A high-efficiency single-pile weld grinding device and grinding method

Abstract

The present invention discloses an efficient single pile weld grinding device and grinding method, which relates to the technical field of long cylindrical structure grinding devices, including an inner weld grinding robot, the inner weld grinding robot including a first moving body, a second moving body and a telescopic connecting member, the telescopic connecting member is connected between the first moving body and the second moving body, and drives the two to move closer to or away from each other; the first moving body and the second moving body both include a stopper for pressing against or leaving the inner circumference of the single pile, the first moving body is connected with an inner longitudinal seam grinding device, and the longitudinal seam is ground with the axial movement of the first moving body, the second moving body is connected with an inner annular seam grinding device and a rotary driving member, and the rotary driving member drives the inner annular seam grinding device to rotate circumferentially to grind the annular seam. It can improve the automation degree of the single pile weld grinding work, and achieve the effect of reducing labor intensity and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of long cylinder structure grinding devices, and in particular to an efficient single pile weld grinding device and a grinding method. Background Art

[0002] In the fields of offshore wind power and pile foundation structure, it is usually necessary to process single pile structure to achieve longitudinal support. With the development of offshore wind power, there is an increasing demand for heavy-duty and ultra-large diameter single pile structures, whose internal welds are located deep inside the single pile structure. Existing grinding equipment is difficult to enter such a depth to work, and often requires manual grinding. Not only is the work efficiency low, the processing environment is harsh, and the labor intensity is high, but it also requires people to enter the interior of the single pile to operate, which is relatively dangerous and difficult to meet the needs of future automatic grinding work. Summary of the invention

[0003] The purpose of the present invention is to provide an efficient single pile weld grinding device and grinding method, which can improve the automation degree of single pile weld grinding work, reduce labor intensity and improve work efficiency.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] An efficient single pile weld grinding device comprises an inner weld grinding robot, wherein the inner weld grinding robot comprises a first moving body, a second moving body and a telescopic connecting piece, wherein the telescopic connecting piece is connected between the first moving body and the second moving body, and drives the two to approach or move away from each other; the first moving body and the second moving body both comprise a stopper for pressing against or leaving the inner circumference of the single pile, the first moving body is connected with an inner longitudinal seam grinding device, and the longitudinal seam is ground with the axial movement of the first moving body, the second moving body is connected with an inner annular seam grinding device and a rotary driving piece, and the rotary driving piece drives the inner annular seam grinding device to rotate circumferentially to grind the annular seam.

[0006] Furthermore, the stopper includes a plurality of stop telescopic rods, which extend out and press against the inner circumference of the single pile to achieve braking of the first moving body or the second moving body.

[0007] Furthermore, the inner annular seam grinding device array is provided with a plurality of devices, which rotate together when driven by the rotary driving member.

[0008] Furthermore, the inner longitudinal seam grinding device and the inner annular seam grinding device both include a grinding telescopic arm and an inner grinding piece, and the inner grinding piece is connected to the outer end of the grinding telescopic arm, close to or away from the inner wall of the single pile.

[0009] Furthermore, one end of the inner weld grinding robot is also provided with a plurality of reset winches, which are connected to the inner weld grinding robot via a connecting rope. The inner weld grinding robot moves in a direction away from the reset winches, and finally returns and resets under the pull of the reset winches.

[0010] Furthermore, it also includes a plurality of mobile bases for placing single piles, the mobile bases are provided with a plurality of rollers, the single piles are placed on the rollers, at least one roller is connected to an active driving rotating member driving the roller to rotate, thereby driving the single pile to rotate.

[0011] Furthermore, it also includes a storage cylinder, one end of the single pile is connected to the storage cylinder, the internal weld grinding robot is stored in the storage cylinder, and enters the single pile along the storage cylinder.

[0012] Furthermore, the inner weld grinding robot also includes a plurality of lighting and photographing devices to photograph the inner weld position or grinding quality of the single pile.

[0013] Furthermore, one side of the mobile base is also provided with an external weld grinding robot that moves along the length direction of the single pile. The external weld grinding robot includes a moving arm and an external grinding piece. The moving arm drives the external grinding piece to approach or move away from the outer periphery of the single pile.

[0014] The present application also discloses a grinding method for an efficient single pile weld grinding device, comprising the following steps: an inner weld grinding robot enters the single pile to be ground, a first moving body is pressed against the inner periphery of the single pile through a stopper thereon, at which time the telescopic connecting member is in a telescopic state, and then the telescopic connecting member is extended, so that the second moving body moves forward a telescopic distance L, and then the second moving body is pressed against the inner periphery of the single pile through a stopper thereon, and the first moving body leaves the inner periphery of the single pile through a stopper thereon, and the telescopic connecting member retracts at a uniform speed, driving the first moving body to move forward, and at the same time, the inner longitudinal seam grinding device on the first moving body works to grind the longitudinal seam on the moving path, and the above steps are repeated to achieve the grinding of the inner longitudinal seam;

[0015] When the second mobile body moves to the annular seam position close to the single pile, the second mobile body first moves to the annular seam position through the telescopic connection piece, the moving length is L1, and the stopper thereon is pressed against the inner circumference of the single pile, and then the rotary driving member drives the inner annular seam grinding device to rotate circumferentially to grind the annular seam; after the grinding is completed, the second mobile body continues to move forward and moves the remaining distance L2 through the telescopic connection piece, L1+L2=L, so that the inner annular seam grinding is interspersed during the inner longitudinal seam grinding process.

[0016] In summary, the present invention has the following beneficial effects:

[0017] The inner weld grinding robot is used to grind the inner circumferential seam and inner longitudinal seam inside the single pile, and the outer weld grinding robot is used to grind the outer circumferential seam and outer longitudinal seam outside the single pile. This facilitates the grinding of each weld position of the single pile, improves the degree of automation of the single pile weld grinding work, reduces labor intensity and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an efficient single pile weld grinding device of the present invention;

[0019] Figure 2 It is a schematic diagram of the end portion of the inner weld grinding robot part in an efficient single pile weld grinding device of the present invention;

[0020] Figure 3 It is a front schematic diagram of an inner weld grinding robot part in a high-efficiency single-pile weld grinding device of the present invention.

[0021] In the figure, 1. internal weld grinding robot; 11. first moving body; 12. second moving body; 13. telescopic connecting piece; 14. internal longitudinal seam grinding device; 15. internal annular seam grinding device; 16. rotary driving piece; 17. stop telescopic rod; 18. grinding telescopic arm; 181. internal grinding piece; 19. reset winch; 2. mobile base; 21. roller; 3. external weld grinding robot; 31. mobile arm; 32. external grinding piece; 4. storage cylinder. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings, and this embodiment does not constitute a limitation of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] An efficient single pile weld grinding device, such as Figure 1 As shown, it includes several mobile bases 2, an inner weld grinding robot 1, an outer weld grinding robot 3 and a storage cylinder 4. The mobile base 2 is used to place a single pile. It can be moved forward and backward to control the spacing between multiple mobile bases 2 to adapt to single piles of different lengths. It can also be fixed on the ground for greater stability.

[0024] The storage cylinder 4 is located at one end of the mobile base 2 and is consistent with the size of the inner circumference of the single pile, which is convenient for the single pile to be connected with the storage cylinder 4 at one end. The inner weld grinding robot 1 is stored in the storage cylinder 4 and enters the single pile along the storage cylinder 4 to grind the inner weld of the single pile. The storage cylinder 4 can be fixed on a rail mobile vehicle to be close to or away from the end position of the single pile to reduce interference and other problems, facilitate the lifting of the single pile, etc. The storage cylinder 4 can also be driven to rotate externally by a motor and a gear structure to adjust the angle state of the inner weld grinding robot 1 when entering the single pile; the outer weld grinding robot 3 moves along the length direction of the single pile to grind the outer weld of the single pile.

[0025] like Figure 2 As shown, a plurality of pairs of rollers 21 are rotatably connected to the mobile base 2, and the single pile is placed between the rollers 21. At least one roller 21 is connected to an active driving rotating member that drives the roller 21 to rotate, so as to drive the single pile to rotate. In this embodiment, the active driving rotating member includes a motor and a reduction gear box. The roller 21 on the side away from the outer weld grinding robot 3 is driven to rotate by the motor to realize the rotation of the single pile, so as to control the roller 21 to rotate to a suitable angle to grind the outer longitudinal seam and the inner longitudinal seam, and cooperate with the outer weld grinding robot 3 to realize the grinding of the outer annular seam.

[0026] In some embodiments, the lower side of the main body of the mobile base 2 is set as a vehicle body structure to achieve movement. In other embodiments, the upper part of the mobile base 2 is connected to a hydraulic lifting platform, and the roller 21 is installed on the hydraulic lifting platform to achieve the lifting of the single pile structure.

[0027] like Figure 1 As shown, the external weld grinding robot 3 includes a base at the bottom and two groups of moving arms 31 and external grinding pieces 32 connected to the base. The base can be a structure such as a vehicle body structure that actively drives the base to move linearly through a motor to achieve movement along the track, and the moving direction is along the axial direction of the single pile. The moving arm 31 is a structure such as an electric telescopic arm that drives the corresponding external grinding piece 32 to approach or move away from the outer periphery of the single pile. The two external grinding pieces 32 are arranged perpendicular to each other, one is arranged along the axial direction of the single pile for grinding the external longitudinal seam, and the other is arranged along the vertical tangent direction of the single pile to cooperate with the mobile base 2 to drive the rotation of the single pile to achieve the grinding of the external annular seam.

[0028] The outer grinding piece 32 can be an existing grinding component such as a grinding wheel, or it can only have one group of outer grinding pieces 32, which are driven to rotate by a rotary structure to achieve grinding of the outer annular seam and the outer longitudinal seam, etc.; an abutment body can also be provided on the side of the single pile away from the outer weld grinding robot 3, and the abutment body moves horizontally in a direction perpendicular to the length of the single pile, approaching or moving away from the single pile. The inner side of the abutment body abuts against one side of the single pile through two sets of upper and lower rollers, while the other side performs grinding work to improve the stability of the outer weld grinding.

[0029] like Figure 2 and Figure 3 As shown, the inner weld grinding robot 1 includes a first moving body 11, a second moving body 12 and a telescopic connecting member 13, wherein the telescopic connecting member 13 is connected between the first moving body 11 and the second moving body 12, and drives the two to move closer to or away from each other;

[0030] In this embodiment, the telescopic connecting member 13 is a linear module fixed in the second mobile body 12. The other end of the linear module passes through the first mobile body 11. The slider thereon is connected to the first mobile body 11 by a structure such as bolts, driving it to move linearly so that it approaches or moves away from the second mobile body 12. A guide structure such as a guide rod can also be provided to guide the movement of the first mobile body 11. The linear module can also be directly replaced by a driving structure such as a screw rod.

[0031] like Figure 2 and Figure 3 As shown, the first mobile body 11 and the second mobile body 12 both include a stopper for pressing against or leaving the inner circumference of the monopile, and a plurality of moving wheels supported on the inner circumference of the monopile. The moving wheels are arranged along the axial direction of the monopile to facilitate the axial movement of the first mobile body 11 and the second mobile body 12 on the inner circumference of the monopile. The inner ends are connected to radial connecting rods. The radial connecting rods can adjust their extended lengths through an automatic telescopic structure or a manual adjustment structure to adapt to monopile structures of different diameters.

[0032] In this embodiment, the stopper includes a plurality of stop telescopic rods 17, which are individually telescopically extended by an electric cylinder or a cylinder structure. In other embodiments, through holes are provided on the outer periphery of the first mobile body 11 and the second mobile body 12 for the stop telescopic rods 17 and the radial connecting rods of the moving wheels to be telescopically extended, and the inner end is driven by a motor to rotate or extend the disc body to achieve the simultaneous extension and contraction of the plurality of stop telescopic rods 17 and / or the radial connecting rods of the moving wheels (the rotating disc body drives the radial extension and contraction of the telescopic rods through the thread or the outer peripheral cam contour line, and the telescopic disc body drives the radial extension and contraction of the telescopic rods through the inclined surface and other structures), and the stop telescopic rod 17 is extended and pressed against the inner periphery of the single pile to achieve the braking of the first mobile body 11 or the second mobile body 12 relative to the inner wall of the single pile;

[0033] like Figure 3 As shown, the first moving body 11 is connected to an inner longitudinal seam grinding device 14, and the longitudinal seam is ground as the first moving body 11 moves axially, and the second moving body 12 is connected to an inner annular seam grinding device 15 and a rotary driving member 16, and the rotary driving member 16 drives the inner annular seam grinding device 15 to rotate circumferentially to grind the annular seam;

[0034] The inner longitudinal seam grinding device 14 can also be connected to the first mobile body 11 through a rotary structure to facilitate the adjustment of the angle according to the position of the inner longitudinal seam, avoid the need to adjust the angle of a single pile before each grinding, and ensure that the positions of all longitudinal seams are strictly consistent during welding;

[0035] The inner longitudinal seam grinding device 14 and the inner annular seam grinding device 15 both include a grinding telescopic arm 18 and an inner grinding piece 181. The inner grinding piece 181 is connected to the outer end of the grinding telescopic arm 18, and is close to or away from the inner wall of the single pile to realize the grinding work; the grinding telescopic arm 18 is a structure such as an electric telescopic arm, which drives the corresponding inner grinding piece 181 to approach or move away from the inner circumference of the single pile. The two inner grinding pieces 181 are arranged perpendicular to each other. The inner grinding piece 181 on the inner longitudinal seam grinding device 14 is arranged along the axial direction of the single pile and is used for grinding the outer longitudinal seam. The inner grinding piece 181 on the inner annular seam grinding device 15 is arranged along the tangential direction of the single pile, and cooperates with the rotary driving piece 16 to realize the grinding of the outer annular seam.

[0036] like Figure 3 As shown, the rotary drive member 16 includes a plurality of motors, the output ends of the motors are connected to drive gears, the gears are meshed with the outer periphery of the turntable, the inner annular seam grinding device 15 is fixed on the turntable, and in order to improve the grinding efficiency of the inner annular seam, a plurality of inner annular seam grinding devices 15 are arranged in an array, and they rotate together under the drive of the rotary drive member 16, thereby improving the grinding efficiency of the inner annular seam.

[0037] like Figure 1 As shown, the outer end of the storage cylinder 4 is connected to the outer end plate, and a plurality of reset winches 19 are provided on the outer side of the storage cylinder 4. The connection rope of the reset winch 19 passes through the outer end plate of the storage cylinder 4 and is then connected to the inner weld grinding robot 1. The inner weld grinding robot 1 moves in a direction away from the reset winch 19, and finally returns to the reset position under the pull of the reset winch 19. In this embodiment, two sets of steel ropes are symmetrically wound on the reset winch 19, which are respectively connected to the two sides of the first mobile body 11 to achieve stable pulling;

[0038] In some embodiments, in order to facilitate the observation of the weld position inside the single pile and the quality after grinding, the internal weld grinding robot 1 can also include several lighting and shooting devices, one for shooting the weld position inside the single pile forward, and one for shooting the grinding quality backward, etc. It can also be connected to a dust suction device to achieve dust suction after grinding.

[0039] The present application also discloses a highly efficient grinding method for a single pile weld grinding device, including external weld grinding and internal weld grinding processes.

[0040] Among them, the external weld grinding includes the following steps:

[0041] Step S11, the single pile is hoisted (or by a hydraulic lifting trolley or other device), and placed on the mobile base 2, and the mobile base 2 controls the single pile to rotate to a suitable angle, so that the outer grinding piece 32 for grinding the outer longitudinal seam is aligned with the direction of the outer longitudinal seam, which facilitates the grinding of the outer longitudinal seam;

[0042] Step S12, the external weld grinding robot 3 moves from one end of the single pile to the other end. During the movement, an external grinding member 32 moves axially with the external weld grinding robot 32 to grind the external longitudinal seam of the single pile. If the position of the external longitudinal seam is offset, the single pile is rotated and adjusted by the mobile base 2.

[0043] When passing through the outer annular seam position, the grinding work of the outer annular seam is interspersed, specifically including that the driving grinding piece 32 stops rotating and retracts, while the other grinding piece 32 extends to work, and at the same time the mobile base 2 drives the single pile to slowly rotate 360 ​​degrees to achieve the grinding work of the outer annular seam;

[0044] Step S13, after the outer weld grinding robot 3 finishes moving, it resets, or directly waits for the next grinding (in the reverse direction).

[0045] Internal weld grinding includes the following steps:

[0046] Step S21: The single pile is controlled to rotate to a suitable angle by the mobile base 2, so that the inner longitudinal seam grinding device 14 is aligned with the position of the inner longitudinal seam, which facilitates the grinding of the inner longitudinal seam;

[0047] Step S22: the inner weld grinding robot 1 enters the single pile to be ground from the storage tube 4, which specifically includes:

[0048] The first mobile body 11 is pressed against the inner circumference of the storage tube 4 by the stopper thereon, and the telescopic connection member 13 is in a telescopic state at this time, and then the telescopic connection member 13 is extended, so that the second mobile body 12 moves forward and enters the single pile.

[0049] Then, the second moving body 12 is pressed against the inner circumference of the single pile through the stopper thereon, and the first moving body 11 leaves the storage tube 4 through the stopper thereon, and the telescopic connecting member 13 is retracted, driving the first moving body 11 to move forward, and the first moving body 11 also enters the single pile;

[0050] Step S23: The first mobile body 11 is pressed against the inner circumference of the single pile through the stopper thereon, and the telescopic connection member 13 is in a telescopic state at this time, and then the telescopic connection member 13 is extended, so that the second mobile body 12 moves forward a telescopic distance L.

[0051] Then, the second moving body 12 is pressed against the inner circumference of the single pile through the stopper thereon, and the first moving body 11 leaves the inner circumference of the single pile through the stopper thereon, and the telescopic connecting member 13 is retracted at a uniform speed, driving the first moving body 11 to move forward. At the same time, the inner longitudinal seam grinding device 14 on the first moving body 11 works to grind the longitudinal seam on the moving path, and the above steps are repeated to achieve the grinding of the inner longitudinal seam;

[0052] Step S24: while grinding the inner longitudinal seam, if the second mobile body 12 moves to the annular seam position close to the single pile, the second mobile body 12 is first moved to the annular seam position through the telescopic connection member 13, the moving length is L1, and the stopper thereon is pressed against the inner periphery of the single pile, and then the rotary drive member 16 drives the inner annular seam grinding device 15 to rotate circumferentially to grind the annular seam;

[0053] After the grinding is completed, the second mobile body 12 releases the inner circumference of the single pile and continues to move forward to complete the remaining stroke L2 of the telescopic connector 13, L1+L2=L, so that the inner annular seam grinding is performed in the process of inner longitudinal seam grinding;

[0054] Step S25 : After the inner weld grinding robot 1 has finished moving, all the stoppers leave the inner circumference of the monopile, and are pulled by the reset winch 19 to move and reset along the axial direction of the monopile, and return to the storage tube 4 .

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions should also be deemed to fall within the protection scope of the technical solution of the present invention.

Claims

1. An efficient single pile weld grinding device, characterized by: The invention comprises an inner weld grinding robot, wherein the inner weld grinding robot comprises a first moving body, a second moving body and a telescopic connecting member, wherein the telescopic connecting member is connected between the first moving body and the second moving body, and drives the two to move closer to or farther from each other; the first moving body and the second moving body both comprise a stopper for pressing against or leaving the inner circumference of the single pile, the first moving body is connected with an inner longitudinal seam grinding device, and the longitudinal seam is ground with the axial movement of the first moving body, the second moving body is connected with an inner annular seam grinding device and a rotary driving member, and the rotary driving member drives the inner annular seam grinding device to rotate circumferentially to grind the annular seam; The inner longitudinal seam grinding device and the inner annular seam grinding device both include a grinding telescopic arm and an inner grinding piece, wherein the inner grinding piece is connected to the outer end of the grinding telescopic arm and is close to or away from the inner wall of the single pile; It also includes several mobile bases for placing single piles, and several rollers are provided on the mobile bases. The single pile is placed on the rollers, and at least one roller is connected to an active driving rotating part that drives it to rotate, thereby driving the single pile to rotate; one side of the mobile base is also provided with an external weld grinding robot that moves along the length direction of the single pile, and the external weld grinding robot includes a moving arm and an external grinding part, and the moving arm drives the external grinding part to approach or move away from the outer periphery of the single pile.

2. An efficient single pile weld grinding device according to claim 1, characterized in that: The stopper comprises a plurality of stop telescopic rods, which extend out and press against the inner circumference of the single pile to achieve braking of the first moving body or the second moving body.

3. An efficient single-pile weld grinding device according to claim 1, characterized in that: The inner annular seam grinding device array is provided with a plurality of devices, which rotate together under the driving of the rotary driving member.

4. The efficient single-pile weld grinding device according to claim 1, characterized in that: One end of the inner weld grinding robot is also provided with a plurality of reset winches, which are connected to the inner weld grinding robot through a connecting rope. The inner weld grinding robot moves in a direction away from the reset winches, and finally returns and resets under the pull of the reset winches.

5. The efficient single-pile weld grinding device according to claim 1, characterized in that: It also includes a storage cylinder, one end of the single pile is connected to the storage cylinder, the inner weld grinding robot is stored in the storage cylinder, and enters the single pile along the storage cylinder.

6. The efficient single-pile weld grinding device according to claim 1, characterized in that: The inner weld grinding robot also includes a plurality of lighting and photographing devices for photographing the inner weld position or the grinding quality of the single pile.

7. A grinding method based on the efficient single-pile weld grinding device according to claim 1, characterized in that: The method comprises the following steps: the inner weld seam grinding robot enters the single pile to be ground, the first moving body is pressed against the inner periphery of the single pile through the stopper thereon, at which time the telescopic connecting member is in a telescopic state, and then the telescopic connecting member is extended, so that the second moving body moves forward by a telescopic distance L, and then the second moving body is pressed against the inner periphery of the single pile through the stopper thereon, and the first moving body leaves the inner periphery of the single pile through the stopper thereon, and the telescopic connecting member is retracted at a uniform speed, driving the first moving body to move forward, and at the same time, the inner longitudinal seam grinding device on the first moving body works to grind the longitudinal seam on the moving path, and the above steps are repeated to achieve the grinding of the inner longitudinal seam; When the second mobile body moves to the annular seam position close to the single pile, the second mobile body first moves to the annular seam position through the telescopic connection piece, the moving length is L1, and the stopper thereon is pressed against the inner circumference of the single pile, and then the rotary driving member drives the inner annular seam grinding device to rotate circumferentially to grind the annular seam; after the grinding is completed, the second mobile body continues to move forward and moves the remaining distance L2 through the telescopic connection piece, L1+L2=L, so that the inner annular seam grinding is interspersed during the inner longitudinal seam grinding process.

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