first T-shaped rod, and one end of the first elastic member is fixedly connected to the outer wall of the detection box, and the other end of the first elastic member is fixedly connected to the outer wall of the support box.

[0021] By adopting the above scheme, when the grinding tool completes grinding the inner wall end of the steel pipe, the robot arm stops moving the detection box, and through the elastic force of the first elastic part, it can drive the support box forward a certain distance, so that the cleaning wipe can pass over the welding slag when extended, making it convenient for the cleaning wipe to push the welding slag and grinding dust to the outside of the steel pipe in the opposite direction.

[0022] Furthermore, the cleaning component also includes a friction enhancing component arranged on the cleaning component.

[0023] By adopting the above scheme, the friction enhancing component is set up, so that the grinding tool can be detached from the steel pipe more stably when withdrawing from the steel pipe, reducing friction and scratches on the inner wall of the steel pipe, helping to protect the surface quality of the steel pipe and avoid damage to the steel pipe due to friction during detachment.

[0024] Furthermore, the friction enhancing assembly includes a fixed sleeve arranged on the outer wall of the support box, a second T-shaped rod arranged inside the fixed sleeve, a groove opened at the end of the second T-shaped rod, a resistance rod arranged inside the groove, a spring sheet arranged at the end of the resistance rod, and a third elastic member arranged inside the fixed sleeve, and one end of the third elastic member is fixedly connected to the outer wall of the support box, and the other end of the third elastic member is fixedly connected to the outer wall of the second T-shaped rod.

[0025] By adopting the above scheme, when the grinding tool is to be withdrawn from the steel pipe, the resistance rod can be driven to reset due to the interference between the spring piece and the inner wall of the steel pipe, so that the friction between the support box and the inner wall of the steel pipe can be further improved.

[0026] Beneficial effects of the present invention:

[0027] 1. The robot arm drives the grinding tool to the position of the steel pipe, and the point laser sensor on the grinding tool locates the position of the steel pipe end. The weld scanner on the grinding tool identifies the weld characteristics and uploads the data to the control system of the external industrial robot. The control system drives the grinding tool to automatically form a grinding trajectory, and the control system controls the output shaft of the servo motor to rotate. The servo motor drives the driving rubber wheel to rotate through the reducer. The driving rubber wheel drives the sanding belt to rotate on the surface of the contact rubber wheel and the tension wheel box anti-deviation limit wheel group. The sanding belt on the surface of the contact rubber wheel grinds the welds on the inner and outer walls of the steel pipe. After the weld is ground, the weld scanner scans the weld excess height for the second time and transmits the data to the control system of the external industrial robot. Therefore, accurate trajectory control and consistent grinding quality can be achieved through automated grinding technology, which is conducive to improving the stability and consistency of product quality. Compared with manual grinding, the use of automated grinding technology can significantly improve the efficiency and accuracy of grinding, shorten working time, and reduce the consumption and cost of human resources.

[0028] 2. Through the cooperation between the detection box and the cleaning component, when the robot arm drives the detection box to move, it can drive the conversion between the wire brush and the cleaning wipe, and can clean the welding slag on the surface of the steel pipe before grinding, which can effectively reduce the damage of the welding slag to the abrasive tool and the workpiece during grinding, thereby improving the efficiency and quality of grinding. After grinding, the welding slag and grinding residue inside the steel pipe can be taken out, which can make the internal surface of the steel pipe smoother, which is beneficial to improving the quality and processing accuracy of the inside of the steel pipe. The wire brush can effectively remove the welding slag and other impurities on the surface of the steel pipe, making the surface of the steel pipe before grinding cleaner, and providing a clear operating surface for subsequent grinding work. The cleaning wipe can clean the welding slag and grinding residue inside the steel pipe to ensure the flatness and cleanliness of the internal surface of the steel pipe, which is beneficial to ensure the quality of the final product.

[0029] 3. Through the cooperation between the detection box, the cleaning component and the friction enhancing component, when the grinding tool is to be withdrawn from the steel pipe, the resistance rod can be driven to reset due to the interference between the spring piece and the inner wall of the steel pipe, which further enhances the friction between the support box and the inner wall of the steel pipe, so that the grinding tool can be more stably detached from the steel pipe when withdrawing from the steel pipe, reducing the friction and scratches on the inner wall of the steel pipe, helping to protect the surface quality of the steel pipe and avoiding damage to the steel pipe due to friction during detachment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A perspective view of the present invention as a whole;

[0031] Figure 2 It is a schematic diagram of the installation of the cam in the present invention;

[0032] Figure 3 This is a schematic diagram of the installation of the cleaning component in the present invention;

[0033] Figure 4 It is a schematic diagram of the installation of the sliding seat in the present invention;

[0034] Figure 5 It is a schematic diagram of the installation of the spring sheet in the present invention;

[0035] Figure 6 is a schematic diagram of the interior of the detection box of the present invention;

[0036] Figure 7 is a cross-sectional view of the support box in the present invention;

[0037] Figure 8 It is a schematic diagram of the interior of the support box in the present invention;

[0038] Fig. 9 It is a schematic diagram of the installation of the movable plate in the present invention;

[0039] Fig.10 It is a schematic diagram of the installation of the mounting frame in the present invention;

[0040] Fig.11 A three-dimensional diagram of the trigger plate of the present invention;

[0041] Fig.12 It is a schematic diagram of the installation of the friction enhancing component in the present invention;

[0042] Fig.13 is a cross-sectional view of a fixed sleeve in the present invention;

[0043] Fig.14 It is a schematic diagram of the installation of the resistance rod in the present invention.

[0044] In the figure:

[0045] 1. Connecting arm; 2. First flange; 3. Second flange; 4. Servo motor; 5. Driving box; 6. Driving rubber wheel; 7. Contact rubber wheel; 8. Tensioning wheel; 9. Anti-bias limit wheel set; 10. Sanding belt; 11. Cable guard; 12. Detection box; 13. Dust cover; 14. Cover opening and closing cylinder; 15. Welding seam scanner; 16. Point laser sensor; 17. Friction enhancing assembly; 18. Cam; 19. Sliding seat; 20. Mounting seat; 21. Spring sheet; 22. Cleaning assembly; 23. Support box; 24. First T-shaped rod; 25. First slide groove; 26. First elastic member; 27. Movable plate; 28. Wire brush; 29 , cleaning wipe; 30, fixed plate; 31, mounting frame; 32, first T-shaped block; 33, first baffle; 34, second baffle; 35, first through slot; 36, second through slot; 37, linkage plate; 38, first fixed rod; 39, first sector gear; 40, first rack; 41, second fixed rod; 42, second sector gear; 43, second rack; 44, push block; 45, lifting ring; 46, slider; 47, second slide slot; 48, rotating block; 49, second elastic member; 50, trigger plate; 51, fixed sleeve; 52, second T-shaped rod; 53, groove; 54, resistance rod; 55, spring piece; 56, third elastic member. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0047] Example 1, reference Figure 1-11, which is the first embodiment of the present invention, provides a steel pipe internal and external weld grinding tool, including a connecting arm 1, a first flange 2 arranged on one side of the connecting arm 1 and a second flange 3 arranged on the outer wall of the connecting arm 1, a servo motor 4 is arranged on the side of the connecting arm 1 away from the first flange 2, a driving box 5 is arranged on the outer wall of the servo motor 4, a driving rubber wheel 6 is arranged on the outer wall of the driving box 5, a contact rubber wheel 7 is arranged on the outer wall of the driving box 5, a tensioning wheel 8 is arranged on the outer wall of the driving box 5, a reducer is arranged inside the driving box 5, the output shaft of the servo motor 4 is connected to the axial end of the driving rubber wheel 6 through the reducer, the outer wall of the driving box 5 is provided with an anti-deviation limiting wheel group 9, the outer wall of the tensioning wheel 8 is detachably installed with a sanding belt 10, and the sanding belt 10 is located on the outer walls of the driving rubber wheel 6, the contact rubber wheel 7 and the anti-deviation limiting wheel group 9.

[0048] Specifically, the first flange 2 is fixedly mounted on the outer wall of the connecting arm, and the second flange 3 is fixedly mounted on the outer wall of the connecting arm 1. By setting the first flange 2 and the second flange 3, two flange interfaces are reserved, which can be installed on the robot arm according to the grinding requirements, and have good versatility. The servo motor 4 is fixedly mounted on the side of the connecting arm 1 away from the first flange 2. The device adopts the servo motor 4 as the power output. Compared with the traditional motor, the servo motor 4 has a strong overload resistance and can withstand a load of three times the rated torque. It is particularly suitable for occasions with instantaneous load fluctuations and requirements for rapid starting. The servo motor 4 has a high rotation speed and can provide a larger cutting force. Its control accuracy is higher than that of the stepper motor, which can improve the grinding accuracy.

[0049] The driving box 5 is fixedly mounted on the outer wall of the servo motor 4, and a reducer is fixedly mounted inside the driving box 5. The servo motor 4 outputs a specified rotation speed through the reducer and transmits it to the driving rubber wheel 6. Under the transmission of the sanding belt 10, the linear speed required for grinding the contact rubber wheel 7 is reached.

[0050] The contact rubber wheel 7 is rotatably installed on the outer wall of the driving box 5. The contact rubber wheel 7 adopts low-hardness and low-elasticity polyurethane as the adhesion layer, which can play a buffering role, eliminate grinding resistance and reduce vibration. The tensioning wheel 8 is slidably installed on the outer wall of the driving box 5. The sanding belt 10 can be disassembled and replaced by sliding the position of the tensioning wheel 8. The anti-deflection limiting wheel group 9 is rotatably installed on the outer wall of the driving box 5. Through the anti-deflection limiting wheel group 9, the position of the sanding belt 10 can be limited during the grinding process to prevent the sanding belt 10 from deviating.

[0051] Reference Figure 1-3 ,as well as Figure 6A cable shield 11 is provided on the outer wall of the connecting arm 1, and a detection mechanism for detecting the weld is provided on the side of the cable shield 11 away from the connecting arm 1, the detection mechanism includes a detection box 12 provided on the side of the cable shield 11 away from the connecting arm 1, a dust cover 13 provided on the outer wall of the detection box 12, a weld scanner 15 provided inside the detection box 12, a point laser sensor 16 provided inside the detection box 12, and a cover opening and closing cylinder 14 provided on the outer wall of the detection box 12.

[0052] Specifically, the cable guard 11 is fixedly mounted on the outer wall of the connecting arm 1, the detection box 12 is fixedly mounted on the side of the cable guard 11 away from the connecting arm 1, the dust cover 13 is movably mounted on the outer wall of the detection box 12, the weld scanner 15 is fixedly mounted inside the detection box 12, the point laser sensor 16 is fixedly mounted inside the detection box 12, and the cover opening and closing cylinder 14 is fixedly mounted on the outer wall of the detection box 12.

[0053] Reference Figure 1-5 A sliding seat 19 is provided on the outer wall of the driving box 5, a mounting seat 20 is provided inside the sliding seat 19, and the tensioning wheel 8 is rotatably mounted on the inner wall of the mounting seat 20, a cam 18 is provided on the outer wall of the driving box 5, and the end of the cam 18 is in conflict with the outer wall of the sliding seat 19, a spring sheet 21 is sleeved on the outer wall of the mounting seat 20, and one end of the spring sheet 21 is fixedly connected to the outer wall of the mounting seat 20, and the other end of the spring sheet 21 is fixedly connected to the inner wall of the sliding seat 19.

[0054] Specifically, the sliding seat 19 is slidably mounted on the outer wall of the driving box 5 , the mounting seat 20 is slidably mounted inside the sliding seat 19 , and the cam 18 is rotatably mounted on the outer wall of the driving box 5 .

[0055] When the sanding belt 10 needs to be replaced, by holding the long handle of the sliding seat 19 and then rotating the cam 18, the cam 18 no longer contacts the outer wall of the sliding seat 19, and then releasing the long handle of the sliding seat 19, the tensioning wheel 8 can be retracted and the sanding belt 10 can be replaced. On the contrary, by rotating the cam 18 again, the cam 18 pushes out the sliding seat 19, the tensioning wheel 8 can be extended, and the sanding belt 10 can be tensioned. In addition, the contact rubber wheel 7 and the driving rubber wheel 6 are both installed using a keyless expansion sleeve, which is convenient for the replacement of the contact rubber wheel 7 and the driving rubber wheel 6 during production and improves work efficiency.

[0056] Reference Figure 6 A cleaning component for processing welding slag is provided on the side of the detection box 12 away from the cable shield 11 , and the cleaning component includes a cleaning component 22 arranged on the outer wall of the detection box 12 .

[0057] Specifically, when the grinding tool enters the interior of the steel pipe, the cleaning component 22 is provided to push the welding slag inside the steel pipe inward, thereby reducing the welding slag on the weld of the inner wall of the steel pipe. When the grinding tool is withdrawn from the interior of the steel pipe, the cleaning component can remove the welding slag previously inside the steel pipe and the dust generated after grinding from the inner wall of the steel pipe. Cleaning the welding slag on the surface of the steel pipe before grinding can effectively reduce the damage of the welding slag to the grinding tool and the workpiece during grinding, thereby improving the efficiency and quality of grinding. After grinding, the welding slag inside the steel pipe is removed, which can make the internal surface of the steel pipe smoother, which is beneficial to improving the quality and processing accuracy of the interior of the steel pipe.

[0058] Reference Figure 3 The cleaning assembly 22 includes a support box 23 disposed on a side of the detection box 12 away from the cable shield 11, a movable plate 27 disposed inside the support box 23, a wire brush 28 disposed on a side of the movable plate 27, and a cleaning wipe 29 disposed on a side of the movable plate 27 away from the wire brush 28.

[0059] Specifically, the support box 23 is slidably installed on the side of the detection box 12 away from the cable guard 11, the movable plate 27 is rotatably installed inside the support box 23, the wire brush 28 is fixedly installed on one side of the movable plate 27, and the cleaning brush 29 is fixedly installed on the side of the movable plate 27 away from the wire brush 28. When the grinding tool enters the interior of the steel pipe, the wire brush 28 brushes off the welding slag on the inner wall of the steel pipe. When the grinding tool withdraws from the interior of the steel pipe, the cleaning brush wipes off the welding slag and grinding dust on the inner wall of the steel pipe, so that the weld surface is flat and smooth, thereby improving the quality and appearance of the weld.

[0060] Reference Figure 6-11 The cleaning assembly 22 further includes a fixing plate 30 disposed on the inner wall of the support box 23, a mounting frame 31 disposed inside the support box 23, a first T-shaped block 32 disposed on the top surface of the mounting frame 31, a sliding groove provided on the inner wall of the support box 23 for the first T-shaped block 32 to slide, a first fixing rod 38 provided on the outer wall of the movable plate 27, a second fixing rod 41 provided on the outer wall of the movable plate 27, a first baffle plate 33 provided on the outer wall of the mounting frame 31, a first through groove 35 provided on the outer wall of the fixing plate 30 for the first baffle plate 33 to be inserted, and a first fixing rod 38 provided on the outer wall of the movable plate 27. A second baffle 34 on the outer wall, a second through groove 36 opened on the outer wall of the fixed plate 30 for inserting the second baffle 34, a hanging ring 45 arranged on the inner wall of the support box 23, a second slide groove 47 opened on the top surface of the movable plate 27, a slider 46 arranged inside the second slide groove 47, a rotating block 48 arranged on the outer wall of the slider 46, and a second elastic member 49 arranged between the hanging ring 45 and the rotating block 48, and one end of the second elastic member 49 is slidably connected to the outer wall of the hanging ring 45, and the other end of the second elastic member 49 is fixedly connected to the outer wall of the rotating block 48.

[0061] Specifically, the fixed plate 30 is fixedly installed on the inner wall of the support box 23, the mounting frame 31 is slidably installed inside the support box 23, the first T-shaped block 32 is fixedly installed on the top surface of the mounting frame 31, the first fixed rod 38 is fixedly installed on the outer wall of the movable plate 27, the second fixed rod 41 is fixedly installed on the outer wall of the movable plate 27, two of the first fixed rod 38 and the second fixed rod 41 are respectively provided, which are symmetrically distributed on both sides of the movable plate 27, the first baffle 33 is fixedly installed on the outer wall of the mounting frame 31, the second baffle 34 is fixedly installed on the outer wall of the mounting frame 31, the first baffle 33 is used to provide support for the first fixed rod 38, the second baffle 34 is used to provide support for the second fixed rod 41, the lifting ring 45 is fixedly installed on the inner wall of the support box 23, the slider 46 is slidably installed inside the second slide groove 47, and the rotating block 48 is hinged on the outer wall of the slider 46.

[0062] When the grinding tool is extended into the interior of the steel pipe, the mounting frame 31 is slid away from the detection box 12 so that the second baffle plate 34 no longer blocks the second fixed rod 41, and then the first fixed rod 38 is rotated to drive the movable plate 27 to rotate, so that the wire brush 28 extends out of the interior of the support box 23 until the wire brush 28 is perpendicular to the inner wall of the steel pipe, so as to brush off the welding slag on the weld on the inner wall of the steel pipe.

[0063] On the contrary, when the grinding tool is withdrawn from the inside of the steel pipe, the first fixed rod 38 is rotated in the opposite direction to drive the movable plate 27 to reset, and then the mounting frame 31 is slid toward the direction close to the detection box 12 until the second baffle 34 blocks the second fixed rod 41 and the first baffle 33 no longer blocks the first fixed rod 38. At this time, the second fixed rod 41 is rotated again to drive the cleaning wipe 29 to extend out of the interior of the support box 23 until the cleaning wipe 29 is perpendicular to the inner wall of the steel pipe, so that the welding slag and grinding dust on the inner wall of the steel pipe can be taken out from the inside of the steel pipe.

[0064] Reference Figure 8-11 The cleaning assembly 22 also includes a trigger plate 50 arranged on the outer wall of the detection box 12, a first rack 40 arranged on the bottom surface of the trigger plate 50, a first sector gear 39 arranged on the rod wall of the first fixed rod 38, a second rack 43 arranged on the bottom surface of the trigger plate 50, a second sector gear 42 arranged on the rod wall of the second fixed rod 41, a pushing block 44 arranged on the top surface of the trigger plate 50, and a linkage plate 37 arranged on the bottom surface of the mounting frame 31.

[0065] Specifically, the trigger plate 50 is fixedly mounted on the outer wall of the detection box 12, the first rack 40 is fixedly mounted on the bottom surface of the trigger plate 50, the first sector gear 39 is fixedly mounted on the rod wall of the first fixed rod 38, the second rack 43 is fixedly mounted on the bottom surface of the trigger plate 50, the second sector gear 42 is fixedly mounted on the rod wall of the second fixed rod 41, the push block 44 is fixedly mounted on the top surface of the trigger plate 50, and the linkage plate 37 is fixedly mounted on the bottom surface of the mounting frame 31.

[0066] When the grinding tool extends into the interior of the steel pipe, the detection box 12 moves and drives the trigger plate 50 to move in the direction close to the support box 23, and then the trigger plate 50 moves and drives the pushing block 44 to move, and the pushing block 44 drives the interlocking plate 37 to move, and the interlocking plate 37 moves and drives the mounting frame 31 to move in the direction away from the detection box 12, so that the second baffle plate 34 no longer blocks the second fixed rod 41, and then the first rack 40 engages with the surface of the first sector gear 39, drives the first fixed rod 38 to rotate, and then drives the movable plate 27 to rotate, so that the wire brush 28 extends out of the interior of the support box 23 until the wire brush 28 is perpendicular to the inner wall of the steel pipe, so as to brush off the welding slag on the weld of the inner wall of the steel pipe. At the same time, the slider 46 slides along the second slide groove 47 in the direction close to the cleaning wipe 29. Cleaning the welding slag on the surface of the steel pipe before grinding can effectively reduce the damage of the welding slag to the abrasive tool and the workpiece during grinding, thereby improving the efficiency and quality of grinding.

[0067] When the grinding tool needs to be withdrawn from the inside of the steel pipe, the detection box 12 moves and drives the trigger plate 50 to move in the direction away from the support box 23, and then the linkage plate 37 drives the mounting frame 31 to move in the direction close to the detection box 12, and the first rack 40 drives the first sector gear 39 to rotate in the opposite direction, driving the wire brush 28 to reset, and then, the linkage plate 37 continues to move in the direction close to the detection box 12 until the second baffle plate 34 blocks the second fixed rod 41, and the first baffle plate 33 no longer blocks the first fixed rod 38, then, the second rack 43 engages with the surface of the second sector gear 42, driving the second fixed rod 41 to rotate, which can drive the cleaning wipe 29 to extend out of the inside of the support box 23 until the cleaning wipe 29 is perpendicular to the inner wall of the steel pipe, and can bring out the welding slag and grinding dust on the inner wall of the steel pipe from the inside of the steel pipe. After the grinding is completed, the welding slag inside the steel pipe is brought out, which can make the inner surface of the steel pipe smoother, which is beneficial to improving the quality and processing accuracy of the inside of the steel pipe.

[0068] Reference Figure 8-11 The cleaning assembly 22 also includes a first T-shaped rod 24 arranged on the outer wall of the detection box 12, a first slide groove 25 opened in the interior of the support box 23 for the first T-shaped rod 24 to slide, and a first elastic member 26 sleeved on the outer wall of the first T-shaped rod 24, and one end of the first elastic member 26 is fixedly connected to the outer wall of the detection box 12, and the other end of the first elastic member 26 is fixedly connected to the outer wall of the support box 23.

[0069] Specifically, the first T-shaped rod 24 is fixedly mounted on the outer wall of the detection box 12, and the first elastic member 26 can be a spring or an elastic plate commonly used in the prior art, and is preferably a spring.

[0070] During use, the grinding tool of the device is used in conjunction with an industrial robot, and the flexibility and arm span of the robot can be used to reach the designated grinding position. The device adopts a linear design, and the grinding mechanism, reducer and detection mechanism are all compact mechanisms, which can adapt to the weld grinding of steel pipes of different diameters, especially suitable for the internal and external weld grinding of small-diameter steel pipes. When the device is in use, the grinding tool is installed on the arm of the industrial robot, and the industrial robot is installed on the track. The transport trolley transports the steel pipe into place, and then a plurality of rotating rollers lift the steel pipe, controlling the rotation of the rotating rollers to drive the steel pipe to rotate, so that the weld scanner 15 can scan the internal and external welds of the steel pipe.

[0071] The robot arm drives the grinding tool to the position of the steel pipe, locates the end of the steel pipe through the point laser sensor 16 on the grinding tool, identifies the weld characteristics through the weld scanner 15 on the grinding tool and uploads the data to the control system of the external industrial robot, the control system drives the grinding tool to work and automatically forms a grinding trajectory, and the control system controls the output shaft of the servo motor 4 to rotate, the servo motor 4 drives the driving rubber wheel 6 to rotate through the reducer, the driving rubber wheel 6 drives the sanding belt 10 to rotate on the surface of the contact rubber wheel 7, the tensioning wheel 8 and the anti-bias limiting wheel group 9, the sanding belt 10 on the surface of the contact rubber wheel 7 grinds the welds on the inner and outer walls of the steel pipe, after the weld is ground, the weld scanner 15 scans the weld residual height for the second time, and transmits the data to the control system of the external industrial robot, the control system of the external industrial robot controls the opening and closing of the dust cover 13 through the cover opening and closing cylinder 14, the dust cover 13 is closed during grinding, which can protect the weld scanner 15 and the point laser sensor 16 from dust pollution, thereby ensuring the accuracy of the detection mechanism.

[0072] When the grinding tool enters the interior of the steel pipe, the detection box 12 first moves to drive the first elastic member 26 to be compressed. At the same time, the detection box 12 moves to drive the trigger plate 50 to move in the direction close to the support box 23, and then the trigger plate 50 moves to drive the pushing block 44 to move, and the pushing block 44 drives the interlocking plate 37 to move, and the interlocking plate 37 moves to drive the mounting frame 31 to move in the direction away from the detection box 12, so that the second baffle plate 34 no longer blocks the second fixed rod 41, and then the first rack 40 engages with the surface of the first sector gear 39, drives the first fixed rod 38 to rotate, and then drives the movable plate 27 to rotate, so that the wire brush 28 extends out of the support box 23 until the wire brush 28 is perpendicular to the inner wall of the steel pipe, and the slider 46 slides along the second slide groove 47 in the direction close to the cleaning wipe 29, and the first elastic member 26 is compressed to the limit value, and the first elastic member 26 drives the support box 23 to move forward, and the wire brush 28 brushes the welding slag on the weld on the inner wall of the steel pipe.

[0073] When the grinding tool has finished grinding the inner wall end of the steel pipe, the robot arm stops moving the detection box 12, and the elastic force of the first elastic member 26 can drive the support box 23 to move forward a certain distance. At the same time, the linkage plate 37 drives the mounting frame 31 to move in the direction close to the detection box 12, and the first rack 40 drives the first sector gear 39 to rotate in the opposite direction, driving the wire brush 28 to reset, and then the linkage plate 37 continues to move in the direction close to the detection box 12 until the second baffle plate 34 blocks the second fixing rod 41, and the first baffle plate 33 no longer blocks the first fixing rod 38, then the second rack 43 and the first sector gear 39 are connected. The surfaces of the two sector gears 42 are meshed, driving the second fixed rod 41 to rotate, which can drive the cleaning wipe 29 to extend out of the interior of the support box 23 until the cleaning wipe 29 is perpendicular to the inner wall of the steel pipe, and due to the elastic force of the first elastic member 26, the cleaning wipe 29 can pass over the welding slag when extending. When the robot arm drives the grinding tool to withdraw from the end of the steel pipe, the detection box 12 moves first, and the movement of the detection box 12 pulls the first elastic member 26 to move. When the first elastic member 26 is pulled to the limit value, the first elastic member 26 pulls the cleaning wipe 29 to move, and the cleaning wipe 29 can push the welding slag and grinding dust to the outside of the steel pipe in the opposite direction.

[0074] The above steps are also applicable to grinding the outer wall of the steel pipe.

[0075] Therefore, automated grinding technology can achieve precise trajectory control and consistent grinding quality, which is beneficial to improving the stability and consistency of product quality. Compared with manual grinding, the use of automated grinding technology can significantly improve the efficiency and accuracy of grinding, shorten working hours, and reduce the consumption and cost of human resources. In addition, cleaning the welding slag on the surface of the steel pipe before grinding can effectively reduce the damage of the welding slag to the mold and workpiece during grinding, thereby improving the efficiency and quality of grinding. After grinding, the welding slag inside the steel pipe is taken out, which can make the internal surface of the steel pipe smoother, which is beneficial to improving the quality and processing accuracy of the inside of the steel pipe.

[0076] Example 2, reference Figure 12-14 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that the cleaning component also includes a friction enhancing component 17 arranged on the cleaning component 22.

[0077] Specifically, by setting up the friction enhancing component 17, the grinding tool can be more stably detached from the steel pipe when withdrawing, reducing friction and scratches on the inner wall of the steel pipe, helping to protect the surface quality of the steel pipe and avoiding damage to the steel pipe due to friction during detachment.

[0078] Reference Figure 12-14 The friction enhancing component 17 includes a fixed sleeve 51 arranged on the outer wall of the support box 23, a second T-shaped rod 52 arranged inside the fixed sleeve 51, a groove 53 opened at the end of the second T-shaped rod 52, a resistance rod 54 arranged inside the groove 53, a spring 55 arranged at the end of the resistance rod 54, and a third elastic member 56 arranged inside the fixed sleeve 51, and one end of the third elastic member 56 is fixedly connected to the outer wall of the support box 23, and the other end of the third elastic member 56 is fixedly connected to the outer wall of the second T-shaped rod 52.

[0079] Specifically, the fixed sleeve 51 is fixedly installed on the outer wall of the support box 23, the second T-shaped rod 52 is slidably installed inside the fixed sleeve 51, the resistance rod 54 is hinged inside the groove 53, and the spring piece 55 is fixedly installed at the end of the resistance rod 54. Through the setting of the groove 53, the resistance rod 54 can rotate in the direction close to the detection box 12.

[0080] During use, when the grinding tool enters the steel pipe, after the resistance rod 54 contacts the inner wall of the steel pipe, the friction force drives the resistance rod 54 to rotate in the direction close to the detection box 12. When the grinding tool is to be withdrawn from the steel pipe, the spring piece 55 contacts the inner wall of the steel pipe, which can drive the resistance rod 54 to reset, which further increases the friction between the support box 23 and the inner wall of the steel pipe, so that the grinding tool can be more stably detached when withdrawing from the steel pipe, reducing friction and scratches on the inner wall of the steel pipe, helping to protect the surface quality of the steel pipe and avoid damage to the steel pipe due to friction during detachment. The rest of the structure is the same as that of Example 1.

[0081] Working principle: the robot arm drives the grinding tool to the position of the steel pipe, locates the end of the steel pipe through the point laser sensor 16 on the grinding tool, identifies the weld characteristics through the weld scanner 15 on the grinding tool and uploads the data to the control system of the external industrial robot, the control system drives the grinding tool to automatically form a grinding trajectory, and the control system controls the output shaft of the servo motor 4 to rotate, the servo motor 4 drives the driving rubber wheel 6 to rotate through the reducer, the driving rubber wheel 6 drives the sanding belt 10 to rotate on the surface of the contact rubber wheel 7, the tensioning wheel 8 and the anti-bias limit wheel group 9, the sanding belt 10 on the surface of the contact rubber wheel 7 grinds the welds on the inner and outer walls of the steel pipe, after the weld is ground, the weld scanner 15 scans the weld residual height for a second time, and transmits the data to the control system of the external industrial robot;

[0082] When the grinding tool enters the interior of the steel pipe, the detection box 12 first moves to drive the first elastic member 26 to be compressed. At the same time, the detection box 12 moves to drive the trigger plate 50 to move in the direction close to the support box 23, and then the trigger plate 50 moves to drive the push block 44 to move, and the push block 44 drives the linkage plate 37 to move, and the linkage plate 37 moves to drive the mounting frame 31 to move in the direction away from the detection box 12, so that the second baffle plate 34 no longer blocks the second fixed rod 41, and then the first rack 40 is meshed with the surface of the first sector gear 39, driving the first fixed rod 38 to rotate, and then driving the movable plate 27 to rotate, so that the wire brush 28 extends out of the support box 23 until the wire brush 28 is perpendicular to the inner wall of the steel pipe, and the slider 46 slides along the second slide groove 47 in the direction close to the cleaning wipe 29, and the first elastic member 26 is compressed to the limit value, and the first elastic member 26 drives the support box 23 to move forward, and the wire brush 28 brushes the welding slag on the weld on the inner wall of the steel pipe;

[0083] When the grinding tool has finished grinding the inner wall end of the steel pipe, the robot arm stops moving the detection box 12, and the elastic force of the first elastic member 26 can drive the support box 23 to move forward a certain distance. At the same time, the linkage plate 37 drives the mounting frame 31 to move in the direction close to the detection box 12, and the first rack 40 drives the first sector gear 39 to rotate in the opposite direction, driving the wire brush 28 to reset, and then the linkage plate 37 continues to move in the direction close to the detection box 12 until the second baffle plate 34 blocks the second fixing rod 41, and the first baffle plate 33 no longer blocks the first fixing rod 38, then the second rack 43 and the first sector gear 39 are connected. The surfaces of the two sector gears 42 are meshed, driving the second fixing rod 41 to rotate, which can drive the cleaning wipe 29 to extend out of the support box 23 until the cleaning wipe 29 is perpendicular to the inner wall of the steel pipe, and due to the elastic force of the first elastic member 26, the cleaning wipe 29 can pass over the welding slag when extending. When the robot arm drives the grinding tool to withdraw from the end of the steel pipe, the detection box 12 moves first, and the movement of the detection box 12 pulls the first elastic member 26 to move. When the first elastic member 26 is pulled to the limit value, the first elastic member 26 pulls the cleaning wipe 29 to move, and the cleaning wipe 29 can push the welding slag and grinding dust to the outside of the steel pipe in the opposite direction;

[0084] When the grinding tool enters the steel pipe, after the resistance rod 54 contacts the inner wall of the steel pipe, the friction force drives the resistance rod 54 to rotate in the direction close to the detection box 12. When the grinding tool is to be withdrawn from the steel pipe, the resistance rod 54 can be reset due to the interference between the spring piece 55 and the inner wall of the steel pipe, which further increases the friction between the support box 23 and the inner wall of the steel pipe, so that the grinding tool can be detached more stably when exiting the steel pipe.

[0085] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A steel pipe internal and external weld grinding tool, comprising a connecting arm (1), a first flange (2) arranged on one side of the connecting arm (1), and a second flange (3) arranged on the outer wall of the connecting arm (1), characterized in that: A servo motor (4) is arranged on the side of the connecting arm (1) away from the first flange (2); a driving box (5) is arranged on the outer wall of the servo motor (4); a driving rubber wheel (6) is arranged on the outer wall of the driving box (5); a contact rubber wheel (7) is arranged on the outer wall of the driving box (5); a tensioning wheel (8) is arranged on the outer wall of the driving box (5); a reducer is arranged inside the driving box (5); the output shaft of the servo motor (4) is connected to the axial end of the driving rubber wheel (6) through the reducer; an anti-deviation limiting wheel group (9) is arranged on the outer wall of the driving box (5); a sanding belt (10) is detachably mounted on the outer wall of the tensioning wheel (8); and the sanding belt (10) is located on the outer walls of the driving rubber wheel (6), the contact rubber wheel (7) and the anti-deviation limiting wheel group (9); The outer wall of the connecting arm (1) is provided with a cable shield (11), and a detection mechanism for detecting a weld is provided on a side of the cable shield (11) away from the connecting arm (1), the detection mechanism comprising a detection box (12) arranged on a side of the cable shield (11) away from the connecting arm (1), a dust cover (13) arranged on the outer wall of the detection box (12), a weld scanner (15) arranged inside the detection box (12), a point laser sensor (16) arranged inside the detection box (12), and a cover opening and closing cylinder (14) arranged on the outer wall of the detection box (12); A cleaning component for processing welding slag is arranged on a side of the detection box (12) away from the cable shield (11), and the cleaning component comprises a cleaning assembly (22) arranged on the outer wall of the detection box (12).

2. The steel pipe internal and external weld grinding tool according to claim 1, characterized in that: The outer wall of the driving box (5) is provided with a sliding seat (19), a mounting seat (20) is provided inside the sliding seat (19), and the tensioning wheel (8) is rotatably mounted on the inner wall of the mounting seat (20), the outer wall of the driving box (5) is provided with a cam (18), and the end of the cam (18) is in contact with the outer wall of the sliding seat (19), the outer wall of the mounting seat (20) is sleeved with a spring sheet (21), and one end of the spring sheet (21) is fixedly connected to the outer wall of the mounting seat (20), and the other end of the spring sheet (21) is fixedly connected to the inner wall of the sliding seat (19).

3. The steel pipe internal and external weld grinding tool according to claim 2, characterized in that: The cleaning assembly (22) comprises a support box (23) arranged on a side of the detection box (12) away from the cable shield (11), a movable plate (27) arranged inside the support box (23), a wire brush (28) arranged on a side of the movable plate (27), and a cleaning wipe (29) arranged on a side of the movable plate (27) away from the wire brush (28).

4. The steel pipe internal and external weld grinding tool according to claim 3, characterized in that: The cleaning assembly (22) further comprises a fixing plate (30) arranged on the inner wall of the support box (23), a mounting frame (31) arranged inside the support box (23), a first T-shaped block (32) arranged on the top surface of the mounting frame (31), a sliding groove provided on the inner wall of the support box (23) for the first T-shaped block (32) to slide, a first fixing rod (38) provided on the outer wall of the movable plate (27), a second fixing rod (41) provided on the outer wall of the movable plate (27), a first baffle plate (33) provided on the outer wall of the mounting frame (31), a first through groove (35) provided on the outer wall of the fixing plate (30) for the first baffle plate (33) to be inserted, and a first fixing rod (41) provided on the outer wall of the mounting frame (31). ), a second baffle (34) on the outer wall of the fixed plate (30), a second through groove (36) provided on the outer wall of the fixed plate (30) for inserting the second baffle (34), a lifting ring (45) provided on the inner wall of the supporting box (23), a second sliding groove (47) provided on the top surface of the movable plate (27), a slider (46) provided inside the second sliding groove (47), a rotating block (48) provided on the outer wall of the slider (46), and a second elastic member (49) provided between the lifting ring (45) and the rotating block (48), wherein one end of the second elastic member (49) is slidably connected to the outer wall of the lifting ring (45), and the other end of the second elastic member (49) is fixedly connected to the outer wall of the rotating block (48).

5. The steel pipe internal and external weld grinding tool according to claim 4, characterized in that: The cleaning assembly (22) further comprises a trigger plate (50) arranged on the outer wall of the detection box (12), a first rack (40) arranged on the bottom surface of the trigger plate (50), a first sector gear (39) arranged on the rod wall of the first fixed rod (38), a second rack (43) arranged on the bottom surface of the trigger plate (50), a second sector gear (42) arranged on the rod wall of the second fixed rod (41), a pushing block (44) arranged on the top surface of the trigger plate (50), and a linkage plate (37) arranged on the bottom surface of the mounting frame (31).

6. The steel pipe internal and external weld grinding tool according to claim 5, characterized in that: The cleaning assembly (22) further comprises a first T-shaped rod (24) arranged on the outer wall of the detection box (12), a first sliding groove (25) provided in the interior of the support box (23) for the first T-shaped rod (24) to slide, and a first elastic member (26) sleeved on the outer wall of the first T-shaped rod (24), wherein one end of the first elastic member (26) is fixedly connected to the outer wall of the detection box (12), and the other end of the first elastic member (26) is fixedly connected to the outer wall of the support box (23).

7. The steel pipe internal and external weld grinding tool according to claim 6, characterized in that: The cleaning component also includes a friction force enhancing component (17) arranged on the cleaning component (22).

8. The steel pipe internal and external weld grinding tool according to claim 7, characterized in that: The friction force enhancing component (17) comprises a fixed sleeve (51) arranged on the outer wall of the support box (23), a second T-shaped rod (52) arranged inside the fixed sleeve (51), a groove (53) opened at the end of the second T-shaped rod (52), a resistance rod (54) arranged inside the groove (53), a spring sheet (55) arranged at the end of the resistance rod (54), and a third elastic member (56) arranged inside the fixed sleeve (51), wherein one end of the third elastic member (56) is fixedly connected to the outer wall of the support box (23), and the other end of the third elastic member (56) is fixedly connected to the outer wall of the second T-shaped rod (52).

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