Method and device for polishing spiral welding seam in pipe

Abstract

The invention discloses an in-pipe spiral welding seam grinding method and device.The in-pipe spiral welding seam grinding method is achieved through the in-pipe spiral welding seam grinding device.The in-pipe spiral welding seam grinding device comprises a supporting device, a detecting device, a processing device and a grinding device.The detecting device comprises a laser radar; the processing module drives the supporting device to move; and the processing module drives the grinding device to grind. The spiral welding seam in the pipeline can be ground, so that the welding position in the pipeline is smooth, and the roughness of the interior of the pipeline is reduced.

Description

Technical Field

[0001] The invention relates to a method and a device for grinding spiral welds in pipes. Background Art

[0002] With the continuous development of centralized heating technology, the demand for heating has also increased rapidly. Compared with straight weld insulated pipes, spiral weld insulated pipes have been increasingly used due to their advantage of larger diameter insulated pipes. Due to the limitation of welding process level, the internal weld height of spiral weld pipes is relatively large after welding, and because the weld is spiral, the weld length in spiral weld pipes can be increased by 30~100% compared with the same length of straight weld pipes, which leads to higher roughness inside spiral weld pipes, and greater flow resistance loss and energy waste during actual operation. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects in the prior art that the spiral weld pipeline has high roughness, large flow resistance loss and energy waste during actual operation, and to provide a method and device for grinding the spiral weld in the pipeline, which can grind the spiral weld in the pipeline, thereby making the welding point in the pipeline smooth and reducing the roughness inside the pipeline.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] A method for grinding a spiral weld in a pipe, wherein the method is implemented by using a spiral weld grinding device in a pipe, and the method is characterized in that the spiral weld grinding device in a pipe comprises a supporting device, a detection device, a processing device and a grinding device, wherein the detection device comprises a laser radar, and the method comprises:

[0006] The laser radar acquires three-dimensional point cloud data in the pipeline;

[0007] The processing device uses the three-dimensional point cloud data to establish a three-dimensional model inside the pipeline;

[0008] The processing device obtains the coordinates of the characteristic points of the spiral weld;

[0009] The processing module obtains movement parameters and grinding parameters using the coordinates of the feature points, the size of the support device, and the position of the grinding device;

[0010] The processing module drives the supporting device to move according to the movement parameters;

[0011] The processing module obtains the grinding position and grinding depth according to the grinding parameters, and drives the grinding device to grind.

[0012] Preferably, the processing device obtains the coordinates of the characteristic points of the spiral weld, including:

[0013] For a target point cloud on the three-dimensional model, obtaining the nearest neighboring point cloud of the target point cloud in the target direction;

[0014] The distance between the adjacent point cloud and the target point cloud is used to determine whether the target point cloud is a feature point cloud. If so, the coordinates of the feature points are obtained.

[0015] Preferably, the target direction is a direction that forms a preset angle with a line connecting the centers of the target point cloud pipeline.

[0016] Preferably, the method for grinding the spiral weld in the pipe comprises:

[0017] The axial length of the three-dimensional model in the pipeline is obtained according to the reflectivity in the three-dimensional point cloud data;

[0018] The unit length is formulated according to the axial length, and the characteristic point coordinate model is divided according to the unit length to obtain the spiral weld line segment;

[0019] For each spiral weld line segment, obtain the coordinates of the center point of the spiral weld line segment, and project the spiral weld line segment along the perpendicular direction from the center point coordinates to the pipeline axis, and the projection plane is the plane where the pipeline axis is located;

[0020] Obtain the angle between the spiral weld line segment projection and the pipeline axis;

[0021] The movement parameters and grinding parameters are obtained using the included angle and the pipe size.

[0022] Preferably, the support device comprises a support body and a mounting body, wherein the support body supports the mounting body in the pipeline, and a moving component is provided at the end of the support body, and the moving component drives the spiral weld grinding device in the pipe to move axially along the pipeline;

[0023] The grinding device is provided with a support arm, a lifting assembly and a grinding assembly. The support arm is fixed to the mounting body through a rotating body. The rotating body drives the support arm to rotate around the pipeline axis. Telescopic arms are provided at both ends of the support arm. The grinding wheel of the grinding assembly is fixed to the support arm through the lifting assembly. The lifting device drives the grinding wheel to move radially along the pipeline.

[0024] The detection device is arranged on the top of the supporting arm.

[0025] Preferably, the support body includes two support components, each support component includes three support feet with telescopic mechanisms, the angle between two adjacent support feet is 120 degrees, the moving component is a roller, and a roller is provided at the end of each support foot, and the installation body is arranged between the two support components;

[0026] The lifting assembly includes a lifting body, a lead screw and a limiting track. The limiting track and the lead screw are fixed in two support arms. The lifting body is installed on the limiting track. A nut that cooperates with the lead screw is provided in the lifting body. The rotation of the lead screw drives the lifting body to move along the limiting track.

[0027] Preferably, the grinding assembly comprises a motor and a grinding wheel, the axial direction of the grinding wheel is parallel to the axial direction of the pipeline, and the motor is installed in the lifting body;

[0028] The installation body comprises a cylindrical installation rod, a rotating body is arranged between two supporting components of the cylindrical installation rod, the rotating body comprises a bearing, the cylindrical installation rod is fixed to the inner ring of the bearing, and the outer ring of the bearing is fixed to the supporting arm;

[0029] A driving motor is provided on the cylindrical mounting rod, and the driving motor is connected to the outer ring of the bearing through a gear. The driving motor drives the outer ring of the bearing to rotate. A plurality of brushes are also provided on the cylindrical mounting rod, and the brushes are electrically connected to a plurality of metal rings on the outer ring of the bearing.

[0030] Preferably, the supporting body comprises three supporting feet with telescopic mechanisms, the angle between two adjacent supporting feet is 120 degrees, the moving component is a track, the track is arranged at the end of the supporting feet, and the installation body is arranged between the three supporting feet.

[0031] Preferably, a rotating body is provided at one end of the cylindrical mounting rod, and the rotating body includes a bearing and a rotating body. The rotating body is connected to the cylindrical mounting rod through the bearing. A driving motor is provided on the cylindrical mounting rod, and the driving motor drives the rotating body to rotate. A screw driving motor is provided in the rotating body.

[0032] The present invention also provides a device for grinding a spiral weld in a pipe, and the device for grinding a spiral weld in a pipe is used to implement the method for grinding a spiral weld in a pipe as described above.

[0033] Based on the common sense in the art, the above-mentioned preferred conditions can be combined arbitrarily to obtain the preferred embodiments of the present invention.

[0034] The positive and progressive effects of the present invention are:

[0035] The present invention can grind the spiral weld in the pipeline, so as to make the welding point in the pipeline smooth, thereby reducing the roughness inside the pipeline, reducing the flow resistance loss during actual operation, and reducing energy waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of the spiral weld grinding device in the pipe according to Example 1 of the present invention.

[0037] Figure 2 This is another schematic diagram of the structure of the device for grinding spiral welds in pipes according to Example 1 of the present invention.

[0038] Figure 3 This is another schematic diagram of the structure of the device for grinding spiral welds in pipes according to Example 1 of the present invention.

[0039] Figure 4 This is a schematic structural diagram of a pipeline cross section in Example 1 of the present invention.

[0040] Figure 5 This is a flow chart of the spiral weld grinding device in a pipe according to Example 1 of the present invention.

[0041] Figure 6 This is a schematic structural diagram of a device for grinding spiral welds in pipes according to Example 2 of the present invention. DETAILED DESCRIPTION

[0042] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0043] Example

[0044] In this embodiment, the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0045] See also Figures 1 to 3 , this embodiment provides a device for grinding spiral welds inside pipes.

[0046] The spiral weld grinding device in the pipe includes a supporting device, a detecting device and a grinding device 21.

[0047] The supporting device includes a supporting body 11 and a mounting body 12 .

[0048] The supporting body 11 supports the mounting body 12 in the pipe 10 .

[0049] A moving assembly 114 is provided at the end of the supporting body, and the moving assembly drives the spiral weld grinding device in the pipe to move along the axial direction of the pipe;

[0050] The grinding device 21 includes a support arm 211 , a lifting assembly and a grinding assembly.

[0051] The support arm is fixed to the installation body via a rotating body 215 .

[0052] The rotating body drives the supporting arm to rotate around the pipeline axis, and telescopic arms are arranged at both ends of the supporting arm.

[0053] The grinding wheel of the grinding assembly is fixed on the support arm through a lifting assembly, and the lifting device drives the grinding wheel to move radially along the pipeline.

[0054] The detection device is arranged on the top of the supporting arm.

[0055] The support body includes two support components, namely a front support component 111 and a rear support component 112 . Each support component includes three support feet 113 with telescopic mechanisms 1131 .

[0056] The included angle between two adjacent supporting feet is 120 degrees, the moving component is a roller, a roller is provided at the end of each supporting foot, and the installation body is arranged between the two supporting components.

[0057] The lifting assembly includes a lifting body 212, a lead screw 213 and a limiting track 214. The limiting track and the lead screw are fixed in two support arms. The lifting body is installed on the limiting track. A nut that cooperates with the lead screw is provided in the lifting body. The rotation of the lead screw drives the lifting body to move along the limiting track.

[0058] The grinding assembly includes a motor 216 and a grinding wheel 217. The axial direction of the grinding wheel is parallel to the axial direction of the pipeline. The motor is installed in the lifting body.

[0059] The installation body comprises a cylindrical installation rod, and a rotating body is arranged between two supporting components of the cylindrical installation rod.

[0060] The rotating body comprises a bearing, a cylindrical mounting rod is fixed to the inner ring of the bearing, and an outer ring of the bearing is fixed to the supporting arm.

[0061] A driving motor 122 is disposed on the cylindrical mounting rod 121 , and the driving motor is connected to the outer ring of the bearing via a gear.

[0062] The driving motor drives the outer ring of the bearing to rotate. A plurality of brushes are also arranged on the cylindrical mounting rod. The brushes are electrically connected to a plurality of metal rings on the outer ring of the bearing.

[0063] The detection device is a laser radar arranged at the front end of the installation body.

[0064] See also Figure 5, using the in-pipe spiral weld grinding device, this embodiment also provides an in-pipe spiral weld grinding method, the in-pipe spiral weld grinding device includes a supporting device, a detection device, a processing device and a grinding device. The detection device includes a laser radar.

[0065] The method for grinding the spiral weld in the pipe comprises:

[0066] Step 100: The laser radar obtains three-dimensional point cloud data in the pipeline;

[0067] Step 101, the processing device uses the three-dimensional point cloud data to establish a three-dimensional model inside the pipeline;

[0068] Step 102, the processing device obtains the coordinates of the characteristic points of the spiral weld;

[0069] Step 103, the processing module obtains movement parameters and grinding parameters using the coordinates of the feature points, the size of the support device, and the position of the grinding device;

[0070] Step 104: the processing module drives the supporting device to move according to the movement parameters;

[0071] Step 105: The processing module obtains the grinding position and grinding depth according to the grinding parameters, and drives the grinding device to grind.

[0072] Step 102 specifically includes:

[0073] For a target point cloud 41 on the three-dimensional model, obtaining the nearest neighboring point cloud of the target point cloud 41 in the target direction;

[0074] The distance 44 between the adjacent point cloud and the target point cloud is used to determine whether the target point cloud is a feature point cloud, and if so, the coordinates of the feature points are obtained.

[0075] The target direction 43 is a direction that forms a preset angle 42 with a line connecting the center of the target point cloud pipeline.

[0076] See also Figure 4 For a cross section of pipe 45, when the target point cloud 41 is on pipe 45, the distance between adjacent point clouds along the target direction is a fixed value; when the target point cloud is a feature point, the distance between adjacent point clouds along the target direction is greater than the fixed value.

[0077] Step 103 specifically includes:

[0078] The axial length of the three-dimensional model in the pipeline is obtained according to the reflectivity in the three-dimensional point cloud data;

[0079] The unit length is formulated according to the axial length, and the characteristic point coordinate model is divided according to the unit length to obtain the spiral weld line segment;

[0080] For each spiral weld line segment, obtain the coordinates of the center point of the spiral weld line segment, and project the spiral weld line segment along the perpendicular direction from the center point coordinates to the pipeline axis, and the projection plane is the plane where the pipeline axis is located;

[0081] Obtain the angle between the spiral weld line segment projection and the pipeline axis;

[0082] The movement parameters and grinding parameters are obtained using the included angle and the pipe size.

[0083] By obtaining the angle, the unit arc length of the weld can be known, and the unit arc length will affect the grinding movement length. For example, when the weld is nearly parallel to the axis, the distance of each axial movement is approximately the thickness of the grinding wheel. If the weld is close to a circular shape of the pipe cross section, the distance of each axial movement is almost zero, and the grinding wheel needs to be rotated. The rotation angle can be calculated based on the angle and the pipe size.

[0084] Example 2

[0085] This embodiment is basically the same as Embodiment 1, except that:

[0086] See also Figure 4 The supporting body includes three supporting feet with telescopic mechanisms, the angle between two adjacent supporting feet is 120 degrees, the moving component is a track, the track is arranged at the end of the supporting foot, and the installation body is arranged between the three supporting feet.

[0087] A rotating body is provided at one end of the cylindrical mounting rod, and the rotating body includes a bearing and a rotating body 31. The rotating body is connected to the cylindrical mounting rod through the bearing. A driving motor 32 is provided on the cylindrical mounting rod, and the driving motor drives the rotating body to rotate. A screw driving motor 33 is provided in the rotating body.

[0088] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A method for grinding a spiral weld in a pipe, wherein the method is implemented by using a spiral weld grinding device, and the method is characterized in that: The spiral weld grinding device in the pipe includes a supporting device, a detection device, a processing device and a grinding device, the detection device includes a laser radar, and the spiral weld grinding method in the pipe includes: The laser radar acquires three-dimensional point cloud data in the pipeline; The processing device uses the three-dimensional point cloud data to establish a three-dimensional model inside the pipeline; The processing device obtains the coordinates of the characteristic points of the spiral weld; The processing module obtains movement parameters and grinding parameters using the coordinates of the feature points, the size of the support device, and the position of the grinding device; The processing module drives the supporting device to move according to the movement parameters; The processing module obtains the grinding position and grinding depth according to the grinding parameters, and drives the grinding device to grind.

2. The method for grinding spiral welds in pipes according to claim 1, characterized in that: The processing device obtains the coordinates of the characteristic points of the spiral weld, including: For a target point cloud on the three-dimensional model, obtaining the nearest neighboring point cloud of the target point cloud in the target direction; The distance between the adjacent point cloud and the target point cloud is used to determine whether the target point cloud is a feature point cloud. If so, the coordinates of the feature points are obtained.

3. The method for grinding spiral welds in pipes according to claim 2, characterized in that: The target direction is a direction that forms a preset angle with a line connecting the centers of the target point cloud pipeline.

4. The method for grinding spiral welds in pipes according to claim 2, characterized in that: The method for grinding the spiral weld in the pipe comprises: The axial length of the three-dimensional model in the pipeline is obtained according to the reflectivity in the three-dimensional point cloud data; The unit length is formulated according to the axial length, and the characteristic point coordinate model is divided according to the unit length to obtain the spiral weld line segment; For each spiral weld line segment, obtain the coordinates of the center point of the spiral weld line segment, and project the spiral weld line segment along the perpendicular direction from the center point coordinates to the pipeline axis, and the projection plane is the plane where the pipeline axis is located; Obtain the angle between the spiral weld line segment projection and the pipeline axis; The movement parameters and grinding parameters are obtained using the included angle and the pipe size.

5. The method for grinding spiral welds in pipes according to claim 1, characterized in that: The supporting device comprises a supporting body and a mounting body, wherein the supporting body supports the mounting body in the pipeline, and a moving component is provided at the end of the supporting body, and the moving component drives the spiral weld grinding device in the pipe to move axially along the pipeline; The grinding device is provided with a support arm, a lifting assembly and a grinding assembly. The support arm is fixed to the mounting body through a rotating body. The rotating body drives the support arm to rotate around the pipeline axis. Telescopic arms are provided at both ends of the support arm. The grinding wheel of the grinding assembly is fixed to the support arm through the lifting assembly. The lifting device drives the grinding wheel to move radially along the pipeline. The detection device is arranged on the top of the supporting arm.

6. The method for grinding spiral welds in pipes according to claim 5, characterized in that: The support body includes two support components, each support component includes three support feet with telescopic mechanisms, the angle between two adjacent support feet is 120 degrees, the moving component is a roller, and a roller is provided at the end of each support foot, and the installation body is arranged between the two support components; The lifting assembly includes a lifting body, a lead screw and a limiting track. The limiting track and the lead screw are fixed in two support arms. The lifting body is installed on the limiting track. A nut that cooperates with the lead screw is provided in the lifting body. The rotation of the lead screw drives the lifting body to move along the limiting track.

7. The method for grinding spiral welds in pipes according to claim 6, characterized in that: The grinding assembly includes a motor and a grinding wheel, the axial direction of the grinding wheel is parallel to the axial direction of the pipeline, and the motor is installed in the lifting body; The installation body comprises a cylindrical installation rod, a rotating body is arranged between two supporting components of the cylindrical installation rod, the rotating body comprises a bearing, the cylindrical installation rod is fixed to the inner ring of the bearing, and the outer ring of the bearing is fixed to the supporting arm; A driving motor is provided on the cylindrical mounting rod, and the driving motor is connected to the outer ring of the bearing through a gear. The driving motor drives the outer ring of the bearing to rotate. A plurality of brushes are also provided on the cylindrical mounting rod, and the brushes are electrically connected to a plurality of metal rings on the outer ring of the bearing.

8. The method for grinding spiral welds in pipes according to claim 5, characterized in that: The supporting body comprises three supporting feet with telescopic mechanisms, the angle between two adjacent supporting feet is 120 degrees, the moving component is a crawler, the crawler is arranged at the end of the supporting feet, and the installation body is arranged between the three supporting feet.

9. The method for grinding spiral welds in pipes according to claim 8, characterized in that: A rotating body is provided at one end of the cylindrical mounting rod, and the rotating body includes a bearing and a rotating body. The rotating body is connected to the cylindrical mounting rod through the bearing. A driving motor is provided on the cylindrical mounting rod, and the driving motor drives the rotating body to rotate. A screw driving motor is provided in the rotating body.

10. A device for grinding a spiral weld in a pipe, characterized in that the device is used to implement the method for grinding a spiral weld in a pipe as described in any one of claims 1 to 9.

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