A double-wall pipe automatic polishing robot

Abstract

The present application relates to an automatic double-wall pipe grinding robot, which relates to the technical field of pipeline maintenance equipment. In order to solve the problem of difficulty in processing the interlayer area of ​​double-wall pipes, the robot comprises a fixed ring, wherein the inner ring and the outer ring are rotatably connected on both sides of the fixed ring, a plurality of inner grinding heads are equidistantly distributed circumferentially on the inner circumference of the inner ring, a plurality of outer grinding heads are equidistantly distributed circumferentially on the outer circumference of the outer ring, annular tooth grooves extending circumferentially are respectively provided on the outer circumference of the inner ring and the inner circumference of the outer ring, a plurality of rotating gears that cooperate with the corresponding tooth grooves are symmetrically arranged on both sides of the fixed ring, and a driving member for driving the rotating gears to rotate is also provided on the fixed ring; a hydraulic rod for controlling the extension and retraction is provided between the inner ring and the corresponding inner grinding head, and between the outer ring and the corresponding outer grinding head; a driving device and a wall inspection device are integrated on the fixed ring. The present application has the effect of achieving full coverage of a narrow space and ensuring the consistency of grinding quality.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline maintenance equipment, and in particular to an automatic double-wall pipe polishing robot. Background Art

[0002] In modern industry, double-wall pipe, a pipe with a special structure, plays an indispensable role in high-end manufacturing industries such as aerospace, automotive manufacturing, and energy transportation due to its unique design of two concentric inner and outer walls. The closed or semi-enclosed interlayer space formed between the inner and outer walls not only gives double-wall pipes excellent thermal insulation properties, effectively reducing heat transfer and improving energy efficiency, but also provides excellent sound insulation, reducing noise pollution during equipment operation. At the same time, the interlayer structure also acts as a shock absorber, protecting the internal fluid or wiring from external vibrations. More importantly, the structural design of double-wall pipes significantly enhances overall strength, improving the durability and safety of the pipe. These characteristics make double-wall pipes an ideal choice for many applications with stringent performance requirements, and promote technological advancement and product upgrades in related industries.

[0003] However, during the manufacturing and subsequent maintenance of double-walled pipes, there are major technical challenges in treating the interlayer area between the inner and outer pipe walls. Due to the small interlayer space and complex structure, traditional manual grinding or simple mechanical grinding methods are difficult to penetrate deep into the interlayer, resulting in incomplete grinding. In addition, due to the narrow space of the interlayer, it is impossible to accurately locate the grinding area, so there is room for improvement. Summary of the Invention

[0004] In order to solve the problem of difficulty in processing the interlayer area of ​​double-walled pipes, the present application provides an automatic polishing robot for double-walled pipes.

[0005] The present application provides a double-wall pipe automatic polishing robot that adopts the following technical solutions:

[0006] A double-wall pipe automatic grinding robot comprises a fixed ring arranged in the interlayer space between the inner tube and the outer tube of the double-wall pipe, the two sides of the fixed ring are respectively rotatably connected with a coaxially arranged inner ring and outer ring, the inner circumferential surface of the inner ring is provided with a plurality of inner grinding heads equidistantly distributed in the circumferential direction, the outer circumferential surface of the outer ring is provided with a plurality of outer grinding heads equidistantly distributed in the circumferential direction, the outer circumferential surface of the inner ring and the inner circumferential surface of the outer ring are respectively provided with annular tooth grooves extending in the circumferential direction, a plurality of rotating gears that cooperate with the corresponding tooth grooves are symmetrically arranged on both sides of the fixed ring, and the fixed ring is also provided with a driving member for driving the rotating gear to rotate; hydraulic rods for controlling extension and retraction are respectively provided between the inner ring and the corresponding inner grinding head, and between the outer ring and the corresponding outer grinding head; the fixed ring is integrated with a driving device for driving the entire machine to move axially along the double-wall pipe and a wall inspection device for detecting the condition of the pipe wall.

[0007] During the manufacturing and subsequent maintenance of double-walled pipes, there are major technical difficulties in processing the interlayer area between the inner and outer pipe walls. The interlayer space is small and the structure is complex. Traditional manual grinding or simple mechanical grinding methods are difficult to penetrate deep into the interlayer, resulting in incomplete grinding. In addition, due to the narrow space of the interlayer, it is impossible to accurately locate the grinding area. By adopting the above technical solution, including a fixed ring, the fixed ring is located in the interlayer space between the inner and outer pipes of the double-walled pipe, the inner ring and the outer ring are rotatably installed on both sides of the fixed ring, and the inner grinding head and the outer grinding head are installed on the inner and outer rings;

[0008] When processing the double-walled pipe interlayer, the operator sends the robot into the double-walled pipe interlayer space. The wall inspection device detects the condition of the pipe wall. After the drive device contacts the pipe wall, it moves axially at a uniform speed. At the same time, the hydraulic rods of the inner / outer rings are synchronously extended, pushing the inner / outer grinding heads to contact the outer wall of the inner pipe and the inner wall of the outer pipe. The pressure between the inner / outer ring grinding heads and the wall can be adjusted according to different wall conditions to accurately control the grinding intensity. The drive unit drives the inner / outer rings to rotate in opposite directions by rotating the gears and the corresponding tooth grooves. The inner / outer grinding heads grind the outer wall of the inner pipe and the inner wall of the outer pipe simultaneously along the spiral trajectory. By combining the composite processing mode of axial feed and rotational motion, the full circumferential continuous processing of the double-walled pipe interlayer surface is achieved, thereby ensuring that the entire pipe wall surface is evenly covered with grinding treatment, eliminating surface roughness and local defects. After grinding is completed, the robot pauses and the wall inspection device rescans the pipe wall surface to verify whether the roughness meets the standard and whether the defects are repaired. After the repair is completed, the robot exits the double-walled pipe along the original path in the opposite direction.

[0009] Through the settings of fixed ring, inner ring, outer ring, drive device, etc., the double-wall pipe automatic grinding robot achieves full coverage of small spaces through compact structural design. The fixed ring is centrally nested with the inner / outer rings, and the annular tooth groove transmission is used to make the grinding head rotate and extend freely to adapt to the minimum interlayer width; the circumferential distribution and reverse rotation of multiple grinding heads form a spiral trajectory to ensure dead-angle processing and eliminate hidden areas that are difficult to reach with traditional methods. At the same time, the integrated hydraulic rod pressure dynamic adjustment can adjust the contact pressure between the grinding head and the pipe wall in real time according to the wall thickness, roughness and defect data feedback from the wall inspection device (the pressure adjustment range is wide and the response time is short), realizing "one area, one policy" precise grinding, avoiding over-grinding to damage the pipe wall or under-grinding to cause residual defects, and ensuring the consistency of grinding quality.

[0010] Optionally, tapered roller bearings are provided on both sides of the fixed ring, and the inner ring and the outer ring are connected to the fixed ring in a relatively rotatable manner through the tapered roller bearings.

[0011] By adopting the above technical solution, the inner ring and the outer ring form a relatively rotatable connection with the fixed ring through the tapered roller bearing; through the setting of the tapered roller bearing, the tapered roller bearing can simultaneously withstand axial and radial combined loads, and its line contact rolling characteristics significantly reduce friction resistance, improve transmission efficiency and reduce energy loss, so that the inner / outer ring can still maintain stable rotation accuracy when bearing the pressure of the grinding head, avoiding deflection or jamming.

[0012] Optionally, the working surface of the inner grinding head matches the curvature of the outer wall of the inner tube of the double-walled tube, and the working surface of the outer grinding head matches the curvature of the inner wall of the outer tube of the double-walled tube.

[0013] By adopting the above technical solution, the working surfaces of the inner grinding head and the outer grinding head are matched with the curvatures of the inner and outer walls of the double-walled tube and the inner wall of the outer tube; through the setting of the working surfaces of the inner / outer grinding heads, the contact surface between the grinding head and the tube wall is upgraded from traditional "line contact" to "surface contact", significantly expanding the effective grinding area and evenly dispersing the contact stress, thereby increasing the friction contact area and improving the grinding efficiency per unit time.

[0014] Optionally, the inner ring and the outer ring are respectively provided with springs for connecting with the inner grinding head and the outer grinding head, the inner grinding head is elastically connected to the inner ring via the spring, and the outer grinding head is elastically connected to the outer ring via the spring.

[0015] By adopting the above technical solution, the inner grinding head and the outer grinding head are elastically connected to the inner ring and the outer ring through the spring; through the setting of the spring, the elastic connection characteristics of the spring can compensate for the processing and assembly errors of the hydraulic rod and the response delay of the hydraulic system, and maintain the continuous fit between the grinding head and the pipe wall through deformation during the interval period of fine-tuning the pressure of the hydraulic rod. It is particularly suitable for processing scenarios with sudden changes in pipe wall curvature or slight deformations, and significantly improves the continuity of the grinding trajectory and the consistency of surface quality.

[0016] Optionally, the number of springs on any one of the inner grinding head and the outer grinding head is two groups, and the two groups of springs are symmetrically distributed on both sides of the corresponding inner grinding head or outer grinding head.

[0017] By adopting the above technical solution, two sets of springs are symmetrically installed on both sides of the inner / outer grinding head; by setting the number and arrangement of springs, the tilt or deflection of the grinding head caused by unilateral force is effectively reduced, and the axial parallelism between the grinding head and the pipe wall is maintained through the coordinated compensation of the springs on both sides, ensuring the straightness of the spiral trajectory and the accuracy of the machined surface morphology, thereby improving the operating reliability of the equipment under complex working conditions.

[0018] Optionally, the driving devices are provided in two groups and are symmetrically arranged on both sides of the fixed ring, and each group of the driving devices includes a plurality of driving mechanisms uniformly distributed along the circumference of the fixed ring.

[0019] By adopting the above technical solution, the driving devices are set into two groups and are symmetrically arranged on both sides of the fixed ring. Each group of driving devices includes multiple driving mechanisms evenly distributed along the circumference of the fixed ring. Through the setting of the driving devices, the two symmetrically arranged groups of driving devices can synchronously drive to eliminate the torque eccentricity caused by unilateral force, so that the robot maintains linear stability when moving axially along the pipe wall. The multiple driving mechanisms evenly distributed circumferentially can adjust the output power of each point in real time. When passing through areas with sudden morphological changes such as pipe wall welds and corrosion pits, the driving torque is dynamically distributed to compensate for resistance fluctuations, maintain the constancy of the axial propulsion speed, and avoid sticking or slipping caused by sudden changes in unilateral resistance.

[0020] Optionally, the driving mechanism includes a support body, a driving wheel and a hydraulic assembly, the support body is connected to a fixed ring, the hydraulic assembly is arranged on the support body, the driving wheel is hinged to the telescopic end of the hydraulic assembly, the working surface of the driving wheel maintains rolling contact with the outer wall of the inner tube, and the support body is also provided with a driving motor that independently controls the speed of the driving wheel.

[0021] By adopting the above technical solution, the driving mechanism includes a support body, a driving wheel and a hydraulic component, and the driving wheel is driven by a driving motor; through the settings of the support body, the driving wheel and the hydraulic component, adaptive propulsion under complex working conditions is achieved, the hydraulic component is integrated in the support body and drives the driving wheel to float axially through the telescopic end, so that the working surface of the driving wheel always fits the outer wall of the inner pipe, and can prevent the driving wheel from slipping or getting stuck when there are obstacles such as oxide scale and weld nodules on the pipe wall, thereby significantly improving the passability of the equipment in narrow interlayers.

[0022] Optionally, a universal coupling is provided between the support body and the fixed ring for connection.

[0023] By adopting the above technical solution, the universal coupling is installed between the support body and the fixed ring; through the setting of the universal coupling, the universal coupling acts as a flexible connector, which can absorb the axial offset and radial misalignment caused by the sudden change of the curvature of the pipe wall in real time, ensuring that the driving wheel always fits the pipe wall at the optimal contact angle.

[0024] Optionally, the wall inspection device includes a high-resolution infrared camera for capturing images of the inner wall, a laser rangefinder for measuring the thickness and shape of the pipe wall, and an ultrasonic sensor for detecting the roughness and defects of the pipe wall.

[0025] By adopting the above-mentioned technical solution, the wall inspection device includes a high-resolution infrared camera, a laser rangefinder and an ultrasonic sensor. Through the setting of the wall inspection device, full-dimensional defect detection and status assessment of the pipe wall can be realized. The high-resolution infrared camera is used to capture high-definition images of the inner wall of the pipe, the laser rangefinder is used to measure the thickness and shape of the pipe wall, and the ultrasonic sensor is used to detect the roughness and defects of the pipe wall, providing precision guidance for polishing path planning, significantly improving the initiative of equipment operation and maintenance.

[0026] Optionally, the fixed ring is provided with a power supply device for providing power to the driving device, the wall inspection device, and the driving member.

[0027] By adopting the above technical solution, the power supply device supplies power to the driving device, the wall inspection device, and the driving parts; through the setting of the power supply device, efficient energy supply is achieved in a complex pipeline environment, ensuring long-term continuous operation and ensuring the safe evacuation of equipment in narrow and long pipelines.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] 1. Through the configuration of a fixed ring, inner ring, outer ring, and drive device, this double-wall pipe automatic grinding robot achieves full coverage of confined spaces through a compact structural design. The fixed ring is centrally nested with the inner / outer rings, and the annular toothed drive allows the grinding head to freely rotate and retract to adapt to the minimum interlayer width. The multiple grinding heads are circumferentially distributed and rotate in opposite directions to form a spiral trajectory, ensuring zero-dead-angle processing and eliminating hidden areas that are difficult to reach with traditional methods. At the same time, the integrated hydraulic rod dynamic pressure adjustment can adjust the contact pressure between the grinding head and the pipe wall in real time based on the wall thickness, roughness, and defect data fed back by the wall inspection device (with a wide pressure adjustment range and short response time), achieving "one zone, one policy" precise grinding, avoiding damage to the pipe wall due to over-grinding or residual defects due to under-grinding, and ensuring consistent grinding quality.

[0030] 2. The tapered roller bearing can withstand combined axial and radial loads simultaneously. Its line contact rolling characteristics significantly reduce frictional resistance, improve transmission efficiency, and reduce energy loss. This allows the inner and outer rings to maintain stable rotational accuracy even when subjected to pressure from the grinding head, preventing deflection or jamming.

[0031] 3. Adaptive propulsion is achieved under complex working conditions through the support body, drive wheel and hydraulic components. The hydraulic components are integrated into the support body and drive the drive wheel to float axially through the telescopic end, so that the working surface of the drive wheel always fits the outer wall of the inner pipe. This can prevent the drive wheel from slipping or getting stuck when there are obstacles such as oxide scale and weld nodules on the pipe wall, significantly improving the equipment's passability in narrow interlayers. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a double-wall pipe automatic polishing robot in an embodiment of the present application.

[0033] Figure 2 yes Figure 1 AA section view in.

[0034] Figure 3 yes Figure 1 BB section view in.

[0035] Figure 4 yes Figure 3 Magnified view of part A.

[0036] Figure 5 yes Figure 1 CC section view in.

[0037] Figure 6 yes Figure 5 Magnified view of part B.

[0038] Explanation of the accompanying symbols: 1. Inner tube; 2. Outer tube; 3. Fixed ring; 4. Inner ring; 5. Outer ring; 6. Inner grinding head; 7. Outer grinding head; 8. Annular tooth groove; 9. Rotating gear; 10. Hydraulic rod; 11. Tapered roller bearing; 12. Spring; 13. Support body; 14. Driving wheel; 15. Hydraulic assembly; 16. Universal joint. DETAILED DESCRIPTION

[0039] In order to elaborate on the technical solutions adopted by the present invention to achieve the predetermined technical purpose, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments, and the technical means or technical features in the embodiments of the present invention can be replaced without creative work. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0040] The following is combined with Figure 1-6 This application is described in further detail.

[0041] The embodiment of the present application discloses a double-wall pipe automatic polishing robot. Figure 1 The double-walled pipe automatic polishing robot includes a fixed ring 3, which is arranged in the interlayer space between the inner tube 1 and the outer tube 2 of the double-walled pipe. In this embodiment, the inner diameter of the fixed ring 3 is larger than the outer diameter of the inner tube 1, and the outer diameter of the fixed ring 3 is smaller than the inner diameter of the outer tube 2.

[0042] Reference Figure 1 The fixed ring 3 is integrated with a driving device and a wall inspection device. In this embodiment, there are two groups of driving devices, which are symmetrically installed on both sides of the fixed ring 3. Each group of driving devices includes multiple driving mechanisms evenly distributed along the circumference of the fixed ring 3.

[0043] Reference Figure 1 and Figure 2, any driving mechanism includes a support body 13, a driving wheel 14 and a hydraulic assembly 15. A universal coupling 16 for connection is installed between the support and the fixed ring 3. The hydraulic assembly 15 is installed on the support body 13. In this embodiment, the hydraulic assembly 15 can be a hydraulic rod 10-shaped structure. The driving wheel 14 is hingedly installed at the telescopic end of the hydraulic assembly 15. At the same time, the working surface of the driving wheel 14 maintains rolling contact with the outer wall of the inner tube 1, and a driving motor that independently controls the speed of the driving wheel 14 is installed on the support body 13; each driving wheel 14 can adjust the extension amount through a hydraulic device to adapt to different diameters and shaped pipelines, each driving wheel 14 is equipped with an independent driving motor and driving controller. By precisely controlling the motor speed and direction, combined with the three-section fuselage connected by multiple sets of universal couplings 16, the robot can be flexibly moved and turned; it helps to achieve adaptive propulsion under complex working conditions, the hydraulic component 15 is integrated into the support body 13 and drives the driving wheel 14 to float axially through the telescopic end, so that the working surface of the driving wheel 14 always fits the outer wall of the inner pipe 1, and can avoid the driving wheel 14 from slipping or getting stuck when there are obstacles such as oxide scale and weld nodules on the pipe wall, significantly improving the passability of the equipment in narrow interlayers.

[0044] Reference Figure 1 The wall inspection device includes a high-resolution infrared camera, a laser rangefinder and an ultrasonic sensor, which helps to realize full-dimensional defect detection and status assessment of the pipe wall. The high-resolution infrared camera is used to capture high-definition images of the inner wall of the pipe, the laser rangefinder is used to measure the thickness and shape of the pipe wall, and the ultrasonic sensor is used to detect the roughness and defects of the pipe wall, providing precision guidance for polishing path planning and significantly improving the initiative of equipment operation and maintenance.

[0045] Reference Figure 1 and Figure 3 The fixed ring 3 is also equipped with a power supply device for providing power to the driving device and the wall inspection device. The power supply device adopts a wired power supply method to ensure that it can work continuously for a long time. At the same time, this robot adopts advanced microprocessors and sensor fusion algorithms to process wall inspection data in real time. According to the inspection results, it automatically controls the operation of the grinding mechanism. The control system has a remote communication module that can transmit the inspection and grinding data to the control center for real-time monitoring and data analysis.

[0046] Reference Figure 1 and Figure 4, an inner ring 4 and an outer ring 5 are rotatably installed on both sides of the fixed ring 3, the inner ring 4 corresponds to the outer wall of the inner tube 1 of the double-walled tube, and the outer ring 5 corresponds to the inner wall of the outer tube 2 of the double-walled tube. In this embodiment, tapered roller bearings 11 are respectively installed between the positioning and inner ring 4 and the outer ring 5, and the inner ring 4 and the outer ring 5 form a relatively rotatable connection with the fixed ring 3 through the tapered roller bearings 11; the tapered roller bearings 11 can simultaneously withstand axial and radial composite loads, and its line contact rolling characteristics significantly reduce friction resistance, improve transmission efficiency and reduce energy loss, so that the inner ring 4 and the outer ring 5 can still maintain stable rotation accuracy when bearing the pressure of the grinding head, avoiding deflection or jamming.

[0047] Reference Figure 1 and Figure 4 A plurality of inner grinding heads 6 are equidistantly distributed along the circumferential direction on the inner circumferential surface of the inner ring 4, and a plurality of outer grinding heads 7 are equidistantly distributed along the circumferential direction on the outer circumferential surface of the outer ring 5. The working surface of the inner grinding head 6 matches the curvature of the outer wall of the inner tube 1 of the double-walled tube, and the working surface of the outer grinding head 7 matches the curvature of the inner wall of the outer tube 2 of the double-walled tube; the contact surface between the grinding head and the tube wall is upgraded from the traditional "line contact" to "surface contact", which significantly expands the effective grinding area and evenly disperses the contact stress, increases the friction contact area and improves the grinding efficiency per unit time.

[0048] Reference Figure 1 and Figure 4 A hydraulic rod 10 for controlling telescopic movement is provided between the inner ring 4 and the corresponding inner grinding head 6, and between the outer ring 5 and the corresponding outer grinding head 7. The hydraulic rod 10 is used to control and adjust the pressure between the inner grinding head 6, the outer grinding head 7 and the wall surface. At the same time, springs 12 for connecting with the inner grinding head 6 and the outer grinding head 7 are respectively installed on the inner ring 4 and the outer ring 5. The spring 12 of the inner grinding head 6 is elastically connected to the inner ring 4, and the outer grinding head 7 is elastically connected to the outer ring 5 through the spring 12; the elastic connection characteristics of the spring 12 can compensate for the processing and assembly errors of the hydraulic rod 10 and the response delay of the hydraulic system, and maintain the continuous fit between the grinding head and the pipe wall through deformation during the interval period of fine-tuning the pressure of the hydraulic rod 10, which is particularly suitable for processing scenarios with sudden changes in pipe wall curvature or slight deformation, and significantly improves the continuity of the grinding trajectory and the consistency of surface quality.

[0049] Reference Figure 1 and Figure 4 In this embodiment, there are two groups of springs 12 on any inner grinding head 6 or outer grinding head 7, and the two groups of springs 12 are symmetrically distributed on both sides of the corresponding inner grinding head 6 or outer grinding head 7; the tilt or deflection of the grinding head caused by unilateral force is effectively reduced, and the axial parallelism between the grinding head and the pipe wall is maintained through the coordinated compensation of the springs 12 on both sides, ensuring the straightness of the spiral trajectory and the accuracy of the machined surface morphology, thereby improving the operating reliability of the equipment under complex working conditions.

[0050] Reference Figure 5 and Figure 6The outer circumferential surface of the inner ring 4 and the inner circumferential surface of the outer ring 5 are respectively provided with annular tooth grooves 8 extending along the circumferential direction. A number of rotating gears 9 that cooperate with the corresponding tooth grooves are symmetrically arranged on both sides of the fixed ring 3. A driving member for driving the rotating gear 9 to rotate is also provided on the fixed ring 3. In this embodiment, the driving member can be a servo motor. The driving member drives the inner ring 4 and the outer ring 5 to rotate in the opposite direction through the rotating gear 9 and the corresponding tooth groove transmission. The inner grinding head 6 and the outer grinding head 7 grind the outer wall of the inner tube 1 and the inner wall of the outer tube 2 respectively along the spiral trajectory.

[0051] The implementation principle of the double-wall pipe automatic grinding robot of the embodiment of the present application is as follows: when processing the double-wall pipe interlayer, the operator sends the robot into the double-wall pipe interlayer space, the wall inspection device detects the pipe wall condition, the driving device fits the pipe wall and moves axially at a uniform speed, and at the same time, the hydraulic rods 10 of the inner ring 4 and the outer ring 5 are synchronously extended to push the inner grinding head 6 and the outer grinding head 7 to contact the outer wall of the inner pipe 1 and the inner wall of the outer pipe 2. For different wall conditions, the pressure between the inner grinding head 6, the outer grinding head 7 and the wall can also be adjusted to accurately control the grinding intensity. The driving part rotates the gear 9 and the corresponding gear The groove transmission drives the inner ring 4 and the outer ring 5 to rotate in the opposite direction, and the inner grinding head 6 and the outer grinding head 7 grind the outer wall of the inner tube 1 and the inner wall of the outer tube 2 simultaneously along the spiral trajectory. By combining the composite processing mode of axial feed and rotational motion, the full circumferential continuous processing of the double-walled tube interlayer surface is achieved, thereby ensuring that the entire tube wall surface is evenly covered with grinding treatment, eliminating surface roughness and local defects. After grinding is completed, the robot pauses and the wall inspection device rescans the tube wall surface to verify whether the roughness meets the standard and whether the defects are repaired. After the repair is completed, the robot exits the double-walled tube along the original path in the reverse direction.

[0052] Through the settings of fixed ring 3, inner ring 4, outer ring 5, drive device, etc., the double-wall pipe automatic grinding robot achieves full coverage of small spaces through compact structural design. The fixed ring 3 is centrally nested with inner / outer ring 5, and the annular tooth groove 8 is used for transmission to enable the grinding head to rotate and retract freely to adapt to the minimum interlayer width; the circumferential distribution and reverse rotation of multiple grinding heads form a spiral trajectory to ensure dead-angle processing and eliminate hidden areas that are difficult to reach with traditional methods. At the same time, the integrated hydraulic rod 10 dynamic pressure adjustment can adjust the contact pressure between the grinding head and the pipe wall in real time according to the wall thickness, roughness and defect data fed back by the wall inspection device (the pressure adjustment range is wide and the response time is short), realizing "one area, one policy" precise grinding, avoiding over-grinding to damage the pipe wall or under-grinding to cause residual defects, and ensuring the consistency of grinding quality.

[0053] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the present profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement of the above embodiments made according to the technical essence of the present invention, within the spirit and principles of the present invention, without departing from the content of the technical solution of the present invention, shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A double-walled pipe automatic polishing robot, comprising a fixed ring arranged in the interlayer space between the inner and outer tubes of the double-walled pipe, characterized in that: The two sides of the fixed ring are respectively rotatably connected with a coaxially arranged inner ring and an outer ring, a plurality of inner grinding heads are equidistantly distributed on the inner circumference of the inner ring, and a plurality of outer grinding heads are equidistantly distributed on the outer circumference of the outer ring, and an annular tooth groove extending along the circumference is respectively opened on the outer circumference of the inner ring and the inner circumference of the outer ring, and a plurality of rotating gears that cooperate with the corresponding tooth grooves are symmetrically arranged on both sides of the fixed ring, and a driving member that drives the rotating gear to rotate is also provided on the fixed ring; between the inner ring and the corresponding inner grinding head, and between the outer ring and the corresponding outer Hydraulic rods for controlling extension and retraction are provided between the grinding heads; the fixed ring is integrated with a driving device for driving the entire machine to move axially along the double-walled pipe and a wall inspection device for detecting the condition of the pipe wall; the working surface of the inner grinding head matches the curvature of the outer wall of the inner pipe of the double-walled pipe, and the working surface of the outer grinding head matches the curvature of the inner wall of the outer pipe of the double-walled pipe; the inner ring and the outer ring are respectively provided with springs for connecting with the inner grinding head and the outer grinding head, the inner grinding head is elastically connected to the inner ring through the spring, and the outer grinding head is elastically connected to the outer ring through the spring.

2. The double-wall pipe automatic polishing robot according to claim 1, characterized in that: Tapered roller bearings are respectively provided on both sides of the fixed ring, and the inner ring and the outer ring are connected to the fixed ring in a relatively rotatable manner through the tapered roller bearings.

3. The double-wall pipe automatic polishing robot according to claim 1, characterized in that: There are two groups of springs on any one of the inner grinding head and the outer grinding head, and the two groups of springs are symmetrically distributed on both sides of the corresponding inner grinding head or the outer grinding head.

4. The double-wall pipe automatic polishing robot according to claim 1, characterized in that: The driving devices are provided in two groups and are symmetrically arranged on both sides of the fixed ring. Each group of the driving devices comprises a plurality of driving mechanisms uniformly distributed along the circumference of the fixed ring.

5. The double-wall pipe automatic polishing robot according to claim 4, characterized in that: The driving mechanism includes a support body, a driving wheel and a hydraulic assembly. The support body is connected to the fixed ring, the hydraulic assembly is arranged on the support body, the driving wheel is hinged to the telescopic end of the hydraulic assembly, the working surface of the driving wheel maintains rolling contact with the outer wall of the inner tube, and the support body is also provided with a driving motor that independently controls the speed of the driving wheel.

6. The double-wall pipe automatic polishing robot according to claim 5, characterized in that: A universal coupling for connection is provided between the support body and the fixed ring.

7. The double-wall pipe automatic polishing robot according to claim 1, characterized in that: The wall inspection device includes a high-resolution infrared camera for capturing images of the inner wall, a laser rangefinder for measuring the thickness and shape of the pipe wall, and an ultrasonic sensor for detecting the roughness and defects of the pipe wall.

8. The double-wall pipe automatic polishing robot according to claim 1, characterized in that: The fixed ring is provided with a power supply device for providing power to the driving device, the wall inspection device and the driving member.

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