Intelligent grooving trolley for inner wall of pipeline and construction method

Abstract

The intelligent grooving trolley comprises an inner wall annular cutting frame, an annular cutting device and an axis deviation rectifying device, the inner wall annular cutting frame comprises two annular ring plates, the axis deviation rectifying device is located in the inner wall annular cutting frame, and the axis deviation rectifying device is installed on a cross beam in a sliding mode; the axis deviation rectifying device is used for adjusting the axis of the inner wall girdling frame to be aligned with the axis of the pipeline, and the annular cutting device is installed on the ring plate away from the steel plate installation trolley in a sliding mode and can move in the circumferential direction of the ring plate. The steel plate mounting trolley moves the inner wall girdling frame to the position, needing to be grooved, of the pipeline, the axis deviation rectifying device adjusts the inner wall girdling frame to be coaxial with the pipeline, the cutting quality is guaranteed, at the moment, the grooving device is started to conduct grooving, in the grooving process, the grooving device moves in the circumferential direction of the ring plate, and therefore annular grooving work is achieved. The first annular groove is formed through one-time cutting, the equipment completes cutting of the remaining grooves in sequence according to preset parameters, and the groove cutting efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline trolley technology, specifically to an intelligent pipeline inner wall grooving trolley and construction method. Background Technology

[0002] In municipal water supply and drainage, water conservancy projects, oil and gas transportation and other fields, large-diameter pipelines often require the cutting of annular grooves on their inner walls during installation, maintenance or special structural connections. These grooves can be used to install water-stop rings, load-bearing rings or as slots for special connections. The quality of these cuts directly affects the sealing performance, structural stability and service life of the pipeline system.

[0003] Currently, grooving operations on the inner wall of pipes mainly rely on the following two methods: Manual handheld device operation: Construction workers entered the pipe and used tools such as angle grinders and handheld cutters to cut it, relying on experience and drawn lines.

[0004] Existing defects: Poor precision and quality: Relying entirely on manual control makes it difficult to guarantee the roundness of the annular groove, the consistency of the groove depth, and the absolute level of the groove. This can easily lead to problems such as groove tilting and uneven depth, which seriously affects the quality of subsequent installation.

[0005] Extremely inefficient: Each cut of a ring groove requires a tedious process of repeatedly drawing lines, positioning, and cutting, resulting in high labor intensity and slow construction progress.

[0006] High safety risks: The cutting process generates a large amount of dust and sparks, which poses a serious threat to the health of construction workers (such as the risk of pneumoconiosis), and there are also safety hazards such as mechanical injury and electric shock.

[0007] High requirements for construction space: It is limited to large-diameter pipes that can be accessed by personnel. Personnel cannot work on narrow or poorly ventilated pipes.

[0008] Simple mechanical devices as aids: The pipe is inserted into a support with rollers, and a cutting head is installed on the support. The circumferential cutting is performed by manual pushing or simple motor drive.

[0009] Existing defects: Insufficient centering accuracy: When the device moves inside the pipeline, it is difficult to ensure that its center of rotation coincides with the pipeline axis. Once there is eccentricity, the cut annular groove will not be concentric with the pipeline, becoming a quality defect. This problem is particularly prominent when the inner wall of the pipeline is uneven or there are obstacles.

[0010] Low level of automation: still requires a lot of manual intervention for positioning, adjustment and monitoring, cutting parameters (such as depth and speed) are not accurately controlled, and continuous, multi-groove automated operation cannot be achieved.

[0011] Difficulty in movement and positioning: In the narrow space of the pipeline, the equipment is bulky, and it is very inconvenient to move, adjust and accurately position it, which seriously affects the construction efficiency.

[0012] Dust pollution remains unresolved: most simple installations do not integrate effective dust removal systems, and the construction environment remains harsh.

[0013] In summary, existing pipe grooving methods generally suffer from poor positioning accuracy, low automation, low construction efficiency, harsh working environments, and insufficient safety. In particular, how to quickly and accurately center the cutting equipment inside large-diameter pipes and automatically cut multiple high-quality annular grooves while effectively controlling dust pollution has become a pressing technical challenge in this field.

[0014] Therefore, there is an urgent need in this field for a pipe inner wall grooving equipment and construction method that integrates intelligent positioning, automatic deviation correction, efficient cutting and dust suppression, in order to overcome the inherent defects of the above-mentioned prior art. Summary of the Invention

[0015] This invention provides an intelligent grooving trolley for pipe inner walls and a construction method thereof, aiming to solve the problems mentioned in the background art.

[0016] To achieve the above objectives, the present invention provides the following technical solution: An intelligent grooving trolley for pipe inner walls includes a steel plate mounting trolley, an inner wall circumferential cutting frame, an annular cutting device, and an axis correction device. The inner wall circumferential cutting frame includes two annular plates, which are fixedly connected by multiple tie rods. The axis correction device is located inside the inner wall circumferential cutting frame. A crossbeam is provided inside the inner wall circumferential cutting frame, and one end of the crossbeam is fixedly connected to the steel plate mounting trolley. The axis correction device is slidably mounted on the crossbeam and is used to adjust the axis of the inner wall circumferential cutting frame to align with the axis of the pipe. The annular cutting device is slidably mounted on an annular plate away from the steel plate mounting trolley and can move along the circumference of the annular plate. A nozzle is installed on the annular cutting device for dust removal and cooling.

[0017] Preferably, the annular cutting device includes a U-shaped slide, a motor, and a grooving machine. I-beam pulleys are rotatably mounted on both sides of the opening of the U-shaped slide, and the two I-beam pulleys roll and clamp the corresponding annular plates on both sides. The motor is fixedly mounted on one side of the U-shaped slide and is used to drive the U-shaped slide to move along the circumference of the annular track. The grooving machine is mounted on the other side of the U-shaped slide through a transverse pushing mechanism, which is used to adjust the distance between the grooving machine and the inner wall of the pipe.

[0018] Preferably, the inner ring of the ring plate has a toothed groove, and a transmission gear that meshes with the toothed groove is rotatably installed inside the U-shaped slide. The output shaft of the motor is fixedly connected to the transmission gear, and the motor is used to drive the transmission gear to rotate. The outer ring of the ring plate is fixedly provided with an integral ring rib, and the two ends of the plurality of pull rods are respectively fixedly connected to the ring ribs of the two ring plates.

[0019] Preferably, the transverse pushing mechanism includes a linear guide rail and a first lead screw motor. The linear guide rail is fixedly installed on the outside of the U-shaped slide block, and a slider is slidably installed in the groove of the linear guide rail. A threaded hole is opened in the middle of the slider. The grooving machine is fixedly installed on the outside of the slider, and the lead screw shaft of the first lead screw motor is connected to the threaded hole of the slider.

[0020] Preferably, multiple laser position sensors are uniformly fixedly installed on the outer side of the ring plate.

[0021] Preferably, a first groove is provided on the upper part of the crossbeam along the length direction, a first threaded slider is slidably installed in the first groove, and a second lead screw motor for driving the first threaded slider to move axially is fixedly installed at one end of the crossbeam.

[0022] Preferably, the axis correction device includes a slide beam and a lifting cylinder. The bottom of the slide beam is fixedly connected to a first threaded slider. A second slide groove is provided on the upper part of the slide beam along the length direction. A second threaded slider is slidably installed in the second slide groove. A third lead screw motor for driving the axial movement of the second threaded slider is fixedly installed at one end of the slide beam. The lifting cylinder is fixedly installed on the upper part of the second threaded slider. The upper end of the piston shaft of the lifting cylinder is fixedly connected to a corresponding pull rod.

[0023] Preferably, an anchoring screw is fixedly installed on the crossbeam, and the anchoring screw is used to fix the crossbeam to the inner wall of the pipe.

[0024] Preferably, an annular guide rail is provided between the two annular plates. The annular guide rail is fixedly connected to the pull rod. A U-shaped water pipe seat is slidably installed on the inner side of the annular guide rail. The nozzle is fixedly installed on the outer side of the U-shaped slide seat. The water outlet of the nozzle faces the edge of the grooving machine blade. A hanging ear is fixedly installed on one side of the U-shaped slide seat, flush with the nozzle position. The hanging ear and the U-shaped water pipe are used to suspend the water supply pipe. One end of the water supply pipe is connected to the nozzle and is used to deliver high-pressure water to the nozzle.

[0025] A construction method for an intelligent internal wall grooving trolley includes the following steps: a. The steel plate installation trolley moves the inner wall circumferential cutting frame to the position where the pipe needs to be grooved, and the distance between the ring plate and the inner wall of the pipe is detected by the laser position sensor; b. Based on the distance data detected by the laser position sensor, PLC control is used to control all parameters of the second lead screw motor, the third lead screw motor, the first lead screw motor and the lifting cylinder, thereby adjusting the inner wall circumferential cutting frame to be coaxial with the pipeline; c. Start the grooving machine and push it towards the inner wall of the pipe through the first lead screw motor to perform grooving; d. During the grooving process, the motor can drive the U-shaped slide to move along the circumference of the ring plate, thereby realizing the ring grooving operation; e. Water is supplied to the nozzle through the water supply pipe, and the nozzle can continuously spray water towards the cutting head of the grooving machine.

[0026] The steel plate installation trolley moves the inner wall circumferential cutting frame to the position where the pipe needs to be grouted. The axis correction device adjusts the inner wall circumferential cutting frame to be coaxial with the pipe, enabling precise control and avoiding the problem of the inner wall circumferential cutting frame not being coaxial with the pipe due to the trolley's inability to move easily in the pipe space. This improves construction efficiency and ensures the cutting quality. At this time, the grooving device is started to cut the groove. During the grooving process, the grooving device moves in the circumferential direction of the ring plate to achieve the ring grooving work. The first ring groove is cut and formed in one go. The equipment completes the cutting of the remaining grooves in sequence according to the preset parameters. The whole process is fully automatic, which improves the grooving efficiency. During the grooving process, the nozzle can continuously spray water along with the movement of the grooving machine to reduce the dust generated during the grooving process and at the same time play a cooling role, extending the service life of the grooving machine. Attached Figure Description

[0027] Figure 1 A schematic diagram of a smart grooving trolley for pipe inner walls; Figure 2 A schematic diagram of the inner wall circumferential cutting frame structure of an intelligent grooving trolley for pipe inner walls; Figure 3 A schematic diagram of the U-shaped slide structure of an intelligent grooving trolley for pipe inner walls; Figure 4 This is a flowchart illustrating the construction method of an intelligent grooving trolley for the inner wall of a pipeline.

[0028] In the picture: 1. Steel plate installation trolley; 2. Crossbeam; 21. First chute; 22. Second screw motor; 3. Inner wall ring cutting frame; 31. Ring plate; 32. Tooth groove; 33. Ring rib; 34. Laser position sensor; 35. Tie rod; 36. Circular guide rail; 361. U-shaped water pipe seat; 4. Circular cutting device; 41. U-shaped slide; 42. I-beam pulley; 43. Motor; 44. Transmission gear; 45. Grooving machine; 46. Lateral jacking mechanism; 461. Linear guide rail; 462. First screw motor; 47. Hanging lug; 48. Nozzle; 7. Anchor screw; 8. Suspension plate; 81. Telescopic rod; 9. Slide beam; 91. Second chute; 92. Lifting cylinder; 93. Third screw motor. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] See Figure 1 and Figure 2 As shown, the present invention provides an intelligent grooving trolley for the inner wall of a pipe, including a steel plate mounting trolley 1, an inner wall circumferential cutting frame 3, an annular cutting device 4, and an axis correction device. The inner wall circumferential cutting frame 3 includes two annular plates 31, which are fixedly connected by multiple tie rods 35. The axis correction device is located inside the inner wall circumferential cutting frame 3. A crossbeam 2 is provided inside the inner wall circumferential cutting frame 3. One end of the crossbeam 2 is fixedly connected to the steel plate mounting trolley 1. The axis correction device is slidably mounted on the crossbeam 2 and is used to adjust the axis of the inner wall circumferential cutting frame 3 to align with the axis of the pipe. The annular cutting device 4 is slidably mounted on the annular plate 31 located away from the steel plate mounting trolley 1 and can move along the circumference of the annular plate 31. The annular cutting device 4 is equipped with a nozzle 48, which is used to remove dust and cool the annular cutting device.

[0031] See Figure 3As shown, in this embodiment, the annular cutting device 4 includes a U-shaped slide 41, a motor 4, and a grooving machine 45. I-beam pulleys 42 are rotatably mounted on both sides of the opening of the U-shaped slide 41. The two I-beam pulleys 42 roll and clamp the corresponding annular plates 31 on both sides, preventing them from detaching from the annular plates 31. The motor 4 is fixedly mounted on one side of the U-shaped slide 41 and is used to drive the U-shaped slide 41 to move along the circumference of the annular track. The grooving machine 45 is mounted on the other side of the U-shaped slide 41 via a transverse pushing mechanism. The grooving machine 45 is a common grooving device in the prior art, which has a cutting blade. The transverse pushing mechanism is used to adjust the distance between the grooving machine 45 and the inner wall of the pipe, enabling it to groove pipes of different diameters and cut grooves of different depths.

[0032] In this embodiment, the inner ring plate 31 is provided with a toothed groove 32, and the U-shaped slide 41 is rotatably mounted with a transmission gear 44 that meshes with the toothed groove 32. The output shaft of the motor 4 is fixedly connected to the transmission gear 44, and the motor 4 is used to drive the transmission gear 44 to rotate. The outer ring plate 31 is fixedly provided with an integral ring rib 33, and the two ends of the plurality of pull rods 35 are respectively fixedly connected to the ring ribs 33 of the two ring plates 31.

[0033] In this embodiment, the transverse pushing mechanism 46 includes a linear guide rail 361 and a first lead screw motor 462. The linear guide rail 361 is fixedly installed on the outside of the U-shaped slide block 4. A slider is slidably installed in the groove of the linear guide rail 361. A threaded hole is opened in the middle of the slider. The grooving machine 46 is fixedly installed on the outside of the slider. The lead screw shaft of the first lead screw motor 462 is connected to the threaded hole of the slider.

[0034] Furthermore, in order to accurately detect the distance between the annular plate 31 and the inner wall of the pipe, in this embodiment, a plurality of laser position sensors 34 are uniformly fixedly installed on the outer side of the annular plate 31.

[0035] In this embodiment, a first groove 21 is provided on the upper part of the crossbeam 2 along the length direction, and a first threaded slider is slidably installed in the first groove 21. A second screw motor 22 for driving the first threaded slider to move axially is fixedly installed at one end of the crossbeam 2.

[0036] To adjust the inner wall circumferential cutting frame 3 to be coaxial with the pipeline, in this embodiment, the axis correction device includes a sliding beam 9 and a lifting cylinder 92. The bottom of the sliding beam 9 is fixedly connected to a first threaded slider, and a second groove 91 is opened along the length direction on the upper part of the sliding beam 9. A second threaded slider is slidably installed in the second groove 91. A third lead screw motor 93 for driving the axial movement of the second threaded slider is fixedly installed at one end of the sliding beam 9. The lifting cylinder 92 is fixedly installed on the upper part of the second threaded slider. The upper end of the piston shaft of the lifting cylinder 92 is fixedly connected to the corresponding position pull rod 35. PLC control is adopted. The distance between the ring plate 31 and the inner wall of the pipeline is detected by the laser position sensor 34, and the distance data is sent to the PLC. The PLC is configured with a remote control PDA to control all parameters of the second lead screw motor 22, the third lead screw motor 93, the first lead screw motor 462 and the lifting cylinder 92, thereby adjusting the inner wall circumferential cutting frame 3 to be coaxial with the pipeline.

[0037] To further increase the stability of the inner wall circumferential cutting frame 3 inside the pipeline, in this embodiment, an anchoring screw 7 is fixedly installed on the crossbeam 2. After the coaxiality adjustment is completed, the anchoring screw 7 is used to fix the crossbeam 2 to the inner wall of the pipeline.

[0038] An annular guide rail 36 is provided between the two annular plates 31. The annular guide rail 36 is fixedly connected to the pull rod 35. A U-shaped water pipe seat 361 is slidably installed on the inner side of the annular guide rail 36. The nozzle 48 is fixedly installed on the outer side of the U-shaped slide 41, with the water outlet of the nozzle 48 facing the edge of the blade of the grooving machine 45. A hanging ear 47 is fixedly installed on one side of the U-shaped slide 41, flush with the nozzle 48. The hanging ear 47 and the U-shaped water pipe seat 361 are used to suspend the water supply pipe. One end of the water supply pipe is connected to the nozzle 48 and is connected to an external high-pressure water pump, so that the water supply pipe can deliver high-pressure water to the nozzle 48. When the grooving machine 45 moves along the circumference of the annular plate 31, the water supply pipe will pull the U-shaped water pipe seat 361 along the circumference of the annular guide rail 36, thereby effectively avoiding the phenomenon of water supply pipe entanglement.

[0039] To facilitate construction personnel's observation of the inside of the pipeline, a remote camera can be installed on the inner wall circumferential cutting frame 3 or the U-shaped slide 41.

[0040] The construction steps are as follows: The steel plate installation trolley 1 moves the inner wall circumferential cutting frame 3 to the position where the pipe needs to be grouted. The distance between the ring plate 31 and the inner wall of the pipe is detected by the laser position sensor 34. Based on the distance data detected by the laser position sensor 34, the PLC control is used to control all parameters of the second lead screw motor 22, the third lead screw motor 93, the first lead screw motor 462 and the lifting cylinder 92, thereby adjusting the inner wall circumferential cutting frame 3 to be coaxial with the pipe. The grooving machine 46 is started, and the first lead screw motor 462 pushes the grooving machine 46 to the position of the inner wall of the pipe to perform grooving. During the grooving process, the motor 43 can drive the U-shaped slide 41 to move in the circumferential direction of the ring plate 31, thereby realizing the ring grooving work. Water is supplied to the nozzle 48 through the water supply pipe, and the nozzle 48 can continuously spray water towards the cutter head of the grooving machine 45.

[0041] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent grooving trolley for pipe inner walls, comprising a steel plate installation trolley, characterized in that: It also includes an inner wall circumferential cutting frame, a ring cutting device, and an axis correction device. The inner wall circumferential cutting frame includes two ring plates, which are fixedly connected by multiple tie rods. The axis correction device is located inside the inner wall circumferential cutting frame. A crossbeam is provided inside the inner wall circumferential cutting frame, and one end of the crossbeam is fixedly connected to a steel plate mounting trolley. The axis correction device is slidably mounted on the crossbeam and is used to adjust the axis of the inner wall circumferential cutting frame to align with the axis of the pipe. The ring cutting device is slidably mounted on a ring plate away from the steel plate mounting trolley and can move along the circumference of the ring plate. A nozzle is installed on the ring cutting device for dust removal and cooling.

2. The intelligent grooving trolley for pipe inner walls according to claim 1, characterized in that: The annular cutting device includes a U-shaped slide, a motor, and a grooving machine. I-beam pulleys are rotatably installed on both sides of the opening of the U-shaped slide. The two I-beam pulleys roll and clamp the corresponding annular plates on both sides. The motor is fixedly installed on one side of the U-shaped slide and is used to drive the U-shaped slide to move along the circumference of the annular track. The grooving machine is installed on the other side of the U-shaped slide through a transverse pushing mechanism. The transverse pushing mechanism is used to adjust the distance between the grooving machine and the inner wall of the pipe.

3. The intelligent grooving trolley for pipe inner walls according to claim 2, characterized in that: The inner ring of the ring plate has a toothed groove, and the U-shaped slide seat has a transmission gear that meshes with the toothed groove. The output shaft of the motor is fixedly connected to the transmission gear, and the motor is used to drive the transmission gear to rotate. The outer ring of the ring plate has an integral ring rib, and the two ends of the multiple pull rods are respectively fixedly connected to the ring ribs of the two ring plates.

4. The intelligent grooving trolley for pipe inner walls according to claim 3, characterized in that: The transverse pushing mechanism includes a linear guide rail and a first lead screw motor. The linear guide rail is fixedly installed on the outside of the U-shaped slide block. A slider is slidably installed in the groove of the linear guide rail. A threaded hole is opened in the middle of the slider. The grooving machine is fixedly installed on the outside of the slider. The lead screw shaft of the first lead screw motor is connected to the threaded hole of the slider.

5. The intelligent grooving trolley for pipe inner walls according to claim 1, characterized in that: Multiple laser position sensors are uniformly fixedly installed on the outer side of the ring plate.

6. The intelligent grooving trolley for pipe inner walls according to claim 1, characterized in that: The upper part of the crossbeam is provided with a first sliding groove along the length direction, and a first threaded slider is slidably installed in the first sliding groove. A second lead screw motor for driving the first threaded slider to move axially is fixedly installed at one end of the crossbeam.

7. The intelligent grooving trolley for pipe inner walls according to claim 6, characterized in that: The axis correction device includes a slide beam and a lifting cylinder. The bottom of the slide beam is fixedly connected to the first threaded slider. A second slide groove is opened on the upper part of the slide beam along the length direction. The second threaded slider is slidably installed in the second slide groove. A third lead screw motor for driving the axial movement of the second threaded slider is fixedly installed at one end of the slide beam. The lifting cylinder is fixedly installed on the upper part of the second threaded slider. The upper end of the piston shaft of the lifting cylinder is fixedly connected to the corresponding pull rod.

8. The intelligent grooving trolley for pipe inner walls according to claim 1, characterized in that: Anchor rods are fixedly installed on the crossbeam, and the anchor rods are used to fix the crossbeam to the inner wall of the pipe.

9. The intelligent grooving trolley for pipe inner walls according to claim 1, characterized in that: An annular guide rail is provided between the two annular plates. The annular guide rail is fixedly connected to the pull rod. A U-shaped water pipe seat is slidably installed on the inner side of the annular guide rail. The nozzle is fixedly installed on the outer side of the U-shaped slide, with the nozzle's water outlet facing the edge of the grooving machine blade. A hanging ear is fixedly installed on one side of the U-shaped slide, flush with the nozzle position. The hanging ear and the U-shaped water pipe seat are used to suspend the water supply pipe. One end of the water supply pipe is connected to the nozzle and is used to deliver high-pressure water to the nozzle.

10. The construction method of the intelligent inner wall grooving trolley according to any one of claims 1-9, characterized in that, Includes the following steps: a. The steel plate installation trolley moves the inner wall circumferential cutting frame to the position where the pipe needs to be grooved, and the distance between the ring plate and the inner wall of the pipe is detected by the laser position sensor; b. Based on the distance data detected by the laser position sensor, PLC control is used to control all parameters of the second lead screw motor, the third lead screw motor, the first lead screw motor and the lifting cylinder, thereby adjusting the inner wall circumferential cutting frame to be coaxial with the pipeline; c. Start the grooving machine and push it towards the inner wall of the pipe through the first lead screw motor to perform grooving; d. During the grooving process, the motor can drive the U-shaped slide to move along the circumference of the ring plate, thereby realizing the ring grooving operation; e. Water is supplied to the nozzle through the water supply pipe, and the nozzle can continuously spray water towards the cutting head of the grooving machine.

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