Hollow pipe inner wall trimming device

Abstract

The invention provides a hollow pipe inner wall finishing device, which relates to the technical field of welding equipment, and comprises a moving assembly, a driving motor arranged at one end of the moving assembly, a fixed disc circle center connected with a rotating shaft of the driving motor, and a grinding, welding and flaw detection module fixed on the fixed disc, the controller is used for providing control signals for the moving assembly, the driving motor and the grinding, welding and flaw detection module. The walking trolley is controlled to walk in the hollow pipe through the moving assembly, then the driving motor, the mechanical arm and the grinding, welding and flaw detection module are controlled through the controller, 360-degree grinding, welding or flaw detection is conducted on the designated position through the grinding, welding and flaw detection module, a user does not need to hold a tool by hand for operation, the working difficulty is reduced, and the working efficiency is improved. And the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly relates to a device for trimming the inner wall of a hollow tube. Background Art

[0002] In the field of power equipment manufacturing, as a core device for power transmission and distribution, the processing quality of internal components of a transformer directly affects the reliability and lifespan of the equipment. Among them, the connecting pipe is a key part connecting various components of the transformer to the oil tank, and the flatness of its inner wall, weld quality, and internal defect control are crucial. The grinding, welding, and flaw detection of the inner wall of the connecting pipe mostly rely on manual operation. In the grinding process, workers need to hold tools to perform operations, which has problems such as high operation difficulty and low operation efficiency. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a device for trimming the inner wall of a hollow tube to reduce the difficulty of planarization treatment inside the hollow tube and improve the efficiency of planarization treatment inside the hollow tube.

[0004] To achieve the above object, embodiments of the present invention provide the following technical solutions:

[0005] A device for trimming the inner wall of a hollow tube, comprising:

[0006] A moving component;

[0007] A driving motor, which is arranged at one end of the moving component;

[0008] A fixed disk, the center of which is connected to the rotating shaft of the driving motor and can rotate driven by the rotating shaft of the driving motor;

[0009] A grinding module, which is arranged at a first position on the fixed disk;

[0010] A welding module, which is arranged at a second position on the fixed disk;

[0011] A flaw detection module, which is arranged at a third position on the fixed disk;

[0012] A controller, which is used to provide control signals to the moving component, driving motor, grinding module, welding module, and flaw detection module, and the control signals are used to control the current states of the moving component, driving motor, grinding module, welding module, and flaw detection module.

[0013] Optionally, in the above device for trimming the inner wall of a hollow tube, the moving component includes:

[0014] A walking trolley;

[0015] The walking wheels are arranged at the bottom of the walking trolley;

[0016] The grinding module is arranged at the first position of the fixed disk through the first robotic arm;

[0017] The welding module is arranged at the second position of the fixed disk through the second robotic arm;

[0018] The flaw detection module is arranged at the third position of the fixed disk through the third robotic arm.

[0019] Optionally, in the above-mentioned inner wall trimming device for the hollow tube, it further includes:

[0020] The first position sensor is arranged on the fixed disk;

[0021] The first distance sensor and the second distance sensor are respectively arranged on the symmetric two sides of the walking trolley;

[0022] The thickness sensor is arranged at the free end of the first robotic arm;

[0023] The fillet weld height sensor is arranged at the free end of the second robotic arm;

[0024] The second position sensor is arranged at the free end of the third robotic arm;

[0025] The controller is further configured to obtain the output signals of the first distance sensor, the second distance sensor, the thickness sensor and the fillet weld height sensor.

[0026] Optionally, in the above-mentioned inner wall trimming device for the hollow tube, it further includes:

[0027] The counterweight is arranged at the other end of the walking trolley.

[0028] Optionally, in the above-mentioned inner wall trimming device for the hollow tube, it further includes:

[0029] The support plate is arranged inside the walking trolley, and the drive motor, the controller and the counterweight are all fixed on the support plate.

[0030] Optionally, in the above-mentioned inner wall trimming device for the hollow tube, the walking wheels are magnetic adsorption spherical drive wheels.

[0031] Optionally, in the above-mentioned inner wall trimming device for the hollow tube, after the controller obtains the output signals of the first distance sensor and the second distance sensor, it is further configured to:

[0032] Based on the output signals of the first distance sensor and the second distance sensor, determine whether the axis of the walking trolley is parallel to the axis of the hollow tube. If not, adjust the wheel differential of the walking trolley so that the axis of the walking trolley is parallel to the axis of the hollow tube.

[0033] Optionally, in the above-mentioned inner wall trimming device of the hollow tube, the controller is further configured to:

[0034] Control the grinding module to grind the target area;

[0035] Based on the output signal of the thickness sensor, determine whether the grinding depth reaches a preset depth;

[0036] When the grinding depth reaches the preset depth, control the grinding module to stop grinding the target area, otherwise continue to control the grinding module to grind the target area until the grinding depth reaches the preset depth.

[0037] Optionally, in the above-mentioned inner wall trimming device of the hollow tube, the controller is further configured to:

[0038] After grinding the target area to the preset depth, control the welding module to weld the target area;

[0039] Based on the output signal of the weld bead height sensor, determine whether the weld bead height reaches a preset height;

[0040] When the weld bead height reaches the preset height, stop welding the target area, otherwise, continue to control the welding module to weld the target area until the weld bead height reaches the preset height.

[0041] Optionally, in the above-mentioned inner wall trimming device of the hollow tube, the controller is further configured to:

[0042] Start the flaw detection module, based on the output signal of the flaw detection module, determine whether there are defects at the detection position, and record the position corresponding to the area with defects based on the output signals of the first position sensor and the second position sensor.

[0043] Based on the above technical solution, the inner wall trimming device provided by the embodiment of the present invention includes a moving component. A driving motor is arranged at one end of the moving component. The center of the fixed disk is connected to the rotating shaft of the driving motor. The center of the fixed disk is connected to the rotating shaft of the driving motor and can rotate driven by the rotating shaft of the driving motor. A grinding module, a welding module and a flaw detection module are also arranged on the fixed disk. The controller is used to provide control signals to the moving component, the grinding module, the welding module and the flaw detection module to control the current states of the moving component, the driving motor, the grinding module, the welding module and the flaw detection module. When the device is working, the moving component is used to control the device to move inside the hollow tube. When the moving component reaches the specified position, the controller can control the driving motor, the robotic arm, the grinding module, the welding module and the flaw detection module. The grinding module, the welding module and the flaw detection module are used to perform 360-degree grinding, welding or flaw detection on the specified position, eliminating the need for the user to hold tools for operation, reducing the work difficulty and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0045] Figure 1 The front view of the inner wall trimming device for a hollow tube disclosed in the embodiment of the present application;

[0046] Figure 2 The side view of the inner wall trimming device for a hollow tube disclosed in the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0048] In order to improve the trimming efficiency of the inner wall of the hollow tube and the flatness of the inner wall, the present application provides an inner wall trimming device for a hollow tube. It should be noted that the hollow tube in the present application can be any type of tube that needs to be ground, welded or flaw detected in the prior art, including but not limited to the connecting pipe of a transformer, a gas supply pipeline or other metal pipes.

[0049] See Figure 1 andFigure 2 , the inner wall trimming device disclosed in the embodiments of the present application may include: a moving component, a driving motor 3, a fixing disk 4, a grinding module 9, a welding module 11, a flaw detection module 13, and a controller 14;

[0050] The moving component is used to move the inner wall trimming device of the hollow tube inside the pipeline;

[0051] Regarding the driving motor 3, the driving motor 3 is arranged at one end of the walking trolley 0. In this solution, the driving motor 3 can be arranged inside the walking trolley 0, near one end of the fixing disk 4, and its rotating shaft passes through the end of the walking trolley 0 and is connected to the center of the fixing disk 4;

[0052] Regarding the fixing disk 4, the center of the fixing disk 4 is connected to the rotating shaft of the driving motor 3 and can rotate under the drive of the rotating shaft of the driving motor 3;

[0053] The grinding module 9, the welding module 11, and the flaw detection module 13 are respectively fixed at the first position, the second position, and the third position of the fixing disk 4, and the three positions are evenly distributed on the fixing disk.

[0054] Regarding the controller 14, the controller 14 is used to provide control signals to the moving component, the driving motor 3, the grinding module 9, the welding module 11, and the flaw detection module 13. In this solution, the action modes of the moving component, the driving motor 3, the grinding module 9, the welding module 11, and the flaw detection module 13 can all be controlled by the controller 14. The controller 14 can send control signals to the moving component, the driving motor 3, the grinding module 9, the welding module 11, and the flaw detection module 13 according to the preset logic or the control instructions output by the external device, so that the moving component, the driving motor 3, the grinding module 9, the welding module 11, and the flaw detection module 13 control their own working states based on the control signals. Among them, the controller 14 can be a PLC controller or other types of controllers 14.

[0055] In this embodiment, the moving component may include a walking trolley 0 and walking wheels 1. The walking wheels 1 are arranged at the bottom of the walking trolley 0. The walking wheels 1 can drive the walking trolley 0 to move within the hollow tube, and the walking wheels can respond to the control signal sent by the controller. The grinding module 9, welding module 11, and flaw detection module 13 are respectively fixed on the fixed disk through the first robotic arm 81, second robotic arm 82, and third robotic arm 83. Specifically, the fixed ends of the first robotic arm 81, second robotic arm 82, and third robotic arm 83 are arranged on the turntable. In this solution, the first robotic arm 81, second robotic arm 82, and third robotic arm 83 can be evenly distributed on the fixed disk 4. Each robotic arm can be a multi-joint robotic arm, and the multi-joint robotic arm can adapt to complex tasks, such as diverse operations like adjusting postures, assembling, welding, and grinding. The grinding module 9 is arranged at the free end of the first robotic arm 81 and can move freely under the control of the first robotic arm 81. In this solution, through the mutual cooperation of the fixed disk 4, drive motor 3, and first robotic arm 81, the grinding module 9 can perform 360-degree grinding on the corresponding position inside the tube corresponding to the grinding module 9. For example, by controlling the telescopic movement of the grinding module 9 through the first robotic arm 81 and making a small swing of the grinding module 9 along the axial direction of the hollow tube. Meanwhile, the drive motor 3 drives the turntable to rotate slowly. When the turntable rotates one week, the grinding module 9 performs 360-degree grinding on the inner wall of the hollow tube. The welding module 11 is arranged at the free end of the second robotic arm 82. Similarly to the grinding module 9, the welding module 11 can perform welding on the grinding area of the grinding module 9 under the mutual cooperation of the fixed disk 4, drive motor 3, and second robotic arm 82 to achieve 360-degree welding of the inner wall of the hollow tube. The flaw detection module 13 is arranged at the free end of the third robotic arm 83. Similarly to the grinding module 9, the flaw detection module 13 can perform 360-degree flaw detection on the inside of the hollow tube under the mutual cooperation of the fixed disk 4, drive motor 3, and third robotic arm 83. In this embodiment, the flaw detection module 13 can be an ultrasonic phased array probe. The ultrasonic phased array probe is based on the piezoelectric effect and electronic control technology, and realizes the flexible manipulation of the sound beam through an array structure composed of multiple piezoelectric wafers: each wafer can independently transmit and receive ultrasonic waves, and the electronic system precisely regulates the excitation timing and phase of each wafer to achieve electronic scanning (such as linear scanning, sector scanning) and dynamic focusing of the sound beam - the former deflects the sound beam by sequentially exciting or adjusting the phase to cover the detection area, and the latter uses the time difference between the wafers to superimpose sound waves at the target depth to enhance the signal intensity, thereby improving the imaging resolution. The received reflected wave signals are synthesized into a focused image after phase adjustment and time compensation, and finally a two-dimensional or three-dimensional image is generated. This process can achieve fast scanning and multi-angle imaging without mechanically moving the probe.

[0056] At this time, the controller 14 is used to provide control signals to the traveling wheels 1, the driving motor 3, the first robotic arm 81, the second robotic arm 82, the third robotic arm 83, the grinding module 9, the welding module 11, and the flaw detection module 13. In this solution, the action modes of the traveling wheels 1, the driving motor 3, the first robotic arm 81, the second robotic arm 82, the third robotic arm 83, the grinding module 9, the welding module 11, and the flaw detection module 13 can all be controlled by the controller 14. The controller 14 can send control signals to the traveling wheels 1, the driving motor 3, the first robotic arm 81, the second robotic arm 82, the third robotic arm 83, the grinding module 9, the welding module 11, and the flaw detection module 13 according to preset logic or control instructions output by external devices. Among them, the controller 14 can be a PLC controller or other types of controllers 14.

[0057] As can be seen from the above solution, in this embodiment, by providing the traveling wheels 1 at the bottom of the traveling trolley 0, the traveling trolley 0 can travel inside the hollow pipe. When the trolley reaches the specified position, the driving motor 3, the robotic arms, the grinding module 9, the welding module 11, and the flaw detection module 13 can be controlled by the controller 14. The specified position can be ground, welded, or flaw-detected 360 degrees by the grinding module 9, the welding module 11, and the flaw detection module 13, eliminating the need for the user to hold tools for operation, reducing the work difficulty, and improving the work efficiency.

[0058] In this embodiment, in order to precisely control the traveling trolley 0, the traveling wheels 1, the driving motor 3, the fixed disk 4, the first robotic arm 81, the second robotic arm 82, the third robotic arm 83, the grinding module 9, the welding module 11, and the flaw detection module 13, refer to Figure 1 and Figure 2 , the inner wall trimming device of the hollow pipe may further include a plurality of sensors, and these sensors may include a first position sensor 71, a first distance sensor 51, a second distance sensor 52, a thickness sensor 10, a weld bead height sensor 12, and a second position sensor 72;

[0059] Regarding the first position sensor 71, the first position sensor 71 is disposed on the fixed disk 4. The first position sensor 71 is used to measure the traveling distance of the traveling trolley 0, and the traveling distance is used to represent the traveling distance of the traveling trolley 0 within the hollow tube, that is, the current position of the traveling trolley 0 within the hollow tube. During the traveling process of the traveling trolley 0, the acquisition result of the first position sensor 71 is sent to the controller 14, and the controller 14 sends the acquisition result of the first position sensor 71 to an external device. The user can obtain the acquisition result of the first position sensor 71 through the external device and process the acquisition result of the first position sensor 71 to obtain the position information of the traveling trolley 0 within the hollow tube.

[0060] Regarding the first distance sensor 51 and the second distance sensor 52, the first distance sensor 51 and the second distance sensor 52 are respectively disposed on two symmetric sides of the traveling trolley 0. Whether the traveling trolley 0 travels along the axis of the hollow tube can be determined through the detection results of the first distance sensor 51 and the second distance sensor 52. In this embodiment, during the traveling process of the trolley, the first distance sensor 51 is used to detect the distance between it and the inner wall of one side of the hollow tube, and the second distance sensor 52 is used to detect the distance between it and the inner wall of the other side of the hollow tube. When the traveling trolley 0 travels along the axis of the hollow tube, the distance values detected by the first distance sensor 51 and the second distance sensor 52 should be the same. When the traveling direction of the traveling trolley 0 is not the axis direction of the hollow tube, the distance values detected by the first distance sensor 51 and the second distance sensor 52 must be one large and one small. Therefore, when the controller 14 obtains the distance values detected by the first distance sensor 51 and the second distance sensor 52, it can determine whether the traveling trolley 0 travels along the axis of the hollow tube by comparing the magnitudes of the two. When the magnitudes of the two are different, the deviation degree of the traveling trolley 0 can be calculated based on the difference between the two. Based on this deviation degree, the wheel speeds of the traveling wheels 1 on both sides of the traveling trolley 0 are adjusted, thereby keeping the traveling direction of the traveling trolley 0 parallel to the axis of the hollow tube. For example, when the distance value detected by the first distance sensor 51 is less than the distance value detected by the second sensor, increase the rotational speed of the traveling wheel 1 on the side of the first sensor / decrease the rotational speed of the traveling wheel 1 on the side of the second sensor, so as to correct the traveling direction of the traveling trolley 0, and the greater the difference in the distances between the two, the greater the increase / decrease in the rotational speed.

[0061] Regarding the thickness sensor 10, in this solution, the thickness sensor 10 cooperates with the grinding module 9, which can make the inner wall of the hollow tube smoother. Among them, the thickness sensor 10 is used to monitor and feedback the surface flatness of the inner wall of the hollow tube in real time, and feed the detection result back to the controller 14. Based on the detection result of the thickness sensor 10, the controller 14 controls the grinding module 9. Specifically, the thickness sensor 10 detects the grinding depth of the grinding area in real time, compares the grinding depth with the preset grinding depth. When the grinding depth is less than the preset grinding depth, the grinding module 9 is continuously driven to repeat the operation until the grinding depth reaches the preset grinding depth. Among them, the value of the preset grinding depth can be set according to user needs, so that the user can adjust the welding depth according to the actual situation such as the type of hollow tube and the welding object.

[0062] Regarding the fillet height sensor 12, in this solution, the fillet height sensor 12 can detect the welding area to prevent over-welding in the welding area, so as to make the inner wall of the hollow tube smoother. Among them, the fillet height sensor 12 is used to detect and feedback the weld height in real time during the operation of the welding module 11. When the detected weld height is less than the preset height, the controller 14 controls the welding module 11 to continue welding the welding area until the weld height of the welding area reaches the preset height. When the detected weld height is greater than the preset height, the controller 14 controls the grinding module 9 to re-grind the welding area, where the grinding depth is the difference between the detected weld height and the preset height.

[0063] Regarding the second position sensor 72, in this solution, the second position sensor 72 can be used in cooperation with the first position sensor 71 and the flaw detection module 13 to locate the defect position. In this solution, when the inner wall trimming device of the hollow tube is used to perform flaw detection on the inside of the hollow tube, the first position sensor 71 can be used to record the position coordinates of the traveling trolley 0 inside the hollow tube. After the controller 14 starts the flaw detection module 13 to perform flaw detection operations, it controls the third robotic arm 83 to drive the flaw detection module 13 to move reciprocally. At the same time, the drive motor 3 drives the turntable to rotate slowly, so that the flaw detection module 13 can perform a 360-degree scan of the inside of the hollow tube. The second position sensor 72 will record the extension distance of the robotic arm. When a certain defect is determined, the controller 14 will record the extension distance of the third robotic arm 83 corresponding to the defect. By combining the recording result of the second position sensor 72 with the recording result of the first position sensor 71, the axial coordinate position of the defect inside the hollow tube can be determined. Of course, this application can also calculate the radial coordinate position corresponding to the defect position based on the rotation angle of the motor and the radial coordinate of the hollow tube corresponding to the initial moment of the flaw detection module 13. During flaw detection, the first position sensor 71 records the axial coordinate (X) of the trolley, the second position sensor 72 records the radial extension amount (Y) of the third robotic arm 83, and in combination with the rotation angle (θ) of the fixed disk 4, precise positioning of the defect position is achieved through coordinate transformation (X, Y, θ) → three-dimensional coordinates of the defect.

[0064] In this embodiment, when the controller 14 obtains the output interface of the flaw detection module 13, it can determine the type and grade of the defect based on the built-in defect classification algorithm. When it is determined that the defect type is a pre-specified minor defect based on the type and grade of the defect, the coordinate position of the defect (including the axial coordinate position and the radial coordinate position) can be recorded and stored. If the defect is a serious defect, the defect type and grade and the coordinate position corresponding to the defect are recorded, and the controller 14 also needs to generate an alarm signal and pause the traveling trolley 0 from continuing to move. At this time, when the user obtains the alarm signal, the user can choose whether to repair the defect immediately. When the user chooses to repair the defect immediately, a repair signal is sent to the controller 14. After the controller 14 obtains the repair signal, the controller 14 sequentially starts the grinding module 9 and the welding module 11 to process the defect position. When the user chooses to continue with the defect detection, it controls the flaw detection module to continue with the subsequent defect detection actions.

[0065] In the technical solution disclosed in this embodiment, since devices such as the drive motor 3 (located inside the walking trolley 0), the fixed disk 4, the first robotic arm 81, the second robotic arm 82, and the third robotic arm 83 are all located at the front of the walking trolley 0, in order to keep the walking trolley 0 stable during walking and working, a counterweight 6 needs to be configured on the walking trolley 0. The counterweight 6 is arranged at the other end of the walking trolley 0. Whether it is located inside or outside the walking trolley 0 can be set according to requirements, as long as the center of gravity of the walking trolley 0 can fall on the middle position of the walking trolley 0.

[0066] See Figure 1 , in this embodiment, a support plate 2 can be arranged inside the walking trolley 0, and the controller 14, the drive motor 3, and the counterweight 6 are all installed on the support plate 2.

[0067] In this embodiment, the hollow tube is a steel tube. In order to enable the walking trolley 0 to walk reliably inside the hollow tube, the walking wheel 1 can be a magnetic adsorption ball-type drive wheel. The magnetic adsorption ball-type drive wheel generates a magnetic field through an internal or external magnet and interacts with the metal surface or other magnetic materials to achieve the adsorption function. At the same time, the design of the spherical drive wheel enables it to have omnidirectional movement ability, capable of flexibly turning and moving in a complex environment, facilitating the walking trolley 0 to walk in a complex lane-changing environment. When the controller controls the magnetic adsorption omnidirectional wheel, the magnetic adsorption omnidirectional wheels at the bottom of the walking trolley 0 receive the speed regulation instructions from the controller 14 and achieve steering correction through the speed difference between the two side wheels. The first distance sensor 51 and the second distance sensor 52 detect the distances between the two sides of the trolley and the pipe wall in real time. If the difference exceeds the threshold, the controller 14 dynamically adjusts the wheel speed to make the axis of the trolley parallel to the axis of the pipe.

[0068] In the technical solution disclosed in this embodiment, in order to facilitate the user to observe the inside of the hollow tube, an image acquisition module and lighting devices can also be arranged on the walking trolley 0. After the walking trolley 0 is started, the image acquisition module and the lighting devices are started. The image acquisition module acquires images of the inside of the hollow tube and sends the acquisition results to the user terminal device through the controller 14. The user terminal device can be a mobile phone or other display devices. At this time, the user can directly observe the situation of the inner wall of the hollow tube through the mobile phone or other display devices.

[0069] In this embodiment, the inner wall trimming device of the hollow tube further includes an external control device connected to the controller 14. The external control device can be connected to the controller by wired or wireless means. The external device can be a mobile phone or other remote control device. The display device is integrated in the external control device. A user can send a control instruction to the controller 14 through the external control device. The controller 14 is configured to generate and send a control signal to a target module in the inner wall trimming device of the hollow tube after obtaining the control instruction. The user can control the traveling speed of the traveling trolley 0, the rotation speed of the drive motor 3, the action modes of the first robotic arm 81, the second robotic arm 82, and the third robotic arm 83, the working state of the grinding module 9, the working state of the welding module 11, and the working state of the flaw detection module 13 through the external control device.

[0070] For the sake of convenience of description, when describing the above system, various modules are described separately according to their functions. Of course, when implementing the present invention, the functions of each module can be implemented in one or more software and / or hardware.

[0071] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for a system or system embodiment, since it is basically similar to a method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0072] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0073] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0074] It should also be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0075] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A trimming device for the inner wall of a hollow tube, characterized in that, Comprising: A moving component; A driving motor, which is arranged at one end of the moving component; A fixed disk, the center of which is connected to the rotating shaft of the driving motor and can rotate driven by the rotating shaft of the driving motor; A grinding module, which is arranged at a first position of the fixed disk; A welding module, which is arranged at a second position of the fixed disk; A flaw detection module, which is arranged at a third position of the fixed disk; A controller, which is used to provide control signals to the moving component, the driving motor, the grinding module, the welding module and the flaw detection module, and the control signals are used to control the current states of the moving component, the driving motor, the grinding module, the welding module and the flaw detection module.

2. The inner wall trimming device of the hollow tube according to claim 1, characterized in that, The moving component includes: A walking trolley; Walking wheels, which are arranged at the bottom of the walking trolley; The grinding module is arranged at the first position of the fixed disk through a first robotic arm; A welding module, which is arranged at the second position of the fixed disk through a second robotic arm; A flaw detection module, which is arranged at the third position of the fixed disk through a third robotic arm.

3. The inner wall trimming device for a hollow tube according to claim 2, wherein, It further includes: A first position sensor, which is arranged on the fixed disk; A first distance sensor and a second distance sensor, which are respectively arranged on two symmetrical sides of the walking trolley; A thickness sensor, which is arranged at the free end of the first robotic arm; A weld bead height sensor, which is arranged at the free end of the second robotic arm; A second position sensor, which is arranged at the free end of the third robotic arm; The controller is further used to obtain the output signals of the first distance sensor, the second distance sensor, the thickness sensor and the weld bead height sensor.

4. The inner wall trimming device of the hollow tube according to claim 2, characterized in that, It further includes: A counterweight block, which is arranged at the other end of the walking trolley.

5. The inner wall trimming device of the hollow tube according to claim 4, characterized in that, It further includes: A support plate, which is arranged inside the walking trolley, and the driving motor, the controller and the counterweight block are all fixed on the support plate.

6. The inner wall trimming device of the hollow tube according to claim 2, wherein The walking wheels are magnetic adsorption ball-type driving wheels.

7. The inner wall trimming device of the hollow tube according to claim 3, characterized in that, After obtaining the output signals of the first distance sensor and the second distance sensor, the controller is further used to: Judge whether the axis of the walking trolley is parallel to the axis of the hollow tube based on the output signals of the first distance sensor and the second distance sensor. If not, adjust the wheel differential to make the axis of the walking trolley parallel to the axis of the hollow tube.

8. The inner wall trimming device of the hollow tube according to claim 3, characterized in that The controller is further used to: Control the grinding module to grind the target area; Judge whether the grinding depth reaches a preset depth based on the output signal of the thickness sensor; When the grinding depth reaches the preset depth, control the grinding module to stop grinding the target area, otherwise continue to control the grinding module to grind the target area until the grinding depth reaches the preset depth.

9. The inner wall trimming device of the hollow tube according to claim 8, characterized in that, The controller is further used to: After grinding the target area to the preset depth, control the welding module to weld the target area; Judge whether the weld height reaches a preset height based on the output signal of the weld bead height sensor; When the weld height reaches the preset height, stop welding the target area; otherwise, continue to control the welding module to weld the target area until the weld height reaches the preset height.

10. The inner wall trimming device for a hollow tube according to claim 3, characterized in that, The controller is further configured to: Start the flaw detection module, judge whether there are defects at the detection position based on the output signal of the flaw detection module, and record the position corresponding to the area with defects based on the output signals of the first position sensor and the second position sensor.

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