Inner cavity polishing device for chromium plating of copper pipe of crystallizer

Abstract

The invention provides an inner cavity grinding device for chromium plating of a crystallizer copper pipe, and relates to the technical field of copper pipe grinding. The inner cavity grinding device for copper pipe chromium plating of the crystallizer comprises a pipeline robot; the polishing mechanism is connected to the pipeline robot and can rotate relative to the pipeline robot so that the polishing mechanism can do circular motion in the crystallizer copper pipe, the polishing mechanism comprises an abrasive belt polishing assembly, the abrasive belt polishing assembly comprises an abrasive belt capable of doing rotary motion, and the abrasive belt is provided with an arc-shaped belt section; and the arc-shaped belt section is matched with the inner wall of the crystallizer copper pipe and is in sliding contact with the inner wall of the crystallizer copper pipe. According to the polishing device, all-dimensional polishing and targeted polishing are matched with each other, so that the polishing quality and polishing efficiency of the crystallizer copper pipe are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of copper pipe grinding, and more particularly, to an inner cavity grinding device for chromium plating of a mold copper pipe. Background Art

[0002] As a core component of continuous casting equipment, the inner wall of the mold copper pipe is often electroplated with a chromium layer to improve wear resistance and thermal shock resistance. However, before chromium plating, the inner wall of the copper pipe needs to be precisely ground to remove the oxide layer, adjust the roughness, and repair the geometric accuracy to ensure the bonding strength and uniformity of the coating. Traditional grinding methods mostly use manual hand-held tools or fixed grinding equipment to perform local grinding on the inner wall of the copper pipe by means of point contact.

[0003] Since the inner wall of the copper pipe is a cylindrical curved surface, traditional point contact grinding has significant limitations: on the one hand, it is difficult for the grinding trajectory to cover the entire annular cross-section, and it is easy to form unground dead corners in the non-contact area, resulting in uneven inner wall roughness; on the other hand, when there are foreign matter protrusions such as weld beads and oxide scale accumulations on the inner wall, the traditional grinding process lacks a targeted treatment mechanism, and it is necessary to repeatedly adjust the grinding parameters or perform multiple reworks, which seriously restricts the grinding efficiency and quality consistency. Summary of the Invention

[0004] To solve the above problems, the present invention provides an inner cavity grinding device for chromium plating of a mold copper pipe.

[0005] The present invention provides an inner cavity grinding device for chromium plating of a mold copper pipe, comprising: A pipeline robot; A grinding mechanism connected to the pipeline robot, and the grinding mechanism can rotate relative to the pipeline robot so that the grinding mechanism makes a circular motion inside the mold copper pipe, wherein, The grinding mechanism includes a sand belt grinding assembly, the sand belt grinding assembly includes a sand belt that can make a rotary motion, the sand belt has an arc-shaped belt section, the arc-shaped belt section is adapted to the inner wall of the mold copper pipe, and the arc-shaped belt section is in sliding contact with the inner wall of the mold copper pipe.

[0006] Optionally, the sand belt grinding assembly includes a housing, a rotary drive unit, a crawler belt, and support wheels. The rotary drive unit is arranged inside the housing. The crawler belt is looped around the circumference of the housing. The rotary drive unit is used to drive the crawler belt to make a rotary motion. The sand belt is connected to the outer peripheral surface of the crawler belt. A plurality of support wheels are arranged inside the housing, and the plurality of support wheels are in rolling contact with the inner peripheral surface of the crawler belt so that at least a part of the crawler belt is supported into an arc section.

[0007] Optionally, the abrasive belt grinding assembly further includes an adaptive hardness adjustment assembly. The support wheels are pneumatic leather wheels, and one such adaptive hardness adjustment assembly is provided on each support wheel. The adaptive hardness adjustment assembly is used to inflate or deflate the support wheels.

[0008] Optionally, when the protrusion degree of the foreign object protrusion is greater, the corresponding adaptive hardness adjustment assembly inflates the support wheel; when the protrusion degree of the foreign object protrusion is smaller, the corresponding adaptive hardness adjustment assembly deflates the support wheel.

[0009] Optionally, the adaptive hardness adjustment assembly includes a movable rod, a cylinder, a metal air pipe, a rotary joint, a piston and a spring. One end of the movable rod is connected to the piston, and the other end of the movable rod is connected to the rotary joint. The piston is slidably connected inside the cylinder. The spring is sleeved on the movable rod, and both ends of the spring respectively abut against the open end of the cylinder and the end of the movable rod away from the cylinder. An air cavity is formed between the piston and the inner bottom surface of the cylinder. The movable rod has an air passage inside. One end of the air passage communicates with the air cavity, and the other end of the air passage is connected to the fixed interface end of the rotary joint. The rotating interface end of the rotary joint communicates with one ends of a plurality of metal air pipes. The other ends of the plurality of metal air pipes extend radially and communicate with the support wheel.

[0010] Optionally, the rotary drive unit includes a crawler wheel and a guide wheel. The crawler wheel is meshed and connected to one end of the inner peripheral surface of the crawler belt, and the guide wheel is in rolling connection with the other end of the inner peripheral surface of the crawler belt. The crawler wheel and the guide wheel are rotatably arranged inside the housing.

[0011] Optionally, the abrasive belt grinding assembly further includes a drive motor, which is connected to the housing, and the drive motor is drivingly connected to the crawler wheel.

[0012] Optionally, a reinforcing plate is integrally formed between the inner bottom surface and the inner top surface of the housing, and the cylinder is connected to the reinforcing plate.

[0013] Optionally, the grinding mechanism further includes a rotating motor, a rotating disk and a mounting bracket. The rotating motor is connected inside the front housing of the pipeline robot, the rotating motor is drivingly connected to the rotating disk, one end of the mounting bracket is connected to the rotating disk, and the other end of the mounting bracket is connected to the housing.

[0014] Optionally, the inner cavity grinding device for chromium plating of the crystallizer copper tube further includes a cleaning brush, which is connected to the mounting bracket, and the cleaning brush is used to clean the attachments on the straight belt section of the abrasive belt.

[0015] The beneficial effects of the inner cavity grinding device for chromium plating of the crystallizer copper tube of the present invention are as follows: By making the pipeline robot walk inside the crystallizer copper tube, the grinding mechanism can make a circular motion inside the crystallizer copper tube, so as to drive the abrasive belt grinding assembly to make a circular motion synchronously, so that the arc-shaped belt section of the abrasive belt performs all-round grinding on the inner wall of the crystallizer copper tube along the circumferential direction, avoiding the situation of local over-grinding or missed grinding caused by the traditional point-contact grinding method. When encountering a foreign object protrusion, at this time, the grinding mechanism is stopped from rotating, so that the abrasive belt stays at the position of the foreign object protrusion, and the abrasive belt makes a rotary motion, so as to perform targeted grinding on the foreign object protrusion. Through the mutual cooperation of all-round grinding and targeted grinding, the grinding quality and efficiency of the crystallizer copper tube are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the front view of the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention; Figure 2 is the installation schematic diagram of the grinding mechanism in the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention; Figure 3 is the structural schematic diagram of the grinding mechanism in the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention; Figure 4 is the natural state diagram of the adaptive hardness adjustment component in the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention; Figure 5 is the state diagram of the adaptive hardness adjustment component in the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention when encountering a foreign object protrusion; Figure 6 is the installation schematic diagram of the adaptive hardness adjustment component and the support wheel in the inner cavity grinding device for chromium plating of the crystallizer copper tube in the embodiment of the present invention.

[0017] Description of the reference numerals: 1, pipeline robot; 2, grinding mechanism; 21, rotating disk; 22, mounting frame; 23, abrasive belt grinding assembly; 231, housing; 2311, reinforcing plate; 232, driving motor; 233, crawler wheel; 234, crawler belt; 235, guide wheel; 236, abrasive belt; 237, support wheel; 238, adaptive hardness adjustment component; 2381, movable rod; 2382, air cylinder; 2383, metal air pipe; 2384, rotary joint; 2385, piston; 3, cleaning brush; 100, crystallizer copper tube; 200, foreign object protrusion. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given with reference to the accompanying drawings.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In the description of this specification, the descriptions referring to terms such as "embodiment", "one embodiment", "some embodiments", "exemplarily", and "one embodiment" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or embodiment are included in at least one embodiment or embodiment of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or embodiments.

[0021] An inner cavity grinding device for chromium plating of a mold copper tube according to an embodiment of the present invention includes: a pipeline robot 1; a grinding mechanism 2 connected to the pipeline robot 1, and the grinding mechanism 2 can rotate relative to the pipeline robot 1 so that the grinding mechanism 2 makes a circular motion in the mold copper tube 100. Among them, the grinding mechanism 2 includes a sand belt grinding assembly 23, and the sand belt grinding assembly 23 includes a sand belt 236 that can perform a rotary motion. The sand belt 236 has an arc-shaped belt section, and the arc-shaped belt section is adapted to the inner wall of the mold copper tube 100 and is in sliding contact with the inner wall of the mold copper tube 100.

[0022] In this optional embodiment, in combination with Figure 1 、 Figure 2 and Figure 3 As shown, by making the pipeline robot 1 walk in the mold copper tube 100, the grinding mechanism 2 can make a circular motion in the mold copper tube 100, so as to drive the sand belt grinding assembly 23 to make a circular motion synchronously, so that the arc-shaped belt section of the sand belt 236 performs all-round grinding on the inner wall of the mold copper tube 100 in the circumferential direction, avoiding the situation of local over-grinding or missed grinding caused by the traditional point-contact grinding method. When encountering a foreign object protrusion 200 (which may be local accumulation of chromium plating layer (such as caused by uneven current density), oxidation residue after wear of the base copper tube, or foreign object (such as slag) embedding), at this time, the grinding mechanism 2 is stopped from rotating, the sand belt 236 stays at the position of the foreign object protrusion 200, and the sand belt 236 performs a rotary motion, so as to perform targeted grinding on the foreign object protrusion 200. Through the mutual cooperation of all-round grinding and targeted grinding, the grinding quality and efficiency of the mold copper tube 100 are greatly improved.

[0023] Optionally, the abrasive belt grinding assembly 23 includes a housing 231, a rotary drive unit, a crawler belt 234 and support wheels 237. The rotary drive unit is disposed within the housing 231. The crawler belt 234 is looped around the periphery of the housing 231. The rotary drive unit is configured to drive the crawler belt 234 to perform a rotary motion. The abrasive belt 236 is connected to the outer peripheral surface of the crawler belt 234. A plurality of support wheels 237 are disposed within the housing 231, and the plurality of support wheels 237 are in rolling contact with the inner peripheral surface of the crawler belt 234, so that at least a portion of the crawler belt 234 is supported into an arc segment.

[0024] In this optional embodiment, the rotary drive unit drives the crawler belt 234 to perform a rotary motion, and the abrasive belt 236 is connected to the outer peripheral surface of the crawler belt 234, so that the crawler belt 234 can also be driven to perform a rotary motion. At least a portion of the crawler belt 234 is supported into an arc segment by the support wheels 237, and thus an arc belt segment is formed on the abrasive belt 236.

[0025] Further, the abrasive belt grinding assembly 23 further includes an adaptive hardness adjustment assembly 238. The support wheels 237 are provided as pneumatic leather wheels, and an adaptive hardness adjustment assembly 238 is provided on each support wheel 237. The adaptive hardness adjustment assembly 238 is configured to inflate or deflate the support wheels 237.

[0026] In this optional embodiment, the support wheels 237 are inflated or deflated by the adaptive hardness adjustment assembly 238, so as to adjust the hardness of the support wheels 237. The support wheels 237 are in rolling contact with the crawler belt 234. The greater the hardness of the support wheels 237, the greater the support rigidity for the crawler belt 234, and thus the greater the cutting force of the crawler belt 234 on the foreign object protrusion 200. The smaller the hardness of the support wheels 237, the smaller the support rigidity for the crawler belt 234, and thus the smaller the cutting force of the crawler belt 234 on the foreign object protrusion 200.

[0027] Optionally, when the uplift degree of the foreign object protrusion 200 is greater, the corresponding adaptive hardness adjustment assembly 238 inflates the support wheel 237. When the uplift degree of the foreign object protrusion 200 is smaller, the corresponding adaptive hardness adjustment assembly 238 deflates the support wheel 237.

[0028] In this optional embodiment, when the uplift degree of the foreign object protrusion 200 is greater, the corresponding adaptive hardness adjustment assembly 238 will inflate the support wheel 237 where it is located, making the support wheel 237 harder, so as to enhance the cutting force of the abrasive belt 236 on the foreign object protrusion 200 and improve the grinding efficiency. When the uplift degree of the foreign object protrusion 200 is smaller, the corresponding adaptive hardness adjustment assembly 238 will deflate the support wheel 237 where it is located, making the support wheel 237 softer, so as to reduce the cutting force of the abrasive belt 236 on the foreign object protrusion 200 and avoid scratching the copper matrix or peeling the coating of the crystallizer copper tube 100 due to hard pressing.

[0029] Optionally, the adaptive hardness adjustment component 238 includes a movable rod 2381, a cylinder 2382, a metal air pipe 2383, a rotary joint 2384, a piston 2385 and a spring. One end of the movable rod 2381 is connected to the piston 2385, and the other end of the movable rod 2381 is connected to the rotary joint 2384. The piston 2385 is slidably connected inside the cylinder 2382. The spring is sleeved on the movable rod 2381, and both ends of the spring respectively abut against the open end of the cylinder 2382 and the end of the movable rod 2381 away from the cylinder 2382. An air chamber is formed between the piston 2385 and the inner bottom surface of the cylinder 2382. An air passage is provided inside the movable rod 2381. One end of the air passage is communicated with the air chamber, and the other end of the air passage is connected to the fixed interface end of the rotary joint 2384. The rotating interface end of the rotary joint 2384 communicates with one ends of a plurality of metal air pipes 2383, and the other ends of the plurality of metal air pipes 2383 extend radially and are communicated with the support wheels 237.

[0030] In this optional embodiment, as Figure 3 shown, there are six support wheels 237, so there are six corresponding adaptive hardness adjustment components 238. At this time, the adaptive hardness adjustment components 238 are all in the natural state. The six support wheels 237 support the corresponding belt segments of the crawler belt 234 into arc segments. Figure 4 FIG. is a natural state diagram of a single support wheel 237 and the adaptive hardness adjustment component 238. As Figure 5 and Figure 6 shown, when a foreign object protrusion 200 appears on the crystallizer copper tube 100, the corresponding support wheel 237 gradually rolls onto the foreign object protrusion 200, and the support wheel 237 moves away from the inner wall of the crystallizer copper tube 100, so that the movable rod 2381 drives the piston 2385 to move towards the inner bottom surface of the cylinder 2382. At this time, the spring is also gradually compressed, providing buffer redundancy for the abrasive belt 236 to avoid damage caused by a sharp change in the tension of the abrasive belt 236. At the same time, the air in the air chamber is pressed into the air passage, and then enters the support wheel 237 through the rotary joint 2384 and a plurality of metal air pipes 2383, making the support wheel 237 inflated and hardened, thereby increasing the cutting force of the abrasive belt 236 on the foreign object protrusion 200 and improving the grinding efficiency. When the foreign object protrusion 200 is gradually ground flat, the spring pushes the piston 2385 to gradually reset, and the air chamber pressure gradually decreases automatically, so that the gas in the support wheel 237 gradually returns to the air chamber, realizing dynamic adjustment of the hardness of the support wheel 237 without external control. That is to say, during the process of the foreign object protrusion 200 being gradually ground flat, the hardness of the support wheel 237 dynamically decreases, avoiding scratching of the copper matrix of the crystallizer copper tube 100 or peeling of the coating due to excessive hardness, and realizing adaptive pressure control of the abrasive belt 236. Precise pressure control can reduce abnormal wear of the abrasive grains on the abrasive belt 236, thereby extending the service life of the abrasive belt 236.

[0031] Further, the slewing drive unit includes a crawler wheel 233 and a guide wheel 235. The crawler wheel 233 is meshed and connected to one end of the inner peripheral surface of the crawler 234, and the guide wheel 235 is in rolling connection with the other end of the inner peripheral surface of the crawler 234. Both the crawler wheel 233 and the guide wheel 235 are rotatably arranged in the housing 231.

[0032] In this alternative embodiment, the crawler wheel 233 serves as a power source, and the guide wheel 235 serves as a guide. The rotation of the crawler wheel 233 drives the crawler 234 to perform a slewing motion.

[0033] Further, the abrasive belt grinding assembly 23 further includes a drive motor 232. The drive motor 232 is connected to the housing 231, and the drive motor 232 is in driving connection with the crawler wheel 233.

[0034] In this alternative embodiment, as shown in Figure 3 The drive motor 232 can be fixedly installed on the outer wall of the housing 231 by bolts. The output shaft of the drive motor 232 penetrates into the housing 231 and is connected to the crawler wheel 233. By driving the crawler wheel 233 to rotate forward and backward by the drive motor 232, the crawler 234 performs forward and backward motions.

[0035] Optionally, a reinforcing plate 2311 is integrally formed between the inner bottom surface and the inner top surface of the housing 231, and the air cylinder 2382 is connected to the reinforcing plate 2311.

[0036] In this alternative embodiment, as shown in Figure 3 The reinforcing plate 2311 is integrally formed between the inner bottom surface and the inner top surface of the housing 231, so as to increase the structural strength of the housing 231. And the reinforcing plate 2311 can be an arc-shaped structure to cooperate with the installation of multiple air cylinders 2382.

[0037] Further, the grinding mechanism 2 further includes a rotating motor, a rotating disk 21 and a mounting bracket 22. The rotating motor is connected inside the front end housing of the pipeline robot 1. The rotating motor is in driving connection with the rotating disk 21. One end of the mounting bracket 22 is connected to the rotating disk 21, and the other end of the mounting bracket 22 is connected to the housing 231.

[0038] In this alternative embodiment, as shown in Figure 1 and Figure 2 The rotating motor can be fixedly installed inside the front end housing of the pipeline robot 1 by bolts. The front end of the pipeline robot 1 refers to the advancing end of the pipeline robot 1. The output shaft of the rotating motor extends out of the front end housing of the pipeline robot 1 and is connected to the center of the rotating disk 21. Both ends of the mounting bracket 22 can be fixedly connected to the rotating disk 21 and the housing 231 respectively by bolts or welding. By driving the rotating disk 21 to rotate by the rotating motor, the rotating disk 21 drives the housing 231 to rotate forward and backward through the mounting bracket 22.

[0039] Optionally, the inner cavity grinding device for chromium plating of the mold copper tube further includes a cleaning brush 3, which is connected to the mounting bracket 22 and is used to clean the attachments on the straight belt section of the abrasive belt 236.

[0040] In this optional embodiment, in combination with Figure 1 and Figure 3 As shown, the cleaning brush 3 can be a nylon brush. By installing the cleaning brush 3 on the mounting bracket 22 and making the bristles of the cleaning brush 3 contact the straight belt section of the abrasive belt 236, when the abrasive belt 236 is making a rotary motion, after the arc-shaped belt section of the abrasive belt 236 grinds the foreign object protrusion 200, debris will be embedded in the grain gaps of the abrasive belt 236 during grinding. When the abrasive belt 236 rotates from the arc-shaped belt section to the straight belt section, the cleaning brush 3 can sweep the debris out of the grain gaps of the abrasive belt 236, thereby improving the service life of the abrasive belt 236.

[0041] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. An inner cavity grinding device for chrome plating of a crystallizer copper tube, characterized in that: include: Pipeline Robot (1); A grinding mechanism (2) is connected to the pipeline robot (1), and the grinding mechanism (2) can rotate relative to the pipeline robot (1) so that the grinding mechanism (2) performs a circular motion in the crystallizer copper tube (100), wherein: The grinding mechanism (2) comprises a sanding belt grinding assembly (23), wherein the sanding belt grinding assembly (23) comprises a sanding belt (236) capable of rotating, wherein the sanding belt (236) has an arcuate belt segment, wherein the arcuate belt segment is adapted to the inner wall of the crystallizer copper tube (100), and the arcuate belt segment is in sliding contact with the inner wall of the crystallizer copper tube (100).

2. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 1, characterized in that: The abrasive belt grinding assembly (23) comprises a housing (231), a rotary drive unit, a crawler belt (234) and a support wheel (237). The rotary drive unit is arranged in the housing (231). The crawler belt (234) is arranged around the periphery of the housing (231). The rotary drive unit is used to drive the crawler belt (234) to perform a rotary motion. The abrasive belt (236) is connected to the outer peripheral surface of the crawler belt (234). A plurality of support wheels (237) are arranged in the housing (231). The plurality of support wheels (237) are in rolling contact with the inner peripheral surface of the crawler belt (234), so that at least part of the crawler belt (234) is supported into an arc segment.

3. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 2, characterized in that: The belt grinding assembly (23) further comprises an adaptive hardness adjustment assembly (238); the support wheel (237) is configured as an inflatable leather wheel; each support wheel (237) is provided with an adaptive hardness adjustment assembly (238); the adaptive hardness adjustment assembly (238) is used to inflate or deflate the support wheel (237).

4. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 3, characterized in that: When the degree of protrusion of the foreign body protrusion (200) is greater, the corresponding adaptive hardness adjustment component (238) inflates the support wheel (237), and when the degree of protrusion of the foreign body protrusion (200) is smaller, the corresponding adaptive hardness adjustment component (238) deflates the support wheel (237).

5. The inner cavity grinding device for chrome plating of a crystallizer copper tube as claimed in claim 3, characterized in that: The self-adaptive hardness adjustment component (238) comprises a movable rod (2381), an air cylinder (2382), a metal air pipe (2383), a rotary joint (2384), a piston (2385) and a spring. One end of the movable rod (2381) is connected to the piston (2385), and the other end of the movable rod (2381) is connected to the rotary joint (2384). The piston (2385) is slidably connected to the air cylinder (2382). The spring is sleeved on the movable rod (2381), and the two ends of the spring are respectively in contact with the air cylinder (2382). ) and an end of the movable rod (2381) away from the air cylinder (2382), an air cavity is formed between the piston (2385) and the inner bottom surface of the air cylinder (2382), an air passage is provided inside the movable rod (2381), one end of the air passage is connected to the air cavity, the other end of the air passage is connected to the fixed interface end of the rotary joint (2384), the rotating interface end of the rotary joint (2384) is connected to one end of a plurality of metal air pipes (2383), the other ends of the plurality of metal air pipes (2383) extend radially and are connected to the support wheel (237).

6. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 5, characterized in that: The rotary drive unit comprises a track wheel (233) and a guide wheel (235), wherein the track wheel (233) is meshedly connected with one end of the inner circumference of the track (234), and the guide wheel (235) is rollingly connected with the other end of the inner circumference of the track (234), and the track wheel (233) and the guide wheel (235) are both rotatably arranged in the housing (231).

7. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 6, characterized in that: The belt grinding assembly (23) further comprises a driving motor (232), the driving motor (232) is connected to the housing (231), and the driving motor (232) is drivingly connected to the track wheel (233).

8. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 5, characterized in that: A reinforcing plate (2311) is integrally formed between the inner bottom surface and the inner top surface of the shell (231), and the air cylinder (2382) is connected to the reinforcing plate (2311).

9. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 2, characterized in that: The grinding mechanism (2) also includes a rotating motor, a rotating disk (21) and a mounting frame (22); the rotating motor is connected to the front end housing of the pipeline robot (1); the rotating motor is drivingly connected to the rotating disk (21); one end of the mounting frame (22) is connected to the rotating disk (21); and the other end of the mounting frame (22) is connected to the housing (231).

10. The inner cavity grinding device for chrome plating of a crystallizer copper tube according to claim 9, characterized in that: The inner cavity grinding device for chrome plating of a crystallizer copper tube also includes a cleaning brush (3), which is connected to a mounting frame (22) and is used to clean attachments on a straight belt segment of an abrasive belt (236).

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