Self-adaptive welding seam polishing robot suitable for large pipeline

Abstract

The invention belongs to the technical field of grinding, and discloses a self-adaptive weld joint grinding robot suitable for a large pipeline, which comprises a rack and a grinding assembly, the grinding assembly comprises a plane workbench, a slewing bearing seat, a pitching adjusting support and a supporting seat, and the plane workbench, the slewing bearing seat and the pitching adjusting support are sequentially arranged from bottom to top; the supporting base is installed on the pitching adjusting support in a sliding mode, a driving wheel, a polishing wheel, a tensioning wheel, an abrasive belt and a polishing motor are installed on the supporting base, the driving wheel, the polishing wheel and the tensioning wheel are distributed in a triangular mode, and the abrasive belt is arranged on the outer side of the driving wheel, the outer side of the polishing wheel and the outer side of the tensioning wheel in a sleeving mode to jointly form a polishing mechanism. The rotary supporting seat and the pitching adjusting supporting seat are sequentially arranged on the plane workbench, and the rotary supporting seat and the pitching supporting seat are connected through the reset spring, so that the polishing assembly installed on the pitching adjusting supporting seat has a great angle adaptation effect, and then factors such as misalignment of a welding seam and ovality change of a workpiece can be adapted.

Description

Technical Field

[0001] The present invention belongs to the technical field of grinding, and particularly relates to an adaptive weld grinding robot applicable to large pipelines. Background Art

[0002] In the existing large-scale equipment manufacturing, processes such as grinding and polishing still mainly rely on manual labor, which has problems such as low efficiency, unstable surface quality, high safety risks, and poor working environment. These problems not only restrict production efficiency but also exacerbate difficulties in recruitment and high labor costs in the manufacturing industry. With the transformation of the manufacturing industry towards high-end, intelligent, and green development, the gradual maturity of robot grinding and polishing technologies, and the continuous opening of market demand, automation and intelligence have become an inevitable trend in the industry.

[0003] Existing grinding robots can perform simple grinding operations, but there are still deficiencies when encountering complex workpieces and special environments: existing grinding robots have limited adaptability and following ability when dealing with the grinding of large component welds, and it is difficult to meet the high-precision grinding requirements of irregular curved surfaces and complex profiles. For example, the grinding of the weld between the hollow guide vane and the diaphragm of a steam turbine. These components have large welding deformations, high hardness, and irregular surface profiles and contour requirements. Existing robot grinding solutions cannot effectively solve these problems and still rely on manual grinding, resulting in low efficiency and unstable quality; moreover, the load capacity of grinding robots also has limitations, especially in scenarios that require heavy-duty grinding, such as large weld grinding.

[0004] In grinding processing, the proportion of weld grinding is extremely large. Existing weld grinding mainly adopts two methods: abrasive belt grinding and grinding wheel grinding. These two grinding methods have the following disadvantages:

[0005] 1. Process: Grinding wheel grinding has low efficiency, complex structure, inconvenient disassembly and maintenance, and a risk of bursting; abrasive belt grinding has a short service life, uneven wear, and poor adaptability to complex curved surfaces;

[0006] 2. Adaptability: When dealing with weld misalignment and changes in workpiece ovality, manual adjustment is required, which not only increases the workload of workers but also reduces the automation level of grinding, lowers the grinding efficiency. In addition, the clamping requirements for workpieces in grinding are high, otherwise it will affect the grinding efficiency and even damage the equipment.

[0007] In view of this, it is necessary to solve the problem of improving the adaptability of existing grinding robots to workpieces to ensure processing efficiency. Summary of the Invention

[0008] The purpose of the present invention is to solve the problems in the background art, and provides an adaptive weld grinding robot applicable to large pipelines. Through adaptive grinding, the grinding process of this grinding robot is more efficient.

[0009] The object of the present invention is achieved by the following technical solutions:

[0010] An adaptive weld grinding robot applicable to large pipelines, comprising a frame and a grinding assembly. The grinding assembly includes a flat workbench, a slewing bearing seat, a pitching adjustment support and a support seat (25). The flat workbench, the slewing bearing seat and the pitching adjustment support are arranged in sequence from bottom to top. A clamping cylinder that telescopically moves in the machining direction and a cross-movement electric cylinder whose telescopic direction is parallel to the machining surface are installed on the flat workbench. The slewing bearing seat includes a bottom plate installed on the flat workbench and a turntable installed on the bottom plate. The pitching adjustment support includes a mounting plate, a support frame and a guide rail seat. The mounting plate is horizontally installed on the top of the turntable. Reset springs parallel to each other are symmetrically installed between the mounting plates on both sides of the turntable and the bottom plate. The support frame is fixed on the mounting plate. The guide rail seat is hinged in the support frame above the side of the turntable. One end of the support frame away from the hinge is processed with a downward-offset bending part. An electric push rod is provided on the bending part and is rotatably connected to one end of the guide rail seat away from the hinge. The support seat is slidably installed on the guide rail seat. A grinding cylinder that drives the support seat to move towards the machining surface is provided on the guide rail seat. A driving wheel, a grinding wheel, a tensioning wheel, a sand belt and a grinding motor are installed on the support seat. The driving wheel, the grinding wheel and the tensioning wheel are distributed in a triangle. The sand belt is sleeved outside the driving wheel, the grinding wheel and the tensioning wheel to jointly form a grinding mechanism. The grinding mechanism is located directly above the turntable. The grinding motor is fixed on the support seat. The output shaft of the grinding motor is connected to the driving wheel and drives the sand belt to rotate on the driving wheel, the grinding wheel and the tensioning wheel through the driving wheel. A pneumatic slider is installed on the guide rail seat. A y-shaped push frame is installed on the pneumatic slider. A strip-shaped avoidance groove for avoiding the push frame is processed on the support seat. The grinding wheel is located inside the push frame. Universal ball bearings are installed at the ends of the push frame. The two universal ball bearings and the grinding surface of the grinding wheel are located in the same working plane.

[0011] Both ends of the reset spring are respectively installed on the bottom surface of the mounting plate and the surface of the bottom plate through fixing feet. A strip-shaped groove for accommodating the fixing feet is processed on the bottom plate. The strip-shaped groove is arranged along the length direction of the reset spring. An adjusting screw rod extending into the strip-shaped groove is provided on the side wall of the bottom plate. The fixing foot is connected to the adjusting screw rod. By rotating the adjusting screw rod, the fixing foot can slide in the strip-shaped groove.

[0012] Guide rail seals are installed on both sides of the sliders of the flat workbench and the guide rail seat.

[0013] On one side of the support base, a sand belt replacement device is installed on the frame. The sand belt replacement device includes a storage rack and a belt feeding mechanism. The storage rack is arranged on the frame on the side opposite to the sand belt. The bottom of the storage rack is connected to the frame through a rotary cylinder. The belt feeding mechanism is installed between the storage rack and the sand belt. The belt feeding mechanism includes a lead screw guide rail, a sliding seat, a stepping motor, a temporary storage rack, pneumatic fingers, a telescopic rod, and a support rod. The lead screw guide rail is installed on the frame, the sliding seat is installed on the lead screw guide rail, the stepping motor is installed on the sliding seat, and the output shaft of the stepping motor is vertically arranged. The temporary storage rack is vertically installed on the output shaft of the stepping motor and is located inside the sand belt. Multiple pneumatic fingers are installed on the temporary storage rack through swing arm assemblies. The multiple swing arm assemblies are arranged radially along the support contour of the sand belt. Two groups of telescopic rods are symmetrically installed on both sides of the temporary storage rack, and a support rod for propping up the inner wall of the sand belt is installed at the extending end of the telescopic rod.

[0014] A grinding guard is installed outside the sand belt. A grinding notch is left on the grinding guard outside the grinding wheel. A collecting hopper is provided on the grinding guard below the grinding wheel. A discharge pipe is provided at the bottom of the collecting hopper, and the end of the discharge pipe is connected to an aggregate drawer. A detachable heat absorption plate is installed inside the collecting hopper and inside the grinding guard on one side of the collecting hopper. A flue is provided outside the top of the grinding guard, and the end of the flue is connected to a smoke absorber.

[0015] A remote control loading vehicle is installed at the bottom of the frame. A fuel tank, a hydraulic pump, and hydraulic support legs are installed on the remote control loading vehicle. An air compressor is also provided inside the remote control loading vehicle.

[0016] A safety guard is provided outside the frame. A control cabinet is provided on the frame, and a control panel for controlling the grinding process is provided on the control cabinet.

[0017] The beneficial effects of the adaptive weld grinding robot for large pipelines provided by the present invention are as follows:

[0018] (1) By sequentially arranging a slewing bearing seat and a pitching adjustment seat on the flat workbench and connecting the slewing bearing seat and the pitching support seat through a return spring, the grinding assembly installed on the pitching adjustment seat can have a great angle adaptation effect, and thus can adapt to factors such as the misalignment of the weld and the change in the ovality of the workpiece. And the constant force grinding can be maintained through the cylinder, eliminating the process of manual frequent adjustment of the grinding position and greatly improving the automation degree;

[0019] (2) By installing a transverse moving electric cylinder inside the flat workbench, the situation that the same position of the sand belt is continuously worn during the grinding process can be avoided, and the utilization rate and service life of the sand belt are prolonged;

[0020] (3) By setting the sand belt replacement device, the automatic replacement of the sand belt is realized, and the whole process does not require manual intervention, greatly improving the continuous operation ability of the equipment;

[0021] (4) By setting up a smoke absorber, it is possible to collect floating dust and smoke, thereby improving the working environment and reducing the impact on the health of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0023] Figure 1 Structural schematic diagram of the grinding assembly provided by the embodiment of the present invention Figure 1 。

[0024] Figure 2 Structural schematic diagram of the grinding assembly provided by the embodiment of the present invention Figure 2 。

[0025] Figure 3 Exploded structural schematic diagram of the grinding assembly provided by the embodiment of the present invention.

[0026] Figure 4 Connection schematic diagram of the slewing bearing seat and the pitching adjustment seat provided by the embodiment of the present invention.

[0027] Figure 5 Installation schematic diagram of the support seat and the grinding mechanism provided by the embodiment of the present invention.

[0028] Figure 6 Structural schematic diagram of the weld grinding robot provided by the embodiment of the present invention.

[0029] Figure 7 Installation schematic diagram of the grinding assembly and the abrasive belt replacement device provided by the embodiment of the present invention.

[0030] Figure 8 Internal structural schematic diagram of the weld grinding robot provided by the embodiment of the present invention.

[0031] Figure 9 Structural schematic diagram of the grinding assembly and the abrasive belt replacement device provided by the embodiment of the present invention.

[0032] Figure 10 Structural schematic diagram of the abrasive belt replacement device provided by the embodiment of the present invention..

[0033] Figure 11 Structural schematic diagram of the temporary storage rack provided by the embodiment of the present invention.

[0034] Figure 12Schematic diagram of the internal structure of the remote-controlled loading vehicle provided by the embodiment of the present invention.

[0035] Markings in the figure:

[0036] 1. Frame; 11. Safety shield; 12. Travel warning light;

[0037] 2. Grinding assembly;

[0038] 21. Flat workbench; 211. Clamping cylinder; 212. Transverse moving electric cylinder;

[0039] 22. Slewing bearing seat; 221. Bottom plate; 222. Turntable; 223. Strip-shaped groove; 224. Adjusting screw;

[0040] 23. Pitching adjustment support; 231. Mounting plate; 232. Support frame; 233. Guide rail seat; 234. Bending part; 235. Electric push rod; 236. Grinding cylinder; 237. Pneumatic slider; 238. Pushing frame; 239. Universal ball bearing;

[0041] 24. Return spring; 241. Fixed foot;

[0042] 25. Support seat; 251. Driving wheel; 252. Grinding wheel; 253. Tensioning wheel; 254. Sand belt; 255. Grinding motor; 256. Strip-shaped avoidance groove;

[0043] 26. Guide rail seal cover;

[0044] 3. Sand belt replacement device; 31. Storage rack; 32. Rotary cylinder; 33. Lead screw guide rail; 34. Slide seat; 35. Stepper motor; 36. Temporary storage rack; 37. Pneumatic finger; 38. Telescopic rod; 39. Support rod; 310. Swing arm assembly;

[0045] 4. Grinding shield; 41. Grinding notch; 42. Collection hopper; 43. Discharge pipe; 44. Aggregate drawer; 45. Heat absorption plate; 46. Flue; 47. Smoke absorber;

[0046] 5. Remote-controlled loading vehicle; 51. Fuel tank; 52. Hydraulic pump; 53. Hydraulic support leg; 54. Air compressor;

[0047] 6. Control cabinet; 61. Control panel. Detailed implementation manners

[0048] Embodiment 1

[0049] As Figures 1 to 5As shown in the figure, the adaptive weld grinding robot applicable to large pipelines provided in this embodiment includes a frame 1 and a grinding assembly 2. The grinding assembly 2 includes a flat workbench 21, a slewing bearing seat 22, a pitch adjustment support 23 and a support seat 25. The flat workbench 21, the slewing bearing seat 22 and the pitch adjustment support 23 are arranged in sequence from bottom to top. A pressing cylinder 211 that telescopically moves in the machining direction and a crosswise electric cylinder 212 whose telescopic direction is parallel to the machining surface are installed on the flat workbench 21. The pressing cylinder 211 can adjust a constant force suitable for grinding through the applied pressure, and the crosswise electric cylinder 212 can accurately control the reciprocating translation of the grinding sand belt 254 at the grinding position through a servo motor and a lead screw, which can avoid excessive grinding at the same position of the sand belt 254. On the one hand, it improves the utilization rate of the sand belt 254, and on the other hand, it extends the service life of the sand belt 254; the slewing bearing seat 22 includes a bottom plate 221 installed on the flat workbench 21 and a turntable 222 installed on the bottom plate 221. The pitch adjustment support 23 includes a mounting plate 231, a support frame 232 and a guide rail seat 233. The mounting plate 231 is horizontally installed on the top of the turntable 222. Symmetrically arranged and mutually parallel return springs 24 are installed between the mounting plates 231 on both sides of the turntable 222 and the bottom plate 221. The return springs 24 can automatically adapt to the plane deviation at both ends of the workpiece according to the flatness of the grinding surface, and then adapt to a complex grinding environment. In order to adjust the sensitivity of the slewing support 25, both ends of the return spring 24 are respectively installed on the bottom surface of the mounting plate 231 and the surface of the bottom plate 221 through fixing feet 241. A strip-shaped groove 223 for accommodating the fixing feet 241 is machined on the bottom plate 221. The strip-shaped groove 223 is arranged along the length direction of the return spring 24. An adjusting screw 224 extending into the strip-shaped groove 223 is provided on the side wall of the bottom plate 221. The fixing foot 241 is connected to the adjusting screw 224. By rotating the adjusting screw 224, the fixing foot 241 can slide in the strip-shaped groove 223. When the fixing foot 241 slides in the strip-shaped groove 223, the elastic force of the return spring 24 can be adjusted, and then the response speed of the grinding mechanism can be adjusted. The greater the elastic force of the return spring 24, the faster the response speed, and vice versa. However, the elastic force of the return spring 24 is adjusted according to the weld seam;The support frame 232 is fixed on the mounting plate 231. The guide rail seat 233 is hinged inside the support frame 232 above the side of the turntable 222. A downward-offset bending part 234 is machined at one end of the support frame 232 away from the hinge. An electric push rod 235 is provided on the bending part 234 and is rotatably connected to one end of the guide rail seat 233 away from the hinge. By controlling the telescoping of the electric push rod 235, the pitching angle of the guide rail seat 233 can be adjusted. The support seat 25 is slidably mounted on the guide rail seat 233. A grinding cylinder 236 for driving the support seat 25 to move towards the machining surface is provided on the guide rail seat 233. A driving wheel 251, a grinding wheel 252, a tensioning wheel 253, a sand belt 254 and a grinding motor 255 are mounted on the support seat 25. The driving wheel 251, the grinding wheel 252 and the tensioning wheel 253 are distributed in a triangle. The sand belt 254 is sleeved outside the driving wheel 251, the grinding wheel 252 and the tensioning wheel 253 to jointly form a grinding mechanism. The grinding mechanism is precisely controlled by the grinding cylinder 236. The grinding mechanism is located directly above the turntable 222, which can ensure the concentricity of the center and avoid the situation of uneven grinding caused by large offsets at the grinding station. The grinding motor 255 is fixed on the support seat 25. The output shaft of the grinding motor 255 is connected to the driving wheel 251, and the driving wheel 251 drives the sand belt 254 to rotate on the driving wheel 251, the grinding wheel 252 and the tensioning wheel 253. A pneumatic slider 237 is mounted on the guide rail seat 233. A Y-shaped push frame 238 is mounted on the pneumatic slider 237. The two ends of the Y-shaped push frame 238 are symmetrically arranged on both sides of the grinding wheel 252 and are used to abut against the support surfaces on both sides of the weld to keep the grinding surface of the sand belt 254 flush with the surface of the workpiece. A universal ball bearing 239 is mounted at the end of the push frame 238. The two universal ball bearings 239 and the grinding surface of the grinding wheel 252 are located in the same working plane. The universal ball bearing 239 is used to reduce the friction when contacting the surface of the workpiece to ensure that the push frame 238 and the grinding wheel 252 are always in the same plane. On the one hand, this can limit the welding surface and avoid excessive grinding. On the other hand, the push frame 238 can detect the grinding surface and, in cooperation with the slewing bearing seat 22 and the return spring 24, can adjust the working angle of the sand belt 254 according to the changes in the support surfaces on both sides of the weld, thereby improving the self-adaptability of the grinding mechanism to the corresponding grinding surface.;

[0050] Since a large amount of dust is generated during grinding and the grinding robot needs to be adjusted at multiple angles, guide rail sealing covers 26 are installed on both sides of the sliders of the flat workbench 21 and the guide rail seat 233, as Figure 1 、 Figure 2 shown. The guide rail sealing cover 26 can prevent dust from adhering to the guide rails, and thus can ensure the stability of the movement of the flat workbench 21 and the guide rail seat 233.

[0051] Embodiment 2

[0052] This embodiment is an improvement based on Embodiment 1. As Figures 1 to 12 shown, the existing grinding mechanism still relies on manual replacement of the abrasive belt 254, resulting in frequent interruptions, affecting the continuity of the grinding operation. At the same time, the level of intelligence is low, and the grinding parameters need to be manually set every time the workpiece is replaced, making the grinding efficiency relatively low. In order to improve the grinding efficiency, a replacement device for the abrasive belt 254 is installed on the frame 1 on one side of the support base 25. The replacement device for the abrasive belt 254 includes a storage rack 31 and a belt feeding mechanism. The storage rack 31 is arranged on the frame 1 on the side opposite to the abrasive belt 254 installed in the grinding mechanism. The bottom of the storage rack 31 is connected to the frame 1 through a rotary cylinder 32. The belt feeding mechanism is installed between the storage rack 31 and the abrasive belt 254. In order to automatically replace the abrasive belt 254, a strip-shaped avoidance groove 256 for avoiding the pushing frame 238 is processed on the support base 25. The pushing frame 238 can move backward under the action of the pneumatic slider 237 to leave an operation space for replacing the abrasive belt 254. The belt feeding mechanism includes a lead screw guide rail 33, a sliding seat 34, a stepping motor 35, a temporary storage rack 36, a pneumatic finger 37, a telescopic rod 38 and a support rod 39. The lead screw guide rail 33 is installed on the frame 1, and the sliding seat 34 is installed on the lead screw guide rail 33. The stepping motor 35 is installed on the sliding seat 34, and the output shaft of the stepping motor 35 is vertically arranged. The temporary storage rack 36 is vertically installed on the output shaft of the stepping motor 35, and the temporary storage rack 36 is located inside the abrasive belt 254. A plurality of pneumatic fingers 37 are installed on the temporary storage rack 36 through swing arm assemblies 310. The plurality of swing arm assemblies 310 are arranged radially along the supporting contour of the abrasive belt 254. Two groups of telescopic rods 38 are symmetrically installed on both sides of the temporary storage rack 36. The extending end of the telescopic rod 38 is installed with a support rod 39 for supporting the inner wall of the abrasive belt 254. There are two support rods 39 on a single telescopic rod 38, and the width of the two support rods 39 is greater than that of the grinding wheel 252 and the driving wheel. During use, the lead screw guide rail 33 and the stepping motor 35 cooperate to make the pneumatic fingers 37 on the temporary storage rack 36 clamp and take out the abrasive belt 254, and then take out a new abrasive belt 254 and install it on the driving wheel 251, the grinding wheel 252 and the tensioning wheel 253.

[0053] Embodiment 3

[0054] As Figures 6 to 8As shown, since the abrasive belt 254 is in a high-speed rotating state, the dust and smoke generated during the grinding process not only pollute the environment but also affect the health of workers. The accumulation of dust will affect the operation of the equipment, and the generated sparks pose a safety hazard, especially in a closed or still environment. To improve the safety of grinding, a grinding guard 4 is installed outside the abrasive belt 254. A grinding notch 41 is left on the grinding guard 4 outside the grinding wheel 252. The grinding notch 41 is the processing position of the grinding mechanism. At the grinding notch 41, the abrasive belt 254 grinds the workpiece under the support of the grinding wheel 252. With such a design, it combines the advantages of high precision and easy control of the grinding wheel, and the advantages of high grinding efficiency, simple structure, and high safety of the abrasive belt 254. A collection hopper 42 is provided on the grinding guard 4 below the grinding wheel 252. A discharge pipe 43 is provided at the bottom of the collection hopper 42, and the end of the discharge pipe 43 is connected to an aggregate drawer 44. Since high-temperature debris and sparks are easily generated during grinding, to improve efficiency, a detachable heat-absorbing plate 45 is installed inside the collection hopper 42 and inside the grinding guard 4 on one side of the collection hopper 42. A flue 46 is provided outside the top of the grinding guard 4, and the end of the flue 46 is connected to a smoke absorber 47.

[0055] To improve the flexibility of the grinding robot, a remote control loading vehicle 5 is installed at the bottom of the frame 1. As Figure 12 shown, a fuel tank 51, a hydraulic pump 52, and hydraulic support legs 53 are installed on the remote control loading vehicle 5. The fuel tank 51, the hydraulic pump 52, and the hydraulic support legs 53 are connected in sequence. During grinding, the hydraulic support legs 53 support the frame 1. An air compressor 54 is also provided inside the remote control loading vehicle 5, and the air compressor 54 supplies compressed air to the required pneumatic components.

[0056] A safety guard 11 is provided outside the frame 1, and a walking warning light 12 is also installed outside the safety guard 11. Since there are many control components in the grinding robot, to improve automation, a control cabinet 6 is provided on the frame 1. A control panel 61 for controlling grinding processing is provided on the control cabinet 6. The control panel 61 is connected to a PLC controller. The PLC controller controls the operation of equipment such as the clamping cylinder 211, the transverse moving electric cylinder 212, the electric push rod 235, the grinding cylinder 236, the pneumatic slider 237, the grinding motor 255, the rotary cylinder 32, the stepping motor 35, the pneumatic finger 37, the telescopic rod 38, the smoke absorber 47, and the air compressor 54 to achieve functions such as the adaptive adjustment of the grinding robot, weld grinding, dust and smoke collection, and abrasive belt 254 replacement.

[0057] The usage method of the present invention is as follows:

[0058] First, fix the workpiece to be ground on the roller rack so that the workpiece can rotate freely on the roller rack to ensure that the weld on the workpiece is always within the processing range of the grinding robot during the grinding process.

[0059] Then, operate the remote-controlled loading vehicle 5 to the welding site. After it is moved into position, control the hydraulic support legs 53 to extend, and use the hydraulic support legs 53 to support the frame 1 to reduce the vibration of the grinding robot and improve the stability of grinding.

[0060] Subsequently, the air compressor 54 works to prepare compressed air to provide kinetic energy for the pneumatic mechanism. At this time, control the clamping cylinder 211 through the control panel 61 to make the grinding mechanism approach the weld. At the same time, control the pneumatic slider 237 to drive the pushing frame 238 to contact the planes on both sides of the weld. Under the cooperation of the slewing bearing seat 22, the return spring 24, and the clamping cylinder 211, compensate for the misalignment and ovality of the workpiece to ensure that the grinding wheel 252 can evenly contact the weld surface. At the same time, control the working angle of the pitching adjustment support 23 through the electric push rod 235. Then, through the control panel 61, adjust the distance between the grinding wheel 252 and the workpiece according to the weld position in the control system, and set appropriate grinding parameters, such as feed speed, grinding force, etc.

[0061] When starting to grind, the grinding motor 255 drives the driving wheel 251 to rotate. The driving wheel 251 drives the abrasive belt 254 to rotate at high speed on the driving wheel 251, the grinding wheel 252, and the tensioning wheel 253. The grinding wheel 252 applies a constant pressure under the action of the grinding cylinder 236 to make the abrasive belt 254 closely fit the weld surface and gradually grind it. During the grinding process, the transverse moving electric cylinder 212 adjusts the position where the abrasive belt 254 contacts the workpiece according to the width of the abrasive belt 254 to avoid local wear of the abrasive belt 254, thereby improving the service life of the abrasive belt 254.

[0062] During the grinding process, the grinding dust enters the collection hopper 42 and deposits in the aggregate drawer 44 along the discharge pipe 43. The collection hopper 42 and the heat absorption plate 45 in the grinding shield 4 can avoid direct contact between the high-temperature dust and the grinding shield 4 through a detachable design, which can effectively improve the service life of the grinding shield 4; at the same time, the dispersed smoke and small-particle dust generated by grinding enter the flue 46 under the action of the smoke absorber 47 to reduce the pollution and harm to the environment and operators.

[0063] After the abrasive belt 254 reaches its service life, the abrasive belt 254 replacement device will automatically replace the abrasive belt 254. When replacing the abrasive belt 254, the grinding motor 255 pauses, and at the same time, the clamping cylinder 211 retracts, moving the grinding mechanism away from the workpiece. Then, the pneumatic slider 237 drives the push frame 238 to retract, exposing the abrasive belt 254. Finally, the lead screw guide 33 first drives the temporary storage rack 36 close to the grinding mechanism. The temporary storage rack 36 uses the pneumatic finger 37 to clamp the abrasive belt 254. Subsequently, the tensioning wheel 253 retracts, loosening the abrasive belt 254. Then, with the cooperation of the upper guide rail and the rotary cylinder 32, the abrasive belt 254 is removed and, depending on the setting, is either directly discarded on the ground or centrally processed. Then, the pneumatic finger 37 picks up the abrasive belt 254 pre-stored in the storage rack 31. After picking it up, the new abrasive belt 254 is moved to the outside of the driving wheel 251, the grinding wheel 252, and the tensioning wheel 253 of the grinding mechanism. Subsequently, the telescopic rod 38 drives the support rod 39 to extend, straightening the abrasive belt 254. Then, the tensioning wheel 253 expands, re-restricting the new abrasive belt 254 on the grinding mechanism. Subsequently, the abrasive belt 254 replacement device retracts. At the same time, the clamping cylinder 211 extends, and the pneumatic slider 237 drives the push frame 238 to extend again. The grinding assembly 2 continues to grind the workpiece according to the set parameters.

[0064] The above is only the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any modification and replacement based on the technical solutions and inventive concepts provided by the present invention should be covered within the protection scope of the present invention.

Claims

1. An adaptive weld grinding robot suitable for large pipelines, comprising a frame (1) and a grinding assembly (2), characterized in that: The grinding assembly (2) comprises a planar worktable (21), a slewing support seat (22), a pitch adjustment support seat (23) and a support seat (25). The planar worktable (21), the slewing support seat (22) and the pitch adjustment support seat (23) are arranged in sequence from bottom to top. The planar worktable (21) is provided with a close cylinder (211) that can be extended in the processing direction and a transverse electric cylinder (212) that can be extended in the direction parallel to the processing surface. The slewing support seat (22) comprises a base plate (221) mounted on the planar worktable (21) and a turntable (222) mounted on the base plate (221). The pitch adjustment support seat (23) comprises a mounting plate (231), a support frame (232) and a guide rail seat. (233), the mounting plate (231) is horizontally mounted on the top of the turntable (222), parallel return springs (24) are symmetrically mounted between the mounting plates (231) and the bottom plate (221) on both sides of the turntable (222), the support frame (232) is fixed on the mounting plate (231), the guide rail seat (233) is hinged in the support frame (232) on the upper side of the turntable (222), the end of the support frame (232) away from the hinge is processed with a downwardly offset bending portion (234), the bending portion (234) is provided with an electric push rod (235) and is rotatably connected to the end of the guide rail seat (233) away from the hinge, and the support seat (25) is slidably mounted on the guide rail seat (2 33), a grinding cylinder (236) is provided on the guide rail seat (233) for driving the support seat (25) to move toward the processing surface, a driving wheel (251), a grinding wheel (252), a tensioning wheel (253), a sanding belt (254) and a grinding motor (255) are installed on the support seat (25), the driving wheel (251), the grinding wheel (252) and the tensioning wheel (253) are distributed in a triangle, the sanding belt (254) is sleeved on the outer side of the driving wheel (251), the grinding wheel (252) and the tensioning wheel (253) to form a grinding mechanism, the grinding mechanism is located directly above the turntable (222), the grinding motor (255) is fixed on the support seat (25), and the grinding motor (255) is fixed on the turntable (222). The output shaft of the guide rail (233) is connected to the driving wheel (251), and the driving wheel (251) drives the sanding belt (254) to rotate on the driving wheel (251), the grinding wheel (252) and the tensioning wheel (253). The guide rail seat (233) is provided with a pneumatic slider (237), and a Y-shaped push frame (238) is provided on the pneumatic slider (237). The support seat (25) is processed with a strip-shaped avoidance groove (256) for avoiding the push frame (238). The grinding wheel (252) is located on the inner side of the push frame (238). A universal ball bearing (239) is installed at the end of the push frame (238). The two universal ball bearings (239) and the grinding surface of the grinding wheel (252) are located in the same working plane.

2. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: The two ends of the return spring (24) are respectively mounted on the bottom surface of the mounting plate (231) and the surface of the bottom plate (221) through fixed feet (241); a strip groove (223) for accommodating the fixed feet (241) is processed on the bottom plate (221); the strip groove (223) is arranged along the length direction of the return spring (24); an adjusting screw (224) extending into the strip groove (223) is arranged on the side wall of the bottom plate (221); the fixed foot (241) is connected to the adjusting screw (224); and the fixed foot (241) can slide in the strip groove (223) by rotating the adjusting screw (224).

3. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: Guide rail sealing covers (26) are installed on both sides of the sliding block of the planar workbench (21) and the guide rail seat (233).

4. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: A sanding belt (254) replacement device is installed on the frame (1) on one side of the support seat (25), and the sanding belt (254) replacement device includes a storage rack (31) and a belt feeding mechanism. The storage rack (31) is arranged on the frame (1) on the side opposite to the sanding belt (254), and the bottom of the storage rack (31) is connected to the frame (1) through a rotating cylinder (32). The belt feeding mechanism is installed between the storage rack (31) and the sanding belt (254). The belt feeding mechanism includes a screw guide rail (33), a slide seat (34), a stepping motor (35), a temporary storage rack (36), a pneumatic finger (37), a telescopic rod (38) and a support rod (39). The screw guide rail (33) is installed on the frame (1). The slide (34) is mounted on the lead screw guide rail (33), the stepper motor (35) is mounted on the slide (34), and the output shaft of the stepper motor (35) is vertically arranged, the temporary storage rack (36) is vertically mounted on the output shaft of the stepper motor (35), and the temporary storage rack (36) is located inside the sand belt (254), a plurality of pneumatic fingers (37) are mounted on the temporary storage rack (36) through a swing arm assembly (310), and the plurality of swing arm assemblies (310) are radially arranged along the supporting profile of the sand belt (254), two groups of telescopic rods (38) are symmetrically mounted on both sides of the temporary storage rack (36), and a support rod (39) for supporting the inner wall of the sand belt (254) is installed at the protruding end of the telescopic rod (38).

5. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: A grinding shield (4) is installed on the outside of the sanding belt (254), a grinding notch (41) is left on the grinding shield (4) on the outside of the grinding wheel (252), a collecting bucket (42) is provided on the grinding shield (4) below the grinding wheel (252), a discharge pipe (43) is provided at the bottom of the collecting bucket (42), a collection drawer (44) is connected to the end of the discharge pipe (43), a detachable heat absorbing plate (45) is installed inside the collecting bucket (42) and inside the grinding shield (4) on one side of the collecting bucket (42), a flue (46) is provided on the outside of the top of the grinding shield (4), and a smoke absorber (47) is connected to the end of the flue (46).

6. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: A remote-controlled loading vehicle (5) is installed at the bottom of the frame (1); an oil tank (51), a hydraulic pump (52) and hydraulic support legs (53) are installed on the remote-controlled loading vehicle (5); and an air compressor (54) is also arranged inside the remote-controlled loading vehicle (5).

7. The adaptive weld grinding robot suitable for large pipelines according to claim 1, characterized in that: A safety shield (11) is arranged outside the frame (1), a control cabinet (6) is arranged on the frame (1), and a control panel (61) for controlling the grinding process is arranged on the control cabinet (6).

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