Automatic polishing device for circumferential weld of pipeline

Abstract

The invention relates to an automatic polishing device for a circumferential weld of a pipeline. The automatic polishing device comprises a walking mechanism, a width feeding mechanism, a height feeding mechanism, a measuring device, a polishing executing mechanism and a control system. The walking mechanism is used for circumferentially moving along a track arranged on a pipeline, the width feeding mechanism is arranged on a main box body of the walking mechanism, the height feeding mechanism is arranged at the driving end of the width feeding mechanism, and the measuring device and the polishing executing mechanism are arranged at the driving end of the height feeding mechanism; the measuring device is used for measuring the circumferential weld of the pipeline and sending measured weld information to the control system, and the control system is used for controlling the width feeding mechanism and the height feeding mechanism to act according to the weld information so as to adjust the feeding amount of the polishing device in the width direction and the height direction of the weld; and the polishing executing mechanism is used for polishing the circumferential weld on the pipeline. According to the automatic polishing device for the pipeline circumferential weld, floating polishing of the pipeline circumferential weld can be achieved, and the polishing quality and polishing efficiency of the pipeline circumferential weld are improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline weld grinding technology, and more specifically, to an automatic grinding device for pipeline circumferential welds. Background Technology

[0002] Currently, grinding of pipe circumferential welds is mostly done manually or semi-automatically using serial robots. However, for circumferential welds exceeding 1 meter in diameter, serial robot-based grinding cannot grind the entire weld. Both manual and semi-automatic methods suffer from high labor intensity, long grinding times, and poor post-weld grinding quality. Furthermore, the quality of manual grinding depends heavily on the experience of the worker, and the metal shavings generated during the grinding process can cause injury. Serial robot-based grinding also suffers from insufficient rigidity. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an automatic grinding device for pipe circumferential welds, which aims to solve the problems existing in the prior art.

[0004] According to the present invention, an automatic grinding device for pipe circumferential welds is provided, comprising: a traveling mechanism, a width feeding mechanism, a height feeding mechanism, a measuring device, a grinding execution mechanism, and a control system; wherein, The traveling mechanism includes a main housing and a traveling mechanism fixing device located at the bottom of the main housing. The traveling mechanism fixing device is used to connect to a track in the circumferential direction of the pipeline and to drive the main housing to move circumferentially along the track. The width feeding mechanism is mounted on the main housing, and the height feeding mechanism is connected to the drive end of the width feeding mechanism. The width feeding mechanism is used to drive the height feeding mechanism to move along the horizontal direction of the main housing. The grinding actuator and the measuring device are both located at the drive end of the height feed mechanism, which is used to drive the grinding actuator and the measuring device to move along the vertical direction of the main housing. The walking mechanism, width feed mechanism, height feed mechanism, measuring device, and grinding execution mechanism are all electrically connected to the control system. The measuring device is used to measure the circumferential weld of the pipeline and send the measured weld information to the control system. The control system is used to control the operation of the width feed mechanism and the height feed mechanism according to the weld information, so as to adjust the feed amount of the grinding execution mechanism in the width and height directions of the weld. The grinding actuator is used to grind the circumferential weld seam on the pipeline.

[0005] Preferably, the walking mechanism fixing device includes a fixed bracket, a walking drive motor, a drive wheel, and two sets of driven wheels; wherein, The fixed bracket is fixed to the bottom of the main housing, and the walking drive motor and the two sets of driven wheels are all mounted on the fixed bracket; The two sets of driven wheels are used to clamp on both sides of the track and can roll along the side of the track; the driving wheel is fixedly connected to the output shaft of the travel drive motor and abuts against the side of the track. The travel drive motor is used to drive the driving wheel to roll along the track to drive the main box to move circumferentially along the track.

[0006] Preferably, the fixed bracket includes a lower frame and a movable plate. The lower frame is a rectangular frame, including two long side plates and two short side plates arranged opposite each other. The movable plate is located outside one of the long side plates of the lower frame. The movable plate is horizontally movable and connected to the lower frame. The distance between the movable plate and the lower frame is adjustable. The walking drive motor and one set of the driven wheels are mounted on the movable plate, and the other set of driven wheels are mounted on the long side plate of the lower frame away from the movable plate.

[0007] Preferably, a movable rod is slidably disposed on one of the long side plates of the lower frame, a sliding vertical plate is fixedly disposed at one end of the movable rod inside the lower frame, the movable plate is fixedly disposed at the end of the movable rod outside the lower frame, a compression spring is sleeved on the movable rod, and the two ends of the compression spring abut against the sliding vertical plate and the long side plate of the lower frame respectively. A locking shaft is rotatably mounted between the two short side plates of the lower frame. A manual crank is fixed to the end of the locking shaft that extends outside the lower frame. A locking cam is fixed to the locking shaft and abuts against the sliding vertical plate. By rotating the manual crank, the locking cam can be rotated. The rotation of the locking cam can push the movable plate to move away from the lower frame.

[0008] Preferably, the width feed mechanism includes a width-direction drive motor, a lead screw, a ball nut, a lead screw sleeve, and a positioning shaft; wherein, The main body is a hollow rectangular box structure, including a front panel, a rear panel, a left panel, a right panel, a bottom plate, and a top plate. The width-direction drive motor is located on the rear panel of the main housing. A sleeve bearing seat is provided on the front panel of the main housing. The lead screw sleeve is slidably disposed in the sleeve bearing seat. One end of the lead screw is connected to the output shaft of the width-direction drive motor. The ball nut is sleeved on the lead screw. The first end of the lead screw sleeve is fixedly connected to the ball nut. The second end of the lead screw sleeve extends out of the main housing. The positioning shaft is slidably disposed on the front panel, and the axis of the positioning shaft is parallel to the axis of the lead screw sleeve. The height direction feeding mechanism is disposed on the second end of the lead screw sleeve and the positioning shaft.

[0009] Preferably, the height-direction feeding mechanism includes a height-direction drive motor, a motor base, a sliding plate, a gear, and a rack; wherein, The motor base is vertically arranged and fixedly connected to the second end of the lead screw sleeve, and the sliding plate is vertically slidably arranged on the motor base; The height-direction drive motor is fixedly connected to the motor base, the gear is fixedly connected to the output shaft of the height-direction drive motor, and the rack is fixedly connected to the sliding plate. The rack meshes with the gear for transmission. A limiting mounting plate is fixed at the lower end of the sliding plate, and the grinding execution mechanism and the measuring device are both connected to the limiting mounting plate.

[0010] Preferably, the grinding actuator includes a rotary platform mounting bracket, a rotary platform, a rotary drive motor, an angle grinder, and an angle grinder mounting bracket; wherein, The rotating platform mounting bracket is mounted on the drive end of the height feed mechanism via a force gauge. The rotating platform is mounted on the rotating platform mounting bracket. The rotating drive motor is fixedly connected to the rotating platform. The input end of the rotating platform is connected to the output shaft of the rotating drive motor. The angle grinder mounting bracket is connected to the output end of the rotating platform. The angle grinder is fixedly connected to the angle grinder mounting bracket.

[0011] Preferably, the lower end of the force measuring instrument is horizontally provided with an adjustment fixing plate, and the two ends of the adjustment fixing plate are respectively provided with a first connecting hole and a second connecting hole; the rotating platform mounting bracket is provided with an angle adjustment plate, the angle adjustment plate has a fan-shaped structure, the small end of the angle adjustment plate is provided with a fixing hole, the large end of the angle adjustment plate is provided with multiple adjustment holes, the fixing bolt passes through the fixing hole of the angle adjustment plate and connects to the first connecting hole of the adjustment fixing plate, and the adjustment bolt passes through one of the adjustment holes of the angle adjustment plate and connects to the second connecting hole of the adjustment fixing plate.

[0012] Preferably, the measuring device is a line laser sensor.

[0013] Preferably, the system further includes a tilt sensor, which is electrically connected to the control system.

[0014] The automatic grinding device for pipe circumferential welds provided by this invention can measure the pipe circumferential welds and control the feed amount of the grinding actuator in the width and height directions of the welds based on the measured weld information, thereby realizing floating grinding of the pipe circumferential welds and improving the grinding quality and efficiency of the pipe circumferential welds. Attached Figure Description

[0015] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0016] Figure 1 A three-dimensional structural schematic diagram of an automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown.

[0017] Figure 2 A bottom view of the automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown.

[0018] Figure 3 A side view of an automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown.

[0019] Figure 4 A top view of the automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown after the top plate of the main casing has been removed.

[0020] Figure 5 A side view of the automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown after the sliding plate has been removed.

[0021] Figure 6 A schematic diagram of the connection between the angle adjustment plate and the force gauge in the automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown.

[0022] Figure 7 A schematic diagram of the structure of the automatic grinding device for pipe circumferential welds according to an embodiment of the present invention is shown when the traveling mechanism fixing device is installed on the track.

[0023] In the diagram: 1. Main housing; 11. Front panel; 12. Rear panel; 13. Left panel; 14. Right panel; 15. Base plate; 2. Walking mechanism fixing device; 21. Lower frame; 211. Long side plate; 212. Short side plate; 22. Movable plate; 23. Walking drive motor; 231. Motor fixing plate; 24. Drive wheel; 25. Driven wheel; 26. Movable rod; 27. Sliding vertical plate; 28. Compression spring; 29. ​​Locking shaft; 291. Locking cam; 292. Manual crank; 3. Width feed mechanism; 31. Width direction drive motor; 32. Lead screw; 33. Ball nut; 34. Lead screw sleeve; 35. Sleeve bearing seat; 36. Positioning shaft; 37. Limit plate; 38. Slot switch; 39. Lead screw seat; 4. Height feed mechanism; 41. Height direction drive motor; 42. Motor seat; 43. Sliding plate; 44. Gear; 45. Rack; 46. Limit mounting plate; 47. Slider; 48. Guide rail; 5. Measuring device; 6. Grinding actuator; 61. Rotary platform mounting bracket; 611. Rotary platform connecting plate; 612. Rotary platform mounting plate; 62. Rotary platform; 63. Rotary drive motor; 64. Angle grinder; 65. Angle grinder mounting bracket; 651. Angle grinder mounting plate; 652. Angle grinder connecting plate; 653. Angle grinder fixing plate; 66. Angle adjustment plate; 661. Fixing hole; 662. Adjustment hole; 7. Force gauge; 71. Adjustment fixing plate; 8. Rail. Detailed Implementation

[0024] Various embodiments of the invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by the same or similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0025] This invention provides an automatic grinding device for pipe circumferential welds, see [link / reference]. Figure 1 and Figure 3The automatic grinding device for pipe circumferential welds includes: a traveling mechanism, a width feeding mechanism 3, a height feeding mechanism 4, a measuring device 5, a grinding execution mechanism 6, and a control system. The traveling mechanism includes a main housing 1 and a traveling mechanism fixing device 2 located at the bottom of the main housing 1. The traveling mechanism fixing device 2 is used to connect to a track 8 circumferentially around the pipe and to drive the main housing 1 to move circumferentially along the track 8. The width feeding mechanism 3 is located on the main housing 1, and the height feeding mechanism 4 is connected to the drive end of the width feeding mechanism 3. The width feeding mechanism 3 drives the height feeding mechanism 4 to move horizontally along the main housing 1. The grinding execution mechanism 6 and the measuring device 5 are both located at the drive end of the height feeding mechanism 4. The height feeding mechanism 4 drives the grinding execution mechanism 6 and the measuring device 5 to move vertically along the main housing 1. The traveling mechanism, width feed mechanism 3, height feed mechanism 4, measuring device 5, and grinding execution mechanism 6 are all electrically connected to the control system. The measuring device 5 is used to measure the circumferential weld of the pipeline and send the measured weld information to the control system. The control system is used to control the operation of the width feed mechanism 3 and the height feed mechanism 4 according to the weld information, so as to adjust the feed amount of the grinding execution mechanism 6 in the width and height directions of the weld. The grinding execution mechanism 6 is used to grind the circumferential weld on the pipeline.

[0026] Specifically, the measuring device 5 is a line laser sensor with high recognition accuracy. The line laser sensor acquires the shape of the line laser irradiated onto the weld surface by the line laser generator through the image acquisition system, and obtains the weld information of the weld width and weld reinforcement at that location. After the weld information is sent to the control system, the control system controls the operation of the width feed mechanism 3 and the height feed mechanism 4 according to the obtained weld information including the weld width and weld reinforcement, and adjusts the feed amount of the grinding execution mechanism 6 in the weld width direction and height direction to realize floating grinding of the pipe circumferential weld.

[0027] See Figure 1 and Figure 2 The walking mechanism fixing device 2 includes a fixed bracket, a walking drive motor 23, a drive wheel 24, and two sets of driven wheels 25. The fixed bracket is fixed to the bottom of the main housing 1. The walking drive motor 23 and the two sets of driven wheels 25 are all mounted on the fixed bracket. The two sets of driven wheels 25 are used to clamp onto both sides of the track 8 and can roll along the side of the track 8. The drive wheel 24 is fixedly connected to the output shaft of the walking drive motor 23 and abuts against the side of the track 8. The walking drive motor 23 drives the drive wheel 24 to roll along the track 8, thereby moving the main housing 1 circumferentially along the track 8.

[0028] Specifically, the fixed bracket includes a lower frame 21 and a movable plate 22. The lower frame 21 is a rectangular frame, including two long side plates 211 and two short side plates 212 arranged opposite each other. The movable plate 22 is located outside one of the long side plates 211 of the lower frame 21. The movable plate 22 is horizontally movable and connected to the lower frame 21, and the distance between the movable plate 22 and the lower frame 21 is adjustable. The walking drive motor 23 and one set of driven wheels 25 are located on the movable plate 22, and the other set of driven wheels 25 are located on the long side plate 211 of the lower frame 21 away from the movable plate 22. A motor fixing plate 231 is provided on the outer side of the movable plate 22, and the walking drive motor 23 is fixedly connected to the motor fixing plate 231. The walking drive motor 23 is a DC motor. The driven wheels 25 are rotatably connected to a driven wheel 25 fixing frame, which is fixedly connected to the lower frame 21 and the movable plate 22 by bolts. Since the movable plate 22 is horizontally movable and connected to the lower frame 21, when it is necessary to connect the grinding device to the track 8 circumferentially arranged on the pipe, first adjust the distance between the movable plate 22 and the lower frame 21 to increase the distance between the two sets of driven wheels 25 to be greater than the width of the track 8. Then, place the grinding device on the track 8 so that the two sets of driven wheels 25 are located on both sides of the track 8. Finally, adjust the distance between the movable plate 22 and the lower frame 21 to decrease the distance so that the two sets of driven wheels 25 abut against the two sides of the track 8, thereby enabling the grinding device to move circumferentially along the track 8.

[0029] Furthermore, a movable rod 26 is slidably mounted on one of the long side plates 211 of the lower frame 21. A sliding vertical plate 27 is fixed to one end of the movable rod 26 located inside the lower frame 21. A movable plate 22 is fixed to the end of the movable rod 26 located outside the lower frame 21. A compression spring 28 is sleeved on the movable rod 26. The two ends of the compression spring 28 abut against the sliding vertical plate 27 and the long side plate 211 of the lower frame 21, respectively. A locking shaft 29 is rotatably mounted between the two short side plates 212 of the lower frame 21. A manual crank 292 is fixed to the end of the locking shaft 29 extending outside the lower frame 21. A locking cam 291 is fixed to the locking shaft 29. The locking cam 291 abuts against the sliding vertical plate 27. By rotating the manual crank 292, the locking cam 291 can be driven to rotate. The rotation of the locking cam 291 can push the movable plate 22 to move away from the lower frame 21.

[0030] In this embodiment, each group of driven wheels 25 includes two driven wheels 25, see [link to documentation]. Figure 7The track 8 is a ring-shaped plate structure of a certain width. The driven wheel 25 has a circumferentially extending groove, which can be engaged with the side of the track 8 to prevent the driven wheel 25 from rolling out of the track 8. Two locking cams 291 are spaced apart on the locking shaft 29. When the grinding device is installed on the track 8, the locking shaft 29 is first rotated by turning the manual crank 292. The rotation of the locking shaft 29 will drive the locking cams 291 to rotate. When the locking cams 291 rotate, they will push the sliding vertical plate 27 to move away from the locking shaft 29, thereby compressing the compression spring 28 and driving the movable plate 22 to move away from the locking shaft 29, increasing the distance between the two sets of driven wheels 25. At this time, the two sets of driven wheels 25 can be placed on both sides of the track 8. Then, the manual crank 292 is rotated in the opposite direction. Under the action of the elastic force of the compression spring 28, the movable plate 22 is driven to move closer to the locking shaft 29, thereby clamping the two sets of driven wheels 25 on both sides of the track 8. In this embodiment, there are two movable rods 26 and two compression springs 28, which improves the stability of the movable plate 22 when it moves horizontally. A guide rail is also provided in the lower frame 21. The extension direction of the guide rail is consistent with the sliding direction of the movable rod 26. The sliding vertical plate 27 is slidably connected to the guide rail, so that the sliding vertical plate 27 can move linearly along the guide rail.

[0031] Furthermore, the automatic grinding device for pipe circumferential welds also includes a tilt sensor, which is electrically connected to the control system. In specific implementations, both the tilt sensor and the control system can be installed in the main housing 1. By using the tilt sensor, the rotation angle of the grinding device relative to the pipe can be detected in real time during the grinding process, enabling the grinding device to reach the target position on the pipe.

[0032] See Figure 4The width feed mechanism 3 includes a width direction drive motor 31, a lead screw 32, a ball nut 33, a lead screw sleeve 34, and a positioning shaft 36; wherein, the main housing 1 is a hollow cuboid box structure, including a front panel 11, a rear panel 12, a left panel 13, a right panel 14, a bottom plate 15, and a top plate; the width direction drive motor 31 is mounted on the rear panel 12 of the main housing 1, and a sleeve bearing seat 35 is provided on the front panel 11 of the main housing 1, and the lead screw sleeve 34 is slidably disposed in the sleeve bearing seat 35. One end of the lead screw 32 is connected to the output shaft of the width-direction drive motor 31. The ball nut 33 is sleeved on the lead screw 32. The first end of the lead screw sleeve 34 is fixedly connected to the ball nut 33, and the second end of the lead screw sleeve 34 extends out of the main housing 1. The positioning shaft 36 is slidably disposed on the front panel 11, and the axis of the positioning shaft 36 is parallel to the axis of the lead screw sleeve 34. The height-direction feed mechanism is disposed on the second end of the lead screw sleeve 34 and the positioning shaft 36. The positioning shaft 36 serves as a guide to prevent the lead screw sleeve 34 from rotating.

[0033] Specifically, the lead screw 32 is connected to the output shaft of the width-direction drive motor 31 via a coupling. A lead screw seat 39 is also provided on the left panel 13 of the main housing 1. The end of the lead screw 32 closest to the width-direction drive motor 31 is rotatably connected to the lead screw seat 39, thereby improving the stability of the lead screw 32 during rotation. During the operation of this grinding device, when the feed amount in the weld width direction changes, the measuring device 5 sends the feed amount change information in the weld width direction to the control system. The control system sends a command to the width-direction drive motor 31, which drives the lead screw 32 to rotate, thereby driving the ball nut 33 and the lead screw sleeve 34 to move linearly, which in turn drives the height-direction feed mechanism to move along the weld width direction, ultimately changing the feed amount of the grinding execution mechanism 6 along the weld width direction. A slotted switch 38 is also provided on the left panel 13 of the main housing 1. The slotted switch 38 is electrically connected to the control system. A limiting piece 37 is fixed on the ball nut 33. The limiting piece 37 and the slotted switch 38 work together to limit the movement of the lead screw sleeve 34, preventing the lead screw sleeve 34 from fully retracting into the main housing 1. When the limiting piece 37 abuts against the slotted switch 38, the slotted switch 38 sends a detection signal to the control system. The control system then stops the width-direction drive motor 31 to prevent the lead screw sleeve 34 from continuing to move into the main housing 1. In this embodiment, the width-direction drive motor 31 is a stepper motor.

[0034] See Figure 1 and Figure 5The height-direction feeding mechanism includes a height-direction drive motor 41, a motor base 42, a sliding plate 43, a gear 44, and a rack 45. The motor base 42 is vertically positioned and fixedly connected to the second end of the lead screw sleeve 34. The sliding plate 43 is vertically slidably positioned on the motor base 42. The height-direction drive motor 41 is fixedly connected to the motor base 42. The gear 44 is fixedly connected to the output shaft of the height-direction drive motor 41. The rack 45 is fixedly connected to the sliding plate 43, and the rack 45 meshes with the gear 44 for transmission. A limiting mounting plate 46 is fixedly provided at the lower end of the sliding plate 43. The grinding execution mechanism 6 and the measuring device 5 are both connected to the limiting mounting plate 46.

[0035] Specifically, two sliders 47 are provided on the side of the motor base 42 facing the sliding plate 43, and two guide rails 48 are correspondingly provided on the side of the sliding plate 43 facing the motor base 42. The two guide rails 48 are slidably connected to the two sliders 47, so that the sliding plate 43 can be vertically slidably mounted on the motor base 42. The rack 45 is fixedly connected to the side of the sliding plate 43 facing the motor base 42 by screws. The height-direction drive motor 41 is fixedly connected to the outside of the motor base 42 by bolts. The output shaft of the height-direction drive motor 41 extends through the through hole on the motor base 42 to the inside of the motor base 42. The gear 44 is fixedly connected to the output shaft of the height-direction drive motor 41. During the operation of this grinding device, when the weld height changes, the measuring device 5 sends the weld information to the control system. The control system then sends a command to the height-direction drive motor 41, which drives the gear 44 to rotate. The gear 44 then drives the rack 45 to move. The length direction of the rack 45 is aligned with the sliding direction of the sliding plate 43. When the rack 45 moves, it causes the sliding plate 43 to move vertically, thereby causing the grinding actuator 6, which is mounted on the lower limit mounting plate 46 of the sliding plate 43, to move vertically, thus changing the feed amount of the grinding actuator 6 along the weld height direction. In this embodiment, the height-direction drive motor 41 is a stepper motor. In this embodiment, the measuring device 5 is a laser sensor, which is mounted and fixed on the limit mounting plate 46 via a laser sensor mounting bracket.

[0036] See Figure 5The grinding actuator 6 includes a rotary platform mounting bracket 61, a rotary platform 62, a rotary drive motor 63, an angle grinder 64, and an angle grinder mounting frame 65. The rotary platform mounting bracket 61 is mounted on the drive end of the height feed mechanism 4 via a force gauge 7. The rotary platform 62 is mounted on the rotary platform mounting bracket 61. The rotary drive motor 63 is fixedly connected to the rotary platform 62. The input end of the rotary platform 62 is connected to the output shaft of the rotary drive motor 63. The angle grinder mounting frame 65 is connected to the output end of the rotary platform 62. The angle grinder 64 is fixedly connected to the angle grinder mounting frame 65. The force gauge 7 is electrically connected to the control system. The force gauge 7 can detect the force on the grinding actuator 6 in the weld height direction in real time during the grinding process. When the force on the grinding actuator 6 exceeds the threshold, the feed amount of the actuator in the weld height direction is adjusted so that the force on the grinding actuator 6 is within a controllable range, preventing problems such as the angle grinder 64 stopping or the grinding quality decreasing due to excessive grinding force.

[0037] Further, see Figure 6 The lower end of the force measuring instrument 7 is horizontally provided with an adjustment fixing plate 71. The two ends of the adjustment fixing plate 71 are respectively provided with a first connecting hole and a second connecting hole. An angle adjustment plate 66 is provided on the rotating platform mounting bracket 61. The angle adjustment plate 66 has a fan-shaped structure. The small end of the angle adjustment plate 66 is provided with a fixing hole 661, and the large end of the angle adjustment plate 66 is provided with multiple adjustment holes 662. The fixing bolt passes through the fixing hole 661 on the angle adjustment plate 66 and connects to the first connecting hole on the adjustment fixing plate 71. The adjustment bolt passes through one of the adjustment holes 662 on the angle adjustment plate 66 and connects to the second connecting hole on the adjustment fixing plate 71. In practice, the first and second connecting holes on the adjusting plate 71 are threaded holes, and the fixing hole 661 and adjusting hole 662 on the angle adjusting plate 66 are bolt through holes. The fixing bolt passes through the fixing hole 661 and is connected and fixed to the first connecting hole. The adjusting bolt passes through one of the adjusting holes 662 and is connected and fixed to the second connecting hole. By making the adjusting bolt pass through different adjusting holes 662 on the angle adjusting plate 66, the angle of the rotating platform mounting bracket 61 can be changed, thereby adjusting the included angle between the angle grinder 64 and the weld.

[0038] In this embodiment, the rotating platform mounting bracket 61 includes a rotating platform connecting plate 611 and a rotating platform mounting plate 612 vertically connected together. Two angle adjustment plates 66 are welded and fixed to the rotating platform connecting plate 611, and are respectively positioned on both sides of the adjustment and fixing plate 71 at the lower end of the force gauge 7. The rotating platform connecting plate 611 and the rotating platform mounting plate 612 are welded and fixedly connected, with a triangular reinforcing rib between them to enhance the connection strength. The rotating platform 62 is mounted and fixedly installed on the rotating platform mounting plate 612. The angle grinder mounting bracket 65 includes an angle grinder mounting plate 651, an angle grinder connecting plate 652, and an angle grinder fixing plate 653. The angle grinder connecting plate 652 is vertically connected to the angle grinder mounting plate 651 and welded and fixed, with a triangular reinforcing rib between them to enhance the connection strength. The angle grinder connecting plate 652 is fixedly connected to the output end of the rotating platform 62. Two angle grinder fixing plates 653 are provided, spaced apart along the length of the angle grinder mounting plate 651, and are used to fix the front and rear ends of the angle grinder 64 body respectively. The angle grinder fixing plate 653 has a two-piece structure; one piece is fixed to the angle grinder mounting plate 651 with screws, and the other piece is connected to the piece fixed to the angle grinder mounting plate 651 with bolts, thereby achieving clamping and fixing of the angle grinder 64. In this embodiment, the rotary drive motor 63 is a stepper motor. When the weld seam requires edge grinding, the control system sends a command to the rotary drive motor 63, which drives the rotary platform 62 to rotate, causing the angle grinder 64 to change its angle in the weld seam width direction to complete the edge grinding. When the angle between the angle grinder 64 and the weld seam needs to be changed, the angle between the angle grinder 64 and the weld seam is adjusted by changing the fixed position of the angle adjustment plate 66 on the adjustment fixing plate 71. During the operation of the grinding device, when the normal grinding force is too large and the detection value of the force gauge 7 exceeds the threshold, the alarm system is triggered to automatically lift the blade, preventing the angle grinder 64 in the grinding actuator 6 from stopping due to excessive normal grinding force.

[0039] The process of using the above-mentioned automatic grinding device for pipe circumferential welds is illustrated in the following embodiment: The laser sensor is activated, and the grinding actuator is in the off state. The traveling mechanism rotates around the pipe circumference along the track. During rotation, the laser sensor collects weld information such as weld reinforcement height and weld width. After the weld information is collected, the weld reinforcement height and weld width at each position of the pipe circumferential weld are obtained. The coordinates of the feature points are stored in a register for later use in grinding. It is then determined whether the weld reinforcement height and weld width at each position meet the grinding standard, and the positions requiring grinding are marked. During the subsequent work, the traveling mechanism adopts a slower travel speed in the areas requiring grinding and a faster travel speed in the areas not requiring grinding. The angle grinder is started, and the feed amount of the grinding actuator in the weld height and weld width directions is controlled according to the weld information and judgment results collected above. At the same time, the grinding parameters are controlled during the grinding process in conjunction with the pipe circumferential weld grinding process. After one grinding is completed, the above steps are repeated to collect the weld reinforcement height and weld width information after grinding, check the grinding results, and prepare for the second grinding. The reinforcement height that cannot be removed by one grinding is removed again due to excessive weld reinforcement.

[0040] In summary, the automatic grinding device for pipe circumferential welds provided by this invention can measure the pipe circumferential welds and control the feed amount of the grinding actuator in the width and height directions of the weld according to the measured weld information, thereby realizing floating grinding of the pipe circumferential welds and improving the grinding quality and grinding efficiency of the pipe circumferential welds.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automatic grinding device for pipe circumferential welds, characterized in that, include: The system includes a walking mechanism, a width feed mechanism, a height feed mechanism, a measuring device, a grinding actuator, and a control system; among which, The traveling mechanism includes a main housing and a traveling mechanism fixing device located at the bottom of the main housing. The traveling mechanism fixing device is used to connect to a track in the circumferential direction of the pipeline and to drive the main housing to move circumferentially along the track. The width feeding mechanism is mounted on the main housing, and the height feeding mechanism is connected to the drive end of the width feeding mechanism. The width feeding mechanism is used to drive the height feeding mechanism to move along the horizontal direction of the main housing. The grinding actuator and the measuring device are both located at the drive end of the height feed mechanism, which is used to drive the grinding actuator and the measuring device to move along the vertical direction of the main housing. The walking mechanism, width feed mechanism, height feed mechanism, measuring device, and grinding execution mechanism are all electrically connected to the control system. The measuring device is used to measure the circumferential weld of the pipeline and send the measured weld information to the control system. The control system is used to control the operation of the width feed mechanism and the height feed mechanism according to the weld information, so as to adjust the feed amount of the grinding execution mechanism in the width and height directions of the weld. The grinding actuator is used to grind the circumferential weld seam on the pipeline.

2. The automatic grinding device for pipe circumferential welds according to claim 1, characterized in that, The walking mechanism fixing device includes a fixed bracket, a walking drive motor, a drive wheel, and two sets of driven wheels; wherein... The fixed bracket is fixed to the bottom of the main housing, and the walking drive motor and the two sets of driven wheels are all mounted on the fixed bracket; The two sets of driven wheels are used to clamp on both sides of the track and can roll along the side of the track; the driving wheel is fixedly connected to the output shaft of the travel drive motor and abuts against the side of the track. The travel drive motor is used to drive the driving wheel to roll along the track to drive the main box to move circumferentially along the track.

3. The automatic grinding device for pipe circumferential welds according to claim 2, characterized in that, The fixed bracket includes a lower frame and a movable plate. The lower frame is a rectangular frame, including two long side plates and two short side plates arranged opposite each other. The movable plate is located outside one of the long side plates of the lower frame. The movable plate is horizontally movable and connected to the lower frame. The distance between the movable plate and the lower frame is adjustable. The walking drive motor and one set of the driven wheels are mounted on the movable plate, and the other set of driven wheels are mounted on the long side plate of the lower frame away from the movable plate.

4. The automatic grinding device for pipe circumferential welds according to claim 3, characterized in that, A movable rod is slidably mounted on one of the long side plates of the lower frame. A sliding vertical plate is fixed to one end of the movable rod inside the lower frame. The movable plate is fixed to the end of the movable rod outside the lower frame. A compression spring is sleeved on the movable rod. The two ends of the compression spring abut against the sliding vertical plate and the long side plate of the lower frame, respectively. A locking shaft is rotatably mounted between the two short side plates of the lower frame. A manual crank is fixed to the end of the locking shaft that extends outside the lower frame. A locking cam is fixed to the locking shaft and abuts against the sliding vertical plate. By rotating the manual crank, the locking cam can be rotated. The rotation of the locking cam can push the movable plate to move away from the lower frame.

5. The automatic grinding device for pipe circumferential welds according to claim 1, characterized in that, The width feed mechanism includes a width-direction drive motor, a lead screw, a ball nut, a lead screw sleeve, and a positioning shaft; wherein... The main body is a hollow rectangular box structure, including a front panel, a rear panel, a left panel, a right panel, a bottom plate, and a top plate. The width-direction drive motor is located on the rear panel of the main housing. A sleeve bearing seat is provided on the front panel of the main housing. The lead screw sleeve is slidably disposed in the sleeve bearing seat. One end of the lead screw is connected to the output shaft of the width-direction drive motor. The ball nut is sleeved on the lead screw. The first end of the lead screw sleeve is fixedly connected to the ball nut. The second end of the lead screw sleeve extends out of the main housing. The positioning shaft is slidably disposed on the front panel, and the axis of the positioning shaft is parallel to the axis of the lead screw sleeve. The height direction feeding mechanism is disposed on the second end of the lead screw sleeve and the positioning shaft.

6. The automatic grinding device for pipe circumferential welds according to claim 1, characterized in that, The height-direction feeding mechanism includes a height-direction drive motor, a motor base, a sliding plate, gears, and a rack; wherein... The motor base is vertically arranged and fixedly connected to the second end of the lead screw sleeve, and the sliding plate is vertically slidably arranged on the motor base; The height-direction drive motor is fixedly connected to the motor base, the gear is fixedly connected to the output shaft of the height-direction drive motor, and the rack is fixedly connected to the sliding plate. The rack meshes with the gear for transmission. A limiting mounting plate is fixed at the lower end of the sliding plate, and the grinding execution mechanism and the measuring device are both connected to the limiting mounting plate.

7. The automatic grinding device for pipe circumferential welds according to claim 1, characterized in that, The grinding actuator includes a rotary platform mounting bracket, a rotary platform, a rotary drive motor, an angle grinder, and an angle grinder mounting bracket; wherein... The rotating platform mounting bracket is mounted on the drive end of the height feed mechanism via a force gauge. The rotating platform is mounted on the rotating platform mounting bracket. The rotating drive motor is fixedly connected to the rotating platform. The input end of the rotating platform is connected to the output shaft of the rotating drive motor. The angle grinder mounting bracket is connected to the output end of the rotating platform. The angle grinder is fixedly connected to the angle grinder mounting bracket.

8. The automatic grinding device for pipe circumferential welds according to claim 7, characterized in that, The lower end of the force measuring instrument is horizontally equipped with an adjustment and fixing plate, and the two ends of the adjustment and fixing plate are respectively provided with a first connecting hole and a second connecting hole; the rotating platform mounting bracket is equipped with an angle adjustment plate, which is fan-shaped. The small end of the angle adjustment plate is provided with a fixing hole, and the large end of the angle adjustment plate is provided with multiple adjustment holes. The fixing bolt passes through the fixing hole on the angle adjustment plate and connects to the first connecting hole on the adjustment and fixing plate. The adjustment bolt passes through one of the adjustment holes on the angle adjustment plate and connects to the second connecting hole on the adjustment and fixing plate.

9. The automatic grinding device for pipe circumferential welds according to claim 1, characterized in that, The measuring device is a line laser sensor.

10. The automatic grinding device for pipe circumferential welds according to any one of claims 1-9, characterized in that, It also includes a tilt sensor, which is electrically connected to the control system.

Images