Grinding equipment for inner wall of large-diameter round pipe

Abstract

The invention relates to grinding equipment for the inner wall of a large-diameter round pipe. The grinding equipment comprises a workpiece supporting and rotating mechanism and a grinding executing mechanism. The workpiece supporting and rotating mechanism is used for achieving horizontal supporting of the large-diameter round pipe and driving the large-diameter round pipe to rotate around the center axis of the large-diameter round pipe in the polishing process. And the polishing executing mechanism adopts a cantilever type force control polishing executing mechanism and is used for enabling the force control polisher to extend into an inner cavity of the large-diameter round pipe, and spiral linear polishing machining of the inner wall of the large-diameter round pipe is achieved through cooperation of rotary movement of the large-diameter round pipe and movement of the force control polisher in the large-diameter round pipe in the axial direction of the large-diameter round pipe. The grinding device is high in grinding machining efficiency and grinding quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of machining, relates to grinding equipment, and particularly relates to an inner wall grinding equipment for large-diameter circular pipes. Background Art

[0002] Currently, for the inner wall grinding of large-diameter circular pipes, manual grinding is generally adopted. The operator holds a grinding tool and enters the circular pipe to perform grinding manually. The deficiencies of this grinding method are as follows:

[0003] 1. Low grinding efficiency and high grinding cost.

[0004] 2. High requirements for the operator's grinding technology. In the case of high requirements for the surface finish or diameter size of the pipe wall, it is difficult to ensure the grinding quality through manual grinding.

[0005] 3. Metal particle dust will be generated during the grinding process, and the working environment for manual operation is poor. Summary of the Invention

[0006] In view of the above technical problems, the present invention provides an inner wall grinding equipment for large-diameter circular pipes that improves grinding efficiency and grinding quality.

[0007] The above object of the present invention is achieved by the following technical solutions:

[0008] An inner wall grinding equipment for large-diameter circular pipes includes a workpiece support and rotation mechanism, and a grinding execution mechanism; the workpiece support and rotation mechanism is used to horizontally support the large-diameter circular pipe and drive the large-diameter circular pipe to rotate around its central axis during grinding; the grinding execution mechanism adopts a cantilever force-controlled grinding execution mechanism, which is used to extend a force-controlled grinder into the inner cavity of the large-diameter circular pipe, and through the rotational movement of the large-diameter circular pipe and the movement of the force-controlled grinder along the axial direction of the large-diameter circular pipe, realize the spiral linear grinding of the inner wall of the large-diameter circular pipe.

[0009] Moreover, the workpiece support and rotation mechanism includes a bottom support frame, two groups of left support roller groups, and two groups of right support roller groups; a left cross beam and a right cross beam are installed at the upper end of the bottom support frame, and the left cross beam and the right cross beam are arranged in parallel in the front-rear direction; the two groups of left support roller groups are symmetrically installed at the upper end of the left cross beam in the front-rear direction, and the left end of the large-diameter circular pipe fitting is supported by two left support rollers, and the two left support rollers are follower rollers; the two groups of right support roller groups are symmetrically installed at the upper end of the right cross beam in the front-rear direction, and the right end of the large-diameter circular pipe fitting is supported by two right support rollers, and the two right support rollers are driving rollers; the two right support rollers are connected to a speed reduction drive motor fixed outside the corresponding roller support through their respective roller shafts.

[0010] Moreover, the lower ends of the roller brackets of the two groups of left support roller groups are both slidably connected to the upper end of the left cross beam in the front-rear direction through sliders, and the lower ends of the roller brackets of the two groups of right support roller groups are both slidably connected to the upper end of the right cross beam in the front-rear direction through sliders; both the left cross beam and the right cross beam are channel-shaped support beams with installation grooves in the middle. At both ends of the installation groove of the left cross beam, a first lead screw with reverse threads at both ends is installed through a lead screw support, and at both ends of the installation groove of the right cross beam, a second lead screw with reverse threads at both ends is installed through a lead screw support; in the middle of the lower ends of the roller brackets of the two groups of left support roller groups, two nut members respectively connected to the threads at both ends of the first lead screw are fixed, and in the middle of the lower ends of the roller brackets of the two groups of right support roller groups, two nut members respectively connected to the threads at both ends of the second lead screw are fixed.

[0011] Moreover, the lower end of the right cross beam is fixedly connected to the upper end of the bottom support frame, and the lower end of the left cross beam is slidably connected to the upper end of the bottom support frame in the left-right direction through a slider; below the left cross beam and inside the bottom support frame, a third lead screw arranged in the left-right direction is installed through a lead screw support at both ends. The left end of the third lead screw extends out from the left side of the bottom support frame to form an adjustment end, and the third lead screw is threadedly connected to a nut member fixed below the middle of the left cross beam.

[0012] Moreover, the grinding device further includes a right end limiting structure and a left end limiting structure for the pipe; the right end limiting structure of the pipe is installed at the right end of the bottom support frame and is a fixed-position limiting structure; the left end limiting structure of the pipe is installed on the outer extension plate in the middle of the left side of the left cross beam, and the left end limiting structure of the pipe is a movable-position limiting structure.

[0013] Moreover, the right end limiting structure of the pipe includes a right side vertical frame, a right side roller bracket, and a right side limiting roller; the right side vertical frame is fixedly installed at the right side of the bottom support frame at a position between the two groups of right support roller groups; the right side roller bracket is a U-shaped bracket and is fixed to the left side of the right side vertical frame; the right side limiting roller is vertically and rotatably installed on the right side roller bracket through its roller shaft, and the right side limiting roller contacts the right end face of the large-diameter circular pipe to realize the right limit of the large-diameter circular pipe.

[0014] Moreover, the left end limiting structure of the pipe includes a left side vertical frame, a left side roller bracket, a left side limiting roller, and a linear output driving member; the lower end of the left side vertical frame is slidably connected to the upper end of the outer extension plate of the left cross beam through a linear guide pair in the left-right direction. The left side roller bracket is a U-shaped bracket and is fixed to the right side of the left side vertical frame; the left side limiting roller is vertically and rotatably installed on the left side roller bracket through its roller shaft; under the action of the linear output driving member, the left side limiting roller moves to the right to contact the left end face of the large-diameter circular pipe to realize the left limit of the large-diameter circular pipe.

[0015] Moreover, the grinding actuator includes a grinder, a force control actuator, a support arm, and a frame; the frame is arranged on the right side of the workpiece support and rotation mechanism, and the frame is composed of a base part and a vertical seat part fixed to the upper end of the base; the support arm is arranged in front of the seat part, and a mounting plate is arranged between the support arm and the seat part. The rear side part of the support arm is connected to the front side part of the mounting plate through a linear guide pair arranged in the left-right direction, and a longitudinal movement driving mechanism for realizing the left-right movement of the support arm is provided; the rear side part of the mounting plate is connected to the front side of the seat part through a linear guide pair arranged in the up-down direction, and an up-down movement driving mechanism for realizing the up-down movement of the mounting plate and the support arm is provided; the force control actuator is installed at the left end of the support arm; the grinder adopts a triangular abrasive belt grinder, and the bracket of the grinder is fixed to the moving connecting plate of the force control actuator.

[0016] Moreover, the longitudinal movement driving mechanism adopts a gear-rack transmission mechanism driven by a servo motor, including a first servo motor, a first gear, and a first rack; the first servo motor is vertically fixed on the mounting plate, the first gear is fixedly installed on the output shaft of the first servo motor, the first rack is fixedly installed on the rear side surface of the support arm in the left-right direction, and the first gear and the first rack are meshed; the up-down movement driving mechanism also adopts a gear-rack transmission mechanism driven by a servo motor, including a second servo motor, a second gear, and a second rack; the second servo motor is vertically fixed on the mounting plate, the second gear is fixedly installed on the output shaft of the second servo motor, the second rack is fixedly installed on the front side surface of the seat part in the up-down direction, and the second gear and the second rack are meshed.

[0017] Moreover, the grinder includes a nearly triangular bracket, an abrasive belt, a driving roller, a follower roller, a tensioning roller, a tensioning bracket, and a grinding driving motor; the triangular bracket is integrally connected by a bracket front piece, a bracket middle piece, and a bracket rear piece through spacer columns; the triangular bracket is fixed to the moving connecting plate of the force control actuator through the bracket rear piece; the driving roller and the follower roller are respectively installed at two vertex positions between the bracket front piece and the bracket middle piece through their respective roller shafts, the tensioning roller is installed on the tensioning bracket to form a tensioning assembly, the tensioning assembly is arranged at the third vertex position of the support front piece and the support rear piece, and a tensioning bracket facing the third vertex is installed between the bracket front piece and the bracket middle piece, and the tensioning bracket is connected to the tensioning bracket; the abrasive belt is triangularly tensioned and supported outside the driving roller, the follower roller, and the tensioning roller; a motor mounting hole is provided in the center of the bracket front piece, the grinding driving motor is inserted into the motor mounting hole, the output shaft of the grinding driving motor extends out from the central hole provided in the bracket middle piece, a driving wheel is installed on the output shaft, a driven wheel is fixedly installed at the rear end of the roller shaft of the driving roller, and a synchronous belt is connected between the driven wheel and the driving wheel to realize the transmission of power to the driving roller and drive the abrasive belt to move through friction.

[0018] Advantages and positive effects of the present invention:

[0019] 1. Through the cooperation of the workpiece support and rotation mechanism and the grinding execution mechanism of the present invention, it is possible to drive the grinder to move along the axial direction of the large-diameter circular pipe by the rotation of the large-diameter circular pipe in cooperation with the support arm, forming a spiral grinding process on the inner wall of the pipe. The grinding efficiency is high, and the force-controlled grinder is used, which also ensures the uniformity and consistency of the grinding process on the inner wall of the pipe, and can greatly improve the grinding quality of the inner wall of the pipe.

[0020] 2. The two groups of left support roller groups and the two groups of right support roller groups of the present invention both adopt an indirectly adjustable structural form, which can meet the support requirements of circular pipes with different diameters; the two groups of left support roller groups adopt an axially indirectly adjustable structural form relative to the two groups of right support roller groups, which can meet the support of circular pipes with various lengths, so that the grinding processing equipment has better applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the front view of the large-diameter circular pipe inner wall grinding equipment of the present invention;

[0022] Figure 2 is the top view of the large-diameter circular pipe inner wall grinding equipment of the present invention;

[0023] Figure 3 is the three-dimensional view of the large-diameter circular pipe inner wall grinding equipment of the present invention;

[0024] Figure 4 is the front view of the workpiece support and rotation mechanism of the present invention;

[0025] Figure 5 is the three-dimensional view of the workpiece support and rotation mechanism of the present invention;

[0026] Figure 6 is the front view of the grinding execution mechanism of the present invention;

[0027] Figure 7 is the top view of the grinding execution mechanism of the present invention;

[0028] Figure 8 is the bottom view of the grinding execution mechanism of the present invention;

[0029] Figure 9 is the three-dimensional view of the grinding execution mechanism of the present invention;

[0030] Figure 10 is the overall three-dimensional view of the grinder of the present invention;

[0031] Figure 11 is the front schematic view of the grinder with the front and rear brackets removed;

[0032] Figure 12 It is a rear schematic view of the grinder of the present invention after removing the front and rear pieces of the bracket;

[0033] Figure 13 It is a reference diagram of the usage state of the inner wall grinding equipment for large-diameter circular pipes of the present invention;

[0034] In the figure: 1. Workpiece support and rotation mechanism; 1.1. Pipe left-end limit structure; 1.1.1. Linear output type driving part; 1.1.2. Left-side vertical frame; 1.1.3. Left-side roller support; 1.1.4. Left-side limit roller; 1.2. Left support roller group; 1.2.1. Left support roller; 1.2.2. Roller support of the left support roller group; 1.3. Left cross beam; 1.4. Bottom support frame; 1.5. Right support roller group; 1.5.1. Roller support of the right support roller group; 1.5.2. Right support roller; 1.6. Pipe right-end limit structure; 1.6.1. Right-side roller support; 1.6.2. Right-side limit roller; 1.6.3. Right-side vertical frame; 1.7. Reduction drive motor; 1.8. Right cross beam; 1.9. Second lead screw; 1.10. First lead screw; 1.11. Third lead screw; 2. Grinding execution mechanism; 2.1. Grinder; 2.1.1. Sand belt; 2.1.2. Angular bracket; 2.1.3. Grinding drive motor; 2.1.4. Follow-up roller; 2.1.5. Tensioning roller; 2.1.6. Driving roller; 2.1.7. Tensioning cylinder; 2.1.8. Tensioning support; 2.1.9. Driving wheel; 2.1.10. Driven wheel; 2.1.11. Synchronous belt; 2.2. Force control actuator; 2.3. Support arm; 2.4. Frame; 2.5. Mounting plate; 2.6. Linear guide pair arranged in the left-right direction; 2.7. Linear guide pair arranged in the up-down direction; 2.8. Second servo motor; 2.9. Second rack; 2.10. Second gear; 2.11. First servo motor; 2.12. First gear; 2.13. First rack; 3. Large-diameter circular pipe. Specific embodiments

[0035] The structure of the present invention will be further described below in conjunction with the drawings and through embodiments. It should be noted that this embodiment is narrative rather than restrictive.

[0036] A large-diameter circular pipe inner wall grinding equipment, please refer to Figures 1-13 , and its inventive point is: including a workpiece support and rotation mechanism 11 and a grinding execution mechanism 2.

[0037] The workpiece support and rotation mechanism 1 is used to horizontally support the large-diameter circular pipe and drive the large-diameter circular pipe to rotate around its central axis during the grinding process;

[0038] The grinding execution mechanism 2 adopts a cantilever type force control grinding execution mechanism 2, which is used to extend the grinder 2.1 into the inner cavity of the large-diameter circular pipe to perform grinding operations on the inner wall of the pipe.

[0039] The workpiece support and rotation mechanism 1 includes a bottom support frame 1.4, two groups of left support roller groups 1.2, and two groups of right support roller groups 1.5. The bottom support frame 1.4 can be composed of a front beam and a rear beam arranged in parallel and multiple connecting beams arranged at intervals between the front and rear beams. A left cross beam 1.3 and a right cross beam 1.8 are installed at the upper end of the bottom support frame 1.4, and the left cross beam 1.3 and the right cross beam 1.8 are arranged in parallel in the front-rear direction. The two groups of left support roller groups 1.2 are symmetrically installed at the upper end of the left cross beam 1.3 in the front-rear direction, and the left end of the large-diameter circular pipe is supported by two left support rollers 1.2.1, and the two left support rollers 1.2.1 are follower rollers 2.1.4. The two groups of right support roller groups 1.5 are symmetrically installed at the upper end of the right cross beam 1.8 in the front-rear direction, and the right end of the large-diameter circular pipe is supported by two right support rollers 1.5.2, and the two right support rollers 1.5.2 are driving rollers 2.1.6. The two right support rollers 1.5.2 are connected to a speed reduction drive motor 1.7 fixed to the outside of the corresponding roller bracket through their respective roller shafts.

[0040] To meet the support of circular pipes with various diameters, the lower ends of the roller brackets 1.2.2 of the two groups of left support roller groups are slidably connected to the upper end of the left cross beam 1.3 along the front-rear direction through sliders, and the lower ends of the roller brackets 1.5.1 of the two groups of right support roller groups are also slidably connected to the upper end of the right cross beam 1.8 along the front-rear direction through sliders. Both the left cross beam 1.3 and the right cross beam 1.8 are channel-shaped support beams with installation grooves in the middle. A first lead screw 1.10 with reverse threads at both ends is installed at both ends of the installation groove of the left cross beam 1.3 through a lead screw support, and a second lead screw 1.9 with reverse threads at both ends is installed at both ends of the installation groove of the right cross beam 1.8 through a lead screw support. Two nut members respectively connected to the threads at both ends of the first lead screw 1.10 are fixed in the middle of the lower ends of the roller brackets 1.2.2 of the two groups of left support roller groups, and two nut members respectively connected to the threads at both ends of the second lead screw 1.9 are fixed in the middle of the lower ends of the roller brackets 1.5.1 of the two groups of right support roller groups. To facilitate the rotational adjustment of the two lead screws, hand wheels are fixedly installed at the front ends of the first lead screw 1.10 and the second lead screw 1.9. By rotating the two hand wheels, the distances between the two groups of left support roller groups and the distances between the two groups of left support roller groups can be adjusted to support circular pipes with different diameters.

[0041] To meet the support requirements for round tubes of various lengths, the lower end of the right cross beam 1.8 is fixedly connected to the upper end of the bottom support frame 1.4, and the lower end of the left cross beam 1.3 is connected to the upper end of the bottom support frame 1.4 through a slider in a relatively slidable manner in the left-right direction. To achieve the position adjustment and fixation of the left cross beam 1.3, a third lead screw 1.11 arranged in the left-right direction is installed at both ends inside the bottom support frame 1.4 below the left cross beam 1.3 through lead screw brackets. The left end of the third lead screw 1.11 extends out from the left side of the bottom support frame 1.4 to form an adjustment end, and the third lead screw 1.11 is threadedly connected to a nut member fixed below the middle of the left cross beam 1.3.

[0042] To achieve the axial limit of the large-diameter round tube, the grinding device further includes a tube right-end limit structure 1.6 and a tube left-end limit structure 1.1. The tube right-end limit structure 1.6 is installed at the right end of the bottom support frame 1.4 and is a fixed-position limit structure. The tube left-end limit structure 1.1 is installed on the outer extension plate in the middle of the left side of the left cross beam 1.3, that is, the left cross beam 1.3 is in a T shape as a whole, and the tube left-end limit structure 1.1 is a movable-position limit structure.

[0043] The tube right-end limit structure 1.6 includes a right-side vertical frame 1.6.3, a right-side roller bracket 1.6.1, and a right-side limit roller 1.6.2. The right-side vertical frame 1.6.3 is fixedly installed at the right side of the bottom support frame 1.4 at a position between two groups of right support roller groups 1.5; the right-side roller bracket 1.6.1 is a U-shaped bracket and is fixed to the left side of the right-side vertical frame 1.6.3; the right-side limit roller 1.6.2 is vertically and rotatably installed on the right-side roller bracket 1.6.1 through its roller shaft, and the right-side limit roller 1.6.2 contacts the right end face of the large-diameter round tube to achieve the right limit of the large-diameter round tube.

[0044] The tube left-end limit structure 1.1 includes a left-side vertical frame 1.1.2, a left-side roller bracket 1.1.3, a left-side limit roller 1.1.4, and a linear output driving member 1.1.1. The linear output driving member 1.1.1 can be an electric push rod, an oil cylinder, a cylinder, etc. In the present invention, a cylinder is preferably used. The lower end of the left-side vertical frame 1.1.2 is connected to the upper end of the outer extension plate of the left cross beam 1.3 through a linear guide pair in the left-right direction. The left-side roller bracket 1.1.3 is a U-shaped bracket and is fixed to the right side of the left-side vertical frame 1.1.2; the left-side limit roller 1.1.4 is vertically and rotatably installed on the left-side roller bracket 1.1.3 through its roller shaft. Under the action of the linear output driving member 1.1.1, the left-side limit roller 1.1.4 moves to the right to contact the left end face of the large-diameter round tube to achieve the left limit of the large-diameter round tube.

[0045] The cooperation between the right-end limiting structure 1.6 of the pipe and the left-end limiting structure 1.1 of the pipe facilitates, on the one hand, the lifting and placing of the large-diameter circular pipe on the two groups of left support roller groups 1.2 and the two groups of right support roller groups 1.5, and on the other hand, during the grinding process, axial limiting of the large-diameter circular pipe can be achieved.

[0046] The grinding actuator 2 mainly includes a grinder 2.1, a force control actuator 2.2, a support arm 2.3, and a frame 2.4. The frame 2.4 is arranged on the right side of the workpiece support and rotation mechanism 1. The frame 2.4 is composed of a base part and a vertical seat part fixed to the upper end of the base. The support arm 2.3 is arranged in front of the seat part. An installation plate 2.5 is arranged between the support arm 2.3 and the seat part. The rear side part of the support arm 2.3 is connected to the front side part of the installation plate 2.5 through a linear guide pair 2.6 arranged in the left-right direction, and a longitudinal movement driving mechanism for realizing the left-right movement of the support arm 2.3 is arranged. In the present invention, the longitudinal movement driving mechanism adopts a gear-rack transmission mechanism driven by a servo motor, including a first servo motor 2.11, a first gear 2.12.12, and a first rack 2.13. The first servo motor 2.11 is vertically fixed on the installation plate 2.5. The first gear 2.12 is fixedly installed on the output shaft of the first servo motor 2.11. The first rack 2.13 is fixedly installed on the rear side surface of the support arm 2.3 in the left-right direction. The first gear 2.12 and the first rack 2.13 are meshed. The rear side part of the installation plate 2.5 is connected to the front side of the seat part through a linear guide pair 2.7 arranged in the up-down direction, and an up-down movement driving mechanism for realizing the up-down movement of the installation plate 2.5 and the support arm 2.3 is arranged. In the present invention, the up-down movement driving mechanism also adopts a gear-rack transmission mechanism driven by a servo motor, including a second servo motor 2.8, a second gear 2.10, and a second rack 2.9. The second servo motor 2.8 is vertically fixed on the installation plate 2.5. The second gear 2.10 is fixedly installed on the output shaft of the second servo motor 2.8. The second rack 2.9 is fixedly installed on the front side surface of the seat part in the up-down direction. The second gear 2.10 and the second rack 2.9 are meshed.

[0047] The force control actuator 2.2 is installed at the left end of the support arm 2.3. The force control actuator refers to the technical solution disclosed in the utility model with the authorization announcement number: CN219380134U and the name: a square flexible constant force force control grinding mechanism, which mainly includes a housing, a floating joint, a gas proportional valve, a cylinder, a reversing solenoid valve, a circuit control board, an attitude sensor, a distance sensor, a control system and a grinder. A slider is arranged at the upper end of the housing. The cylinder is fixed on the housing through two front and rear first brackets. A ranging board is fixedly installed at the front end of the moving plate. For this square flexible constant force force control grinding mechanism, when starting to grind, the attitude sensor and the distance sensor can detect the position and attitude of the current mechanism in real time, and always feedback the above information and data to the control system. The control system outputs a control signal in real time through a force control algorithm. The control signal is used to control the pressure of the gas proportional valve, and then precisely control the output force of the cylinder, driving the moving plate, the moving connecting plate and the grinder to axially float, so as to control the contact force and the grinding force between the grinder and the workpiece to be precisely constant forces. When the square flexible constant force force control grinding mechanism is applied to the present invention, the grinder needs to be removed. The grinder 2.1 of the present invention uses a triangular abrasive belt 2.1.1 for the grinder 2.1, which mainly includes a near-triangular bracket 2.1.2, an abrasive belt 2.1.1, a driving roller 2.1.6, a follower roller 2.1.4, a tensioning roller 2.1.5, a tensioning bracket 2.1.8, a grinding driving motor 2.1.3, etc. The triangular bracket 2.1.2 is integrally connected by a bracket front piece, a bracket middle piece and a bracket rear piece through a spacer column. The triangular bracket 2.1.2 is fixed to the moving connecting plate of the force control actuator 2.2 through the bracket rear piece to realize the control of the grinder 2.1. The driving roller 2.1.6 and the follower roller 2.1.4 are respectively installed at two vertex positions between the bracket front piece and the bracket middle piece through their respective roller shafts. The tensioning roller 2.1.5 is installed on the tensioning bracket 2.1.8 to form a tensioning assembly. The tensioning assembly is arranged at the third vertex position of the support front piece and the support rear piece. A tensioning cylinder 2.1.7 facing the third vertex is installed between the bracket front piece and the bracket middle piece. The rod end of the tensioning cylinder 2.1.7 is drivingly connected to the tensioning bracket 2.1.8. The abrasive belt 2.1.1 is triangularly tensioned and supported outside the driving roller 2.1.6, the follower roller 2.1.4 and the tensioning roller 2.1.5. A motor mounting hole is arranged at the center of the bracket front piece. The grinding driving motor 2.1.3 is inserted into the motor mounting hole. The output shaft of the grinding driving motor 2.1.3 extends out from the central hole arranged on the bracket middle piece. A driving wheel 2.1.9 is installed on the output shaft. A driven wheel 2.1.10 is fixedly installed at the rear end of the roller shaft of the driving roller 2.1.6. A synchronous belt 2.1.11 is connected between the driven wheel 2.1.10 and the driving wheel 2.1.9 to realize the transmission of power to the driving roller 2.1.6 and drive the abrasive belt 2.1.1 to move through friction.

[0048] The working principle of the inner wall grinding equipment for large-diameter circular pipes of the present invention is as follows:

[0049] First, according to the diameter of the large-diameter circular pipe, adjust the distance between the two groups of left support roller groups 1.2 and the distance between the two groups of right support roller groups 1.5 to appropriate values, and according to the length of the large-diameter circular pipe, adjust the distance between the left cross beam 1.3 and the right cross beam 1.8 to an appropriate value; then, through the linear output driving member 1.1.1, move the left limiting roller 1.1.4 to the left end working position, and through the first servo motor 2.11, drive the support arm 2.3 to drive the grinding device 2.1 to the right end working position; then lift and support the large-diameter circular pipe 3 on the two groups of left support roller groups 1.2 and the two groups of right support roller groups 1.5, so that the right end of the large-diameter circular pipe contacts the right limiting roller 1.6.2; then, through the linear output driving member 1.1.1, move the left limiting roller 1.1.4 to the right to the position where it contacts the left end of the large-diameter circular pipe, realizing the axial limitation of the large-diameter circular pipe; when the installation and limitation of the large-diameter circular pipe are completed, start the first servo motor 2.11, drive the support arm 2.3 and the grinding device 2.1 to move to the left end position (or the right end position) of the inner cavity of the large-diameter circular pipe; then start the second servo motor 2.8, so that the support arm 2.3 and the grinding device 2.1 descend to the position where the sand belt 2.1.1 contacts the lowermost end of the inner cavity wall of the large-diameter circular pipe; finally, start the two reduction drive motors 1.7 and the grinding drive motor 2.1.3, and through the rotation of the large-diameter circular pipe and the slow rightward movement of the support arm 2.3, perform spiral linear grinding on the inner wall of the large-diameter circular pipe. During the grinding process, the force between the sand belt 2.1.1 and the grinding surface is controlled by the force control actuator 2.2, realizing uniform grinding.

[0050] In addition to the above technical features, a travel switch for realizing the up and down movement limitation of the mounting plate 2.5 and a limit switch for controlling the axial travel of grinding are also provided on the mounting plate 2.5 of the grinding actuator 2.

[0051] Embodiment:

[0052] Apply the inner wall grinding equipment for large-diameter circular pipes to a large-diameter circular pipe with an inner diameter of 740 mm and a length of 2100 mm. It can complete the grinding of one large-diameter circular pipe within 40 minutes, making the inner wall of the circular pipe smooth due to the grinding of the bumps and defects caused by processing. In the existing manual grinding method, it takes at least 3 hours for a single person to complete the grinding of one large-diameter circular pipe of the same specification, and in addition, it is difficult to guarantee the grinding quality. Compared with the existing manual grinding method, the grinding equipment of the present invention can greatly improve the grinding efficiency and grinding quality.

[0053] Although embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, changes, and modifications are possible without departing from the spirit of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the content disclosed in the embodiments and drawings.

Claims

1. An inner wall grinding device for a large-diameter circular pipe, characterized in that: It includes a workpiece support and rotation mechanism, and a grinding execution mechanism; the workpiece support and rotation mechanism is used to achieve the horizontal support of a large-diameter circular pipe and drive the large-diameter circular pipe to rotate around its central axis during grinding; the grinding execution mechanism adopts a cantilever force-controlled grinding execution mechanism, which is used to extend a force-controlled grinder into the inner cavity of the large-diameter circular pipe, and through the rotational movement of the large-diameter circular pipe and the movement of the force-controlled grinder along its axial direction in the large-diameter circular pipe, the spiral linear grinding process of the inner wall of the large-diameter circular pipe is realized.

2. The inner wall grinding device for large-diameter round pipes according to claim 1, characterized in that: The workpiece support and rotation mechanism includes a bottom support frame, two groups of left support roller groups, and two groups of right support roller groups; a left cross beam and a right cross beam are installed at the upper end of the bottom support frame, and the left cross beam and the right cross beam are arranged in parallel in the front-rear direction; the two groups of left support roller groups are symmetrically installed at the upper end of the left cross beam in the front-rear direction, and the left end of the large-diameter circular pipe fitting is supported by two left support rollers, and the two left support rollers are follower rollers; the two groups of right support roller groups are symmetrically installed at the upper end of the right cross beam in the front-rear direction, and the right end of the large-diameter circular pipe fitting is supported by two right support rollers, and the two right support rollers are driving rollers; the two right support rollers are connected to a reduction drive motor fixed to the outside of the corresponding roller support through their respective roller shafts.

3. The large-diameter round pipe inner wall grinding device according to claim 2, characterized in that: The lower ends of the roller supports of the two groups of left support roller groups are all slidably connected to the upper end of the left cross beam along the front-rear direction through sliders, and the lower ends of the roller supports of the two groups of right support roller groups are all slidably connected to the upper end of the right cross beam along the front-rear direction through sliders; both the left cross beam and the right cross beam adopt channel-shaped support beams with installation grooves in the middle. At both ends of the installation groove of the left cross beam, a first lead screw with opposite threads at both ends is installed through a lead screw support, and at both ends of the installation groove of the right cross beam, a second lead screw with opposite threads at both ends is installed through a lead screw support. Two nut parts respectively connected to the threads at both ends of the first lead screw are fixed at the middle parts of the lower ends of the roller supports of the two groups of left support roller groups, and two nut parts respectively connected to the threads at both ends of the second lead screw are fixed at the middle parts of the lower ends of the roller supports of the two groups of right support roller groups.

4. The inner wall grinding device for large-diameter round pipes according to claim 2, characterized in that: The lower end of the right cross beam is fixedly connected to the upper end of the bottom support frame, and the lower end of the left cross beam is slidably connected to the upper end of the bottom support frame along the left-right direction through a slider; a third lead screw arranged in the left-right direction is installed at both ends inside the bottom support frame below the left cross beam through a lead screw support. The left end of the third lead screw extends out from the left side of the bottom support frame to form an adjustment end, and the third lead screw is threadedly connected to a nut part fixed below the middle of the left cross beam.

5. The inner wall grinding device for large-diameter round pipes according to claim 2, characterized in that: The grinding equipment also includes a pipe right-end limiting structure and a pipe left-end limiting structure; the pipe right-end limiting structure is installed at the right end of the bottom support frame and is a fixed-position limiting structure; the pipe left-end limiting structure is installed on the outer extension plate in the middle of the left side of the left cross beam, and the pipe left-end limiting structure is a movable-position limiting structure.

6. The inner wall grinding device for large-caliber round pipes according to claim 5, characterized in that: The right-end limiting structure of the pipe includes a right-side vertical frame, a right-side roller support, and a right-side limiting roller. The right-side vertical frame is fixedly installed on the right side of the bottom support frame at a position between two groups of right support roller groups. The right-side roller support is a U-shaped support, which is fixed to the left side of the right-side vertical frame. The right-side limiting roller is vertically and rotatably installed on the right-side roller support through its roller shaft, and the right-side limiting roller contacts the right end face of the large-diameter round pipe to realize the right limit of the large-diameter round pipe.

7. The inner wall grinding device for large-diameter round pipes according to claim 5, characterized in that: The left-end limiting structure of the pipe includes a left-side vertical frame, a left-side roller support, a left-side limiting roller, and a linear output driving member. The lower end of the left-side vertical frame is slidably connected to the upper end of the outer extension plate of the left cross beam through a linear guide pair in the left-right direction. The left-side roller support is a U-shaped support, which is fixed to the right side of the left-side vertical frame. The left-side limiting roller is vertically and rotatably installed on the left-side roller support through its roller shaft. Under the action of the linear output driving member, the left-side limiting roller moves to the right to contact the left end face of the large-diameter round pipe to realize the left limit of the large-diameter round pipe.

8. The large-diameter circular pipe inner wall grinding device according to claim 1, characterized in that: The grinding execution mechanism includes a grinder, a force control actuator, a support arm, and a frame. The frame is arranged on the right side of the workpiece support and rotation mechanism. The frame is composed of a base part and a vertical seat part fixed to the upper end of the base. The support arm is arranged in front of the seat part. An installation plate is arranged between the support arm and the seat part. The rear side of the support arm is connected to the front side of the installation plate through a linear guide pair arranged in the left-right direction, and a longitudinal movement driving mechanism for realizing the left-right movement of the support arm is provided. The rear side of the installation plate is connected to the front side of the seat part through a linear guide pair arranged in the up-down direction, and an up-down movement driving mechanism for realizing the up-down movement of the installation plate and the support arm is provided. The force control actuator is installed at the left end of the support arm. The grinder is a triangular abrasive belt grinder, and the bracket of the grinder is fixed to the moving connection plate of the force control actuator.

9. The large-diameter round tube inner wall grinding device according to claim 8, characterized in that: The longitudinal movement driving mechanism adopts a gear-rack transmission mechanism driven by a servo motor, including a first servo motor, a first gear, and a first rack. The first servo motor is vertically fixed to the installation plate. The first gear is fixedly installed on the output shaft of the first servo motor. The first rack is fixedly installed on the rear side of the support arm in the left-right direction, and the first gear and the first rack are engaged. The up-down movement driving mechanism also adopts a gear-rack transmission mechanism driven by a servo motor, including a second servo motor, a second gear, and a second rack. The second servo motor is vertically fixed to the installation plate. The second gear is fixedly installed on the output shaft of the second servo motor. The second rack is fixedly installed on the front side of the seat part in the up-down direction, and the second gear and the second rack are engaged.

10. The inner wall grinding device for large-diameter round pipes according to claim 8, characterized in that: The grinder includes a nearly triangular bracket, a sand belt, a driving roller, a follower roller, a tensioning roller, a tensioning bracket, and a grinding drive motor; the triangular bracket is integrally connected by a spacer column from a front bracket piece, a middle bracket piece, and a rear bracket piece; the triangular bracket is fixed to the moving connecting plate of the force control actuator through the rear bracket piece; the driving roller and the follower roller are respectively installed at two vertex positions between the front bracket piece and the middle bracket piece through their respective roller shafts, the tensioning roller is installed on the tensioning bracket to form a tensioning assembly, the tensioning assembly is arranged at the third vertex position of the front support piece and the rear support piece, a tensioning cylinder facing the third vertex is installed between the front bracket piece and the middle bracket piece, and the tensioning cylinder is connected to the tensioning bracket; the sand belt is triangularly tensioned and supported outside the driving roller, the follower roller, and the tensioning roller; a motor mounting hole is provided at the center of the front bracket piece, the grinding drive motor is inserted into the motor mounting hole, the output shaft of the grinding drive motor extends out from the center hole provided in the middle bracket piece, a driving wheel is installed on the output shaft, a driven wheel is fixedly installed at the rear end of the roller shaft of the driving roller, and a synchronous belt is connected between the driven wheel and the driving wheel to realize power transmission to the driving roller and drive the sand belt to move through friction.

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