Pipe weld polishing apparatus

Abstract

The application discloses a welded pipe welding seam polishing device and belongs to the technical field of welded pipe seamless treatment, comprising a centering walking mechanism, the end of the centering walking mechanism is provided with a double-mode polishing device, the double-mode polishing device comprises an integrated cabin, a double-mode drive and a polishing execution unit, the integrated cabin is arranged at the end of the centering walking mechanism, the double-mode drive is arranged in the integrated cabin, one end of the integrated cabin is rotationally provided with a rotating shaft, the polishing execution unit is fixedly connected with the rotating shaft, the polishing execution unit is arranged outside the integrated cabin through the rotating shaft, and the rotating shaft is connected with the output end of the double-mode drive. The welded pipe welding seam polishing device provided by the application can swing to polish locally and can rotate to polish comprehensively, and thus diversified polishing requirements can be met.

Description

Technical Field

[0001] This invention belongs to the field of seamless pipe processing technology, specifically referring to a weld seam grinding device for welded pipes. Background Technology

[0002] Welded pipes are widely used in petrochemical, machinery manufacturing and other fields. Weld grinding is a key process for achieving seamlessness, which directly affects the flatness, corrosion resistance and structural strength of the pipe.

[0003] Existing pipe weld grinding equipment has significant drawbacks due to limited operating space: the grinding method is singular, only capable of localized or overall grinding, and cannot simultaneously meet different grinding needs. Localized grinding can only target the raised parts of the weld, and cannot comprehensively and evenly grind the surrounding area and the inner wall of the pipe, making it difficult to ensure the overall flatness of the inner wall of the pipe. Overall grinding cannot provide targeted reinforcement treatment for the raised areas of the weld. For welded pipes with obvious weld protrusions, repeated grinding is required to achieve the required results, leading to low grinding efficiency and the risk of excessive cutting of the inner wall of the pipe, affecting the uniformity of the pipe wall thickness.

[0004] Therefore, there is an urgent need for a welded pipe weld seam grinding device that can flexibly switch between local grinding and overall grinding to meet diverse grinding needs. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a welded pipe weld grinding device that can be oscillated for local grinding or rotated for full grinding, thus meeting diverse grinding needs.

[0006] The technical solution adopted by this invention is as follows: This invention provides a welded pipe weld seam grinding device, including a centering and walking mechanism. A dual-mode grinding device is provided at the end of the centering and walking mechanism. The dual-mode grinding device includes an integrated chamber, a dual-mode drive, and a grinding execution unit. The integrated chamber is located at the end of the centering and walking mechanism, and the dual-mode drive is located inside the integrated chamber. A rotating shaft is rotatably connected to one end of the integrated chamber. The grinding execution unit is fixedly connected to the rotating shaft and rotatably located outside the integrated chamber via the rotating shaft. The rotating shaft is connected to the output of the dual-mode drive. The dual-mode drive includes a line-shift drive, a rotating rod, a radial slider, and a rotating mechanism. The rotating rod is rotatably mounted in the integrated compartment and fixedly connected to the rotating shaft. The side wall of the rotating rod is provided with a radial groove along its length that is adapted to the radial slider. The radial slider is slidably engaged in the radial groove. The line-shift drive is located in the integrated compartment. The rotating mechanism is located at the output end of the line-shift drive. The rotating mechanism is provided with an eccentric shaft. The eccentric shaft is rotatably connected to the radial slider. The diameter of the rotation trajectory of the eccentric shaft is smaller than the length from the end of the radial groove to the axis of the rotating shaft.

[0007] The rotating mechanism is switched between a first position and a second position via a linear displacement drive, thus enabling switching between two modes: full-scale rotational grinding and partial oscillating grinding. When the rotating mechanism is in the first position, its axis is aligned with the axis of the rotating shaft, and they are coaxial. The rotating mechanism drives the eccentric shaft to rotate circumferentially. Because the rotating mechanism and the rotating shaft are coaxial, the circumferential rotation of the eccentric shaft is transmitted to the rotating rod through the radial slider and radial groove, causing the rotating rod to rotate synchronously around the axis of the rotating shaft. The rotating rod, through the rotating shaft, drives the grinding execution unit to rotate synchronously. The grinding surface of the grinding execution unit performs full-coverage grinding along the circumferential direction of the welded pipe's inner wall, suitable for overall grinding of the welded pipe's inner wall. When the linear displacement drive is in the first position, the rotation mechanism's axis is aligned with the axis of the rotating shaft, and they are coaxial. The rotation mechanism drives the eccentric shaft to rotate circumferentially ... When the drive moves the rotating mechanism to the second position, the axis of the rotating mechanism and the axis of the rotating shaft are radially offset, and the axis of the rotating shaft is completely outside the rotation trajectory of the eccentric shaft. Therefore, when the rotating mechanism drives the eccentric shaft to rotate, due to the radial offset between the rotating mechanism and the rotating shaft, the eccentric shaft will apply a reciprocating thrust to the rotating rod through the radial slider. At this time, the radial slider slides back and forth along the radial groove of the rotating rod, and at the same time drives the rotating rod to swing back and forth around the axis of the rotating shaft. The rotating rod drives the rotating shaft to swing synchronously, and finally the rotating shaft drives the grinding execution unit to swing back and forth. The grinding surface of the grinding execution unit can perform local concentrated fine grinding on the welded pipe weld, which is suitable for local repair of the weld.

[0008] More specifically, the rotating mechanism includes a mounting bracket, a main shaft, a turntable, an adjusting screw, and an eccentric slider. The mounting bracket is located at the output end of the linear drive. The main shaft is rotatably mounted on the mounting bracket, and the turntable is rotatably mounted on the mounting bracket. A rotating hole is provided through the center of the turntable, and the main shaft rotatably passes through the rotating hole. An adjusting groove adapted to the eccentric slider is provided radially on the side of the turntable away from the main shaft. The adjusting screw is rotatably mounted in the adjusting groove, and the eccentric slider is slidably engaged in the adjusting groove. The eccentric slider is threadedly connected to the adjusting screw. An eccentric shaft is located on the side of the eccentric slider near the rotating rod. A rotary drive for driving the turntable to rotate is provided on the mounting bracket.

[0009] The rotary drive causes the turntable to rotate, which in turn causes the eccentric slider on the adjusting screw to rotate synchronously around the axis of the turntable. The rotation of the eccentric slider drives the radial slider to rotate through the eccentric shaft, and the radial slider drives the rotating rod to rotate or swing through the radial groove.

[0010] Furthermore, the rotary drive includes a rotary motor, a drive shaft, and a reverse transmission assembly. The rotary motor is mounted on a mounting bracket and provides power to the rotary drive. The drive shaft is rotatably mounted on the mounting bracket, and the output shaft of the rotary motor is coaxially and fixedly connected to the drive shaft. The reverse transmission assembly is drively connected between the drive shaft and the turntable. The reverse transmission assembly is used to transmit the rotational power of the drive shaft to the turntable and drive the turntable to rotate in the opposite direction. The reverse transmission assembly includes a first gear and a second gear. The first gear is coaxially and fixedly mounted on the drive shaft, and the second gear is coaxially and fixedly mounted on the side wall of the turntable. The main shaft rotates through the second gear, and the first gear meshes with the second gear. The power transmission between the drive shaft and the turntable is realized through the meshing of the first gear and the second gear, and the turntable and the drive shaft rotate in opposite directions.

[0011] As a further improvement to this solution, the rotating mechanism also includes an electric adjustment component to achieve automatic adjustment of the radial position of the eccentric slider, thereby adjusting the swing amplitude of the rotating rod and improving the adaptability of the grinding device to different working conditions. The electric adjustment component includes a first bevel gear, a second bevel gear, a co-directional transmission component, and an electromagnetic clutch. The first and second bevel gears are rotatably mounted in the adjustment groove. The first and second bevel gears mesh perpendicularly, and the first and second bevel gears are in a spatially perpendicular meshing state to achieve 90° power steering transmission. The first bevel gear is coaxially fixed to the adjustment screw, and the second bevel gear is coaxially fixed to the main shaft. An adjustment shaft coaxially mounted on the mounting bracket is rotatably mounted on the main shaft. The electromagnetic clutch is located between the adjustment shaft and the main shaft. By energizing and de-energizing the electromagnetic clutch, the power on / off control between the adjustment shaft and the main shaft is achieved. The co-directional transmission component is driven between the adjustment shaft and the drive shaft and drives the adjustment shaft and the drive shaft to rotate in the same direction. A magnetic clamping component is provided between the main shaft and the turntable.

[0012] Preferably, the co-directional transmission assembly includes a driving gear, a transmission gear, and a driven gear. The driving gear is coaxially fixed to the drive shaft, the driven gear is coaxially fixed to the adjustment shaft, and the transmission gear is rotatably mounted on the mounting bracket. The two sides of the transmission gear mesh with the driving gear and the driven gear, respectively. Power transmission and steering conversion are achieved through three-stage gear meshing, ensuring that the drive shaft and the adjustment shaft rotate in the same direction.

[0013] When the mechanism is in normal rotary or oscillating grinding mode, the electromagnetic clutch is de-energized and disengaged. The magnetic clamping assembly clamps the spindle, and the de-energization of the electromagnetic clutch results in no power transmission between the adjusting shaft and the spindle, causing the spindle to rotate synchronously with the turntable. After starting the rotary motor, the output torque of the rotary motor is transmitted to the turntable sequentially through the drive shaft, the first gear, and the second gear, driving the turntable to rotate. The turntable rotates in the opposite direction to the drive shaft, causing the spindle to rotate synchronously. The spindle is fixedly connected to the second bevel gear, so the second bevel gear rotates synchronously with the turntable and the spindle. At this time, the bevel gear... As the turntable revolves, bevel gear one and bevel gear two remain relatively stationary, with no relative meshing transmission between them. The adjusting screw remains stationary to prevent accidental rotation. The turntable drives the eccentric slider to rotate around the main shaft axis via the adjusting groove, which in turn drives the rotating rod to swing through the eccentric shaft and radial slider. When the radial position of the eccentric slider needs to be adjusted, the rotating motor is first stopped, then the electromagnetic clutch is energized and engaged, and the magnetic clamping assembly is released from clamping the main shaft. The energization of the electromagnetic clutch causes the adjusting shaft to form a... The rigid connection allows the turntable and main shaft to rotate relative to each other as the magnetic clamping assembly releases its grip on the main shaft. Restarting the motor drives the drive shaft to rotate the active gear, which, after being turned by the transmission gear, drives the driven gear and adjusting shaft to rotate in the same direction. The rotation direction of the driven gear and adjusting shaft is the same as that of the drive shaft and the active gear. The adjusting shaft drives the main shaft to rotate synchronously via the electromagnetic clutch. The motor drives the turntable to rotate via the first and second gears, with the turntable rotating in the opposite direction to the drive shaft. Therefore, the main shaft rotates in the opposite direction to the turntable. The main shaft rotation drives the second bevel gear to rotate, keeping the turntable rotating in the forward direction. The second bevel gear drives the first bevel gear to rotate, which in turn drives the adjusting screw to rotate, thus adjusting the position of the eccentric slider. Because the eccentric slider is limited by the adjusting groove, it can only slide radially. The rotational motion of the adjusting screw is converted into a linear radial movement of the eccentric slider along the adjusting groove via threaded transmission, achieving precise adjustment of the eccentricity. After adjustment, the electromagnetic clutch is de-energized, disconnecting the power connection between the adjusting shaft and the main shaft, restoring the normal rotation drive state.

[0014] Preferably, the turntable has multiple sets of clamping grooves arranged in a circumferential array around the rotating hole. These clamping grooves communicate with the rotating hole. The magnetically controlled clamping assembly is disposed within the clamping grooves and includes a spring, a clamping rod, and a clamping member. The clamping rod is slidably disposed within the clamping groove. The spring is located between the clamping rod and the inner wall of the clamping groove, applying a pushing force to the clamping rod, causing it to tend to slide towards the rotating hole. The clamping member is located at the end of the clamping rod near the rotating hole and is arc-shaped. The concave sidewall of the clamping member has an anti-slip layer. The anti-slip layer is made of wear-resistant rubber, the clamping slide rod is made of ferromagnetic material, and an annular electromagnet is provided on the outside of the turntable. When the annular electromagnet is not energized, the spring pushes the clamping slide rod to drive the clamping part to slide towards the rotating hole, i.e., the main shaft, to clamp and fix the main shaft. Therefore, when the turntable rotates, it will drive the main shaft to rotate synchronously. When the annular electromagnet is energized, the annular electromagnet generates magnetic force, which generates magnetic attraction force on multiple sets of clamping slide rods, causing the clamping slide rods to retract along the clamping groove under the magnetic attraction, releasing the clamping of the main shaft. At this time, the turntable and the main shaft can rotate freely relative to each other.

[0015] Preferably, the eccentric slider is equipped with a displacement sensor, which facilitates the detection of the position of the eccentric slider.

[0016] Preferably, the electric adjustment assembly is provided with a magnetic shielding cover on its outer side. The magnetic shielding cover is made of silicon steel sheets in layers to suppress electromagnetic interference.

[0017] Preferably, the line shift drive uses an electric push rod.

[0018] Preferably, the grinding execution unit includes an adjustable bracket and a grinding assembly disposed at the end of the adjustable bracket. The adjustable bracket includes a mounting base, an adjusting electric push rod, a fixed mounting bracket, a sliding mounting bracket, and a detection spring. The mounting base is disposed at the end of the rotating shaft. The adjusting electric push rod passes through the mounting base. The fixed mounting bracket is disposed at the end of the adjusting electric push rod. The sliding mounting bracket is slidably disposed on the fixed mounting bracket. The detection spring is disposed between the sliding mounting bracket and the fixed mounting bracket. A pressure sensor is disposed between the detection spring and the fixed mounting bracket. The pressure sensor facilitates the detection of grinding pressure. The grinding assembly is disposed on the sliding mounting bracket. The grinding assembly includes a grinding motor and a grinding head coaxially fixed to the output end of the grinding motor.

[0019] During grinding, the grinding assembly is moved closer to the welded pipe wall by adjusting the extension of the electric push rod. After the grinding assembly is in contact with the pipe wall, the electric push rod is extended further. The reaction force of the welded pipe wall pushes the sliding mounting bracket, causing the sliding mounting bracket to slide relative to the fixed mounting bracket. At the same time, the detection spring and the pressure sensor are compressed. The force detected by the pressure sensor at this time directly reflects the pressure of the grinding assembly on the inner wall of the welded pipe.

[0020] Furthermore, the centering walking mechanism includes a drive seat, a fixed seat, a centering screw, a movable seat, a centering motor, an inner support rotating rod, a walking wheel, and an inner support push rod. The centering screw is rotatably disposed between the drive seat and the fixed seat. Guide slide rods are arranged in an array between the drive seat and the fixed seat. The movable seat is slidably disposed on the guide slide rods and is threadedly connected to the centering screw. The circumferential sidewall of the drive seat and the circumferential sidewall of the movable seat are respectively provided with first rotating holes. The first rotating holes of the drive seat and the first rotating holes of the movable seat are misaligned. The moving seat has a second rotating hole on its circumferential sidewall. The second rotating hole of the driving seat and the second rotating hole of the moving seat are staggered. The first rotating hole of the driving seat and the second rotating hole of the moving seat correspond one-to-one. The first rotating hole of the moving seat and the second rotating hole of the driving seat correspond one-to-one. One end of the inner support rotating rod is rotatably disposed in the first rotating hole. The traveling wheel is rotatably disposed at the other end of the inner support rotating rod. The inner support rotating rod is equipped with a traveling motor that drives the traveling wheel to rotate. One end of the inner support push rod is rotatably disposed in the second rotating hole. The other end of the inner support push rod is rotatably connected to the middle part of the inner support rotating rod.

[0021] The centering motor drives the centering screw to rotate, which in turn causes the moving seat to slide along the centering screw and the guide slide. As the moving seat moves, the inner support push rod drives the inner support rotating rod to rotate, which in turn drives the traveling wheels to move. The distance between the traveling wheels and the centering screw axis is adjusted to accommodate welded pipes of different sizes.

[0022] Preferably, a control compartment is provided on the side of the fixed base away from the drive base, and the dual-mode grinding device is located at the end of the control compartment. The control compartment is equipped with a controller and an energy storage power supply. The controller is electrically connected to the walking motor, grinding motor, centering motor, line-shift drive, electromagnetic clutch, annular electromagnet, rotating motor, displacement sensor, and pressure sensor, respectively. The energy storage power supply is electrically connected to the controller, walking motor, grinding motor, centering motor, line-shift drive, electromagnetic clutch, annular electromagnet, rotating motor, displacement sensor, and pressure sensor, respectively.

[0023] As a further improvement to this solution, the control cabin is equipped with a wireless communication module, which is electrically connected to the controller and the energy storage power supply.

[0024] The beneficial effects achieved by the present invention using the above structure are as follows:

[0025] 1. By adjusting the relative position of the axis of the rotating mechanism (main shaft axis) and the axis of the rotating shaft through the line shift drive, only one power source is needed to achieve seamless switching between overall grinding and local grinding. In the coaxial state, full circumferential coverage grinding is achieved, and in the offset state, reciprocating swing grinding of the weld area is achieved. There is no need to replace the grinding components or disassemble the equipment, which solves the core defect of the existing single mode that cannot take into account both overall flatness and local fine finishing.

[0026] 2. The overall grinding mode is for the overall rust removal and smoothing of the inner wall of the welded pipe, with grinding coverage without dead corners; the local grinding mode is for concentrated and fine grinding of weld protrusions and defective areas, avoiding ineffective grinding. The two modes can be flexibly switched according to the operation process, adapting to the entire process of seamless welded pipe processing.

[0027] 3. Innovatively combining electromagnetic clutch, magnetic clamping assembly and bevel gear transmission to achieve automatic adjustment of the radial position of eccentric slider. Combined with closed-loop feedback from displacement sensor, automatic adjustment of eccentricity can be achieved without disassembling the machine, quickly achieving adjustment of swing amplitude, and thus accurately controlling the swing angle of the grinding execution unit, which can adapt to weld protrusions of different widths.

[0028] 4. The centering walking mechanism drives the sliding seat to slide through the centering screw. Combined with the linkage transmission between the inner support rotating rod and the inner support push rod, the distance between the walking wheel and the axis of the welded pipe can be adjusted, adapting to welded pipes of different diameters. There is no need to design special equipment for welded pipes of different sizes, making it highly versatile.

[0029] 5. The centering mechanism achieves precise alignment between the device and the welded pipe axis through screw drive and linkage mechanism, and automatically adjusts the grinding pressure after centering by linking the centering motor, adjusting electric push rod and pressure sensor through controller to ensure centering grinding. Attached Figure Description

[0030] Figure 1 A schematic diagram of the structure of a welded pipe weld grinding device provided by the present invention;

[0031] Figure 2 A schematic diagram of the structure of a welded pipe weld grinding device provided by the present invention from another perspective;

[0032] Figure 3 A cross-sectional view of the dual-mode drive and integrated cabin provided by the present invention;

[0033] Figure 4 A side view of the dual-mode drive provided by the present invention;

[0034] Figure 5 This is a schematic diagram of the dual-mode drive structure provided by the present invention;

[0035] Figure 6 A schematic diagram of the combined structure of the rotating shaft, rotating rod, and radial slider provided by the present invention;

[0036] Figure 7 This is a schematic diagram of the rotating mechanism provided by the present invention;

[0037] Figure 8 A cross-sectional view of the rotating mechanism provided by the present invention;

[0038] Figure 9A side view of the turntable, adjusting screw, and eccentric slider provided by the present invention;

[0039] Figure 10 A schematic diagram of the combined structure of the turntable and the magnetically controlled clamping assembly provided by the present invention;

[0040] Figure 11 A cross-sectional view of the turntable and magnetic clamping assembly provided by the present invention;

[0041] Figure 12 A side view of the centering and walking mechanism provided by the present invention;

[0042] Figure 13 This is a schematic diagram of the centering and walking mechanism provided by the present invention;

[0043] Figure 14 This is a schematic diagram of the grinding execution unit provided by the present invention.

[0044] The components include: 1. Centering and walking mechanism; 2. Dual-mode grinding device; 3. Integrated compartment; 4. Dual-mode drive; 5. Grinding execution unit; 6. Rotary shaft; 7. Linear shift drive; 8. Rotating rod; 9. Radial slider; 10. Rotation mechanism; 11. Radial groove; 12. Eccentric shaft; 13. Mounting bracket; 14. Main shaft; 15. Turntable; 16. Adjusting screw; 17. Eccentric slider; 18. Rotary hole; 19. Adjusting groove; 20. Rotary drive; 21. Displacement sensor; 22. Rotary motor; 23. Drive shaft; 24. Reverse transmission assembly; 25. Electric adjustment assembly; 26. Bevel gear one; 27. Bevel gear two; 28. Co-directional transmission assembly; 29. ​​Electromagnetic clutch; 30. 31. Adjusting shaft; 32. Clamping groove; 33. Spring; 34. Clamping slide rod; 35. Clamping component; 36. Anti-slip layer; 37. Ring electromagnet; 38. Magnetic shielding cover; 39. Adjustable bracket; 40. Grinding assembly; 41. Mounting base; 42. Adjusting electric push rod; 43. Fixed mounting bracket; 44. Sliding mounting bracket; 45. Detection spring; 46. Pressure sensor; 47. Grinding motor; 48. Grinding head; 49. Drive base; 50. Fixed base; 51. Centering screw; 52. Moving base; 53. Centering motor; 54. Inner support rotating rod; 55. Traveling wheel; 56. Inner support push rod; 57. Guide slide rod; 58. First rotating hole; 59. Second rotating hole; 50. Control compartment.

[0045] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] like Figures 1-14 As shown, the present invention provides a welded pipe weld grinding device, including a centering and traveling mechanism 1. A dual-mode grinding device 2 is provided at the end of the centering and traveling mechanism 1. The dual-mode grinding device 2 includes an integrated chamber 3, a dual-mode drive 4, and a grinding execution unit 5. The integrated chamber 3 is located at the end of the centering and traveling mechanism 1, and the dual-mode drive 4 is located inside the integrated chamber 3. A rotating shaft 6 is rotatably connected to one end of the integrated chamber 3. The grinding execution unit 5 is fixedly connected to the rotating shaft 6 and rotatably mounted on the side wall of the integrated chamber 3 via the rotating shaft 6. The rotating shaft 6 is connected to the output end of the dual-mode drive 4. The dual-mode drive 4 includes... The system includes a line shift drive 7, a rotating rod 8, a radial slider 9, and a rotating mechanism 10. The rotating rod 8 is rotatably mounted inside the integrated compartment 3 and fixedly connected to the rotating shaft 6. The side wall of the rotating rod 8 has a radial groove 11 along its length that is adapted to the radial slider 9. The radial slider 9 is slidably engaged in the radial groove 11. The line shift drive 7 is located inside the integrated compartment 3. The rotating mechanism 10 is located at the output end of the line shift drive 7. An eccentric shaft 12 is provided on the rotating mechanism 10. The eccentric shaft 12 is rotatably connected to the radial slider 9. The diameter of the rotation trajectory of the eccentric shaft 12 is smaller than the length from the end of the radial groove 11 to the axis of the rotating shaft 6.

[0049] The linear drive 7 drives the rotating mechanism 10 to switch between a first position and a second position, thereby achieving the switching between two modes: full-scale rotational grinding and partial oscillating grinding. When the rotating mechanism 10 is in the first position, its axis is aligned with the axis of the rotating shaft 6, and the two are coaxial. At this time, the rotating mechanism 10 drives the eccentric shaft 12 to rotate circumferentially. Since the rotating mechanism 10 and the rotating shaft 6 are coaxial, the circumferential rotation of the eccentric shaft 12 is transmitted to the rotating rod 8 through the radial slider 9 and the radial groove 11, causing the rotating rod 8 to rotate synchronously around the axis of the rotating shaft 6. The rotating rod 8 drives the grinding execution unit 5 to rotate synchronously through the rotating shaft 6. The grinding surface of the grinding execution unit 5 performs full-coverage grinding along the circumferential direction of the inner wall of the welded pipe, which is suitable for overall grinding of the inner wall of the welded pipe. When the linear drive 7 is in the first position, the rotating mechanism 10 moves between two positions, thereby achieving the switching between two modes: full-scale rotational grinding and partial oscillating grinding. When the rotating mechanism 10 is moved to the second position by the moving 7, the axis of the rotating mechanism 10 is radially offset from the axis of the rotating shaft 6, and the axis of the rotating shaft 6 is completely outside the rotation trajectory of the eccentric shaft 12. Therefore, when the rotating mechanism 10 drives the eccentric shaft 12 to rotate in a circle, due to the radial offset between the rotating mechanism 10 and the rotating shaft 6, the circumferential rotation of the eccentric shaft 12 will apply a reciprocating thrust to the rotating rod 8 through the radial slider 9. At this time, the radial slider 9 slides back and forth along the radial groove 11 of the rotating rod 8, and at the same time drives the rotating rod 8 to swing back and forth around the axis of the rotating shaft 6. The rotating rod 8 drives the rotating shaft 6 to swing synchronously. Finally, the rotating shaft 6 drives the grinding execution unit 5 to swing back and forth. The grinding surface of the grinding execution unit 5 can perform local concentrated fine grinding on the welded pipe weld, which is suitable for local repair of the weld.

[0050] like Figure 1 , Figure 2 and Figure 14 As shown, the grinding execution unit 5 includes an adjustable bracket 38 and a grinding assembly 39 disposed at the end of the adjustable bracket 38. The adjustable bracket 38 includes a mounting base 40, an adjusting electric push rod 41, a fixed mounting bracket 42, a sliding mounting bracket 43, and a detection spring 44. The mounting base 40 is disposed at the end of the rotating shaft 6. The adjusting electric push rod 41 passes through the mounting base 40. The fixed mounting bracket 42 is disposed at the end of the adjusting electric push rod 41. The sliding mounting bracket 43 is slidably disposed on the fixed mounting bracket 42. The detection spring 44 is disposed between the sliding mounting bracket 43 and the fixed mounting bracket 42. A pressure sensor 45 is disposed between the detection spring 44 and the fixed mounting bracket 42. The pressure sensor 45 facilitates the detection of grinding pressure. The grinding assembly 39 is disposed on the sliding mounting bracket 43. The grinding assembly 39 includes a grinding motor 46 and a grinding head 47 coaxially fixed to the output end of the grinding motor 46.

[0051] During grinding, the extension of the electric push rod 41 is adjusted to move the grinding assembly 39 closer to the welded pipe wall. When the grinding assembly 39 is in contact with the pipe wall, the electric push rod 41 continues to extend. The reaction force of the welded pipe wall pushes the sliding mounting bracket 43, causing the sliding mounting bracket 43 to slide relative to the fixed mounting bracket 42. At the same time, the detection spring 44 and the pressure sensor 45 are compressed. The force detected by the pressure sensor 45 at this time directly reflects the pressure of the grinding assembly 39 on the inner wall of the welded pipe.

[0052] like Figure 1 , Figure 2 , Figure 12 and Figure 13 As shown, the centering walking mechanism 1 includes a drive seat 48, a fixed seat 49, a centering screw 50, a movable seat 51, a centering motor 52, an inner support rotating rod 53, a walking wheel 54, and an inner support push rod 55. The centering screw 50 is rotatably disposed between the drive seat 48 and the fixed seat 49. Guide slide rods 56 are arranged in an array between the drive seat 48 and the fixed seat 49. The movable seat 51 is slidably disposed on the guide slide rods 56 and is threadedly connected to the centering screw 50. The circumferential sidewall of the drive seat 48 and the circumferential sidewall of the movable seat 51 are respectively provided with first rotating holes 57. The first rotating holes 57 of the drive seat 48 and the first rotating holes 57 of the movable seat 51 are misaligned. The circumferential sidewalls of the movable seat 51 are respectively provided with second rotating holes 58. The second rotating holes 58 of the drive seat 48 and the second rotating holes 58 of the movable seat 51 are staggered. The first rotating holes 57 of the drive seat 48 and the second rotating holes 58 of the movable seat 51 correspond one-to-one. The first rotating holes 57 of the movable seat 51 and the second rotating holes 58 of the drive seat 48 correspond one-to-one. One end of the inner support rotating rod 53 is rotatably disposed in the first rotating hole 57. The traveling wheel 54 is rotatably disposed at the other end of the inner support rotating rod 53. The inner support rotating rod 53 is provided with a traveling motor that drives the traveling wheel 54 to rotate. One end of the inner support push rod 55 is rotatably disposed in the second rotating hole 58. The other end of the inner support push rod 55 is rotatably connected to the middle part of the inner support rotating rod 53.

[0053] The centering motor 52 drives the centering screw 50 to rotate, thereby causing the moving seat 51 to slide along the centering screw 50 and the guide slide 56. The moving seat 51 moves, and through the inner support push rod 55, it drives the inner support rotating rod 53 to rotate. The inner support rotating rod 53 drives the traveling wheel 54 to move, adjusting the distance between the traveling wheel 54 and the axis of the centering screw 50, thereby adapting to welded pipes of different sizes.

[0054] like Figures 4-10As shown, the rotating mechanism 10 includes a mounting bracket 13, a main shaft 14, a turntable 15, an adjusting screw 16, and an eccentric slider 17. The mounting bracket 13 is located at the output end of the linear displacement drive 7. The main shaft 14 is rotatably mounted on the mounting bracket 13, and the turntable 15 is rotatably mounted on the mounting bracket 13. A rotating hole 18 is provided through the center of the turntable 15, and the main shaft 14 rotatably passes through the rotating hole 18. The side of the turntable 15 away from the main shaft 14 is radially provided with the eccentric slider 17. The adjustable slide 19 is adapted to the adjusting screw 16, which is rotatably disposed in the adjusting slide 19. The eccentric slider 17 is slidably locked in the adjusting slide 19 and is threadedly connected to the adjusting screw 16. The eccentric shaft 12 is disposed on the side of the eccentric slider 17 near the rotating rod 8. The mounting bracket 13 is provided with a rotary drive 20 for driving the turntable 15 to rotate. The eccentric slider 17 is provided with a displacement sensor 21, which facilitates the detection of the position of the eccentric slider 17.

[0055] The rotary drive 20 drives the turntable 15 to rotate, and the turntable 15 drives the eccentric slider 17 on the adjusting screw 16 to rotate synchronously around the axis of the turntable 15. The rotation of the eccentric slider 17 drives the radial slider 9 to rotate through the eccentric shaft 12, and the radial slider 9 drives the rotating rod 8 to rotate or swing through the radial groove 11.

[0056] like Figures 5-8 As shown, the rotary drive 20 includes a rotary motor 22, a drive shaft 23, and a reverse transmission assembly 24. The rotary motor 22 is mounted on the mounting bracket 13 and provides power to the rotary drive 20. The drive shaft 23 is rotatably mounted on the mounting bracket 13, and the output shaft of the rotary motor 22 is coaxially and fixedly connected to the drive shaft 23. The reverse transmission assembly 24 is drively connected between the drive shaft 23 and the turntable 15. The reverse transmission assembly 24 is used to transmit the rotational power of the drive shaft 23 to the turntable 15 and drive the turntable 15 to rotate in the opposite direction.

[0057] In this embodiment, the reverse transmission assembly 24 includes a first gear and a second gear. The first gear is coaxially fixed to the drive shaft 23, and the second gear is coaxially fixed to the side wall of the turntable 15. The main shaft 14 rotates through the second gear. The first gear meshes with the second gear. The power transmission between the drive shaft 23 and the turntable 15 is realized through the meshing of the first gear and the second gear. The turntable 15 and the drive shaft 23 rotate in opposite directions.

[0058] like Figures 4-11As shown, the rotating mechanism 10 also includes an electric adjustment component 25 to automatically adjust the radial position of the eccentric slider 17, thereby adjusting the swing amplitude of the rotating rod 8 and improving the adaptability of the grinding device to different working conditions. The electric adjustment component 25 includes a first bevel gear 26, a second bevel gear 27, a co-directional transmission component 28, and an electromagnetic clutch 29. The first bevel gear 26 and the second bevel gear 27 are rotatably disposed in the adjustment groove 19. The first bevel gear 26 and the second bevel gear 27 are perpendicularly meshed, and the first bevel gear 26 and the second bevel gear 27 are in a spatially perpendicular meshing state to achieve a 90° turning transmission of power. Gear 26 is coaxially fixed to adjusting screw 16, bevel gear 27 is coaxially fixed to main shaft 14, adjusting shaft 30 coaxially arranged with main shaft 14 is rotatably mounted on mounting bracket 13, electromagnetic clutch 29 is located between adjusting shaft 30 and main shaft 14, and the power on / off control between adjusting shaft 30 and main shaft 14 is realized by energizing and de-energizing electromagnetic clutch 29, the same direction transmission assembly 28 is connected between adjusting shaft 30 and drive shaft 23 and drives adjusting shaft 30 and drive shaft 23 to rotate in the same direction, and magnetic control clamping assembly is provided between main shaft 14 and turntable 15.

[0059] The co-directional transmission assembly 28 includes a driving gear, a transmission gear, and a driven gear. The driving gear is coaxially fixed to the drive shaft 23, and the driven gear is coaxially fixed to the adjustment shaft 30. The transmission gear is rotatably mounted on the mounting bracket 13. The two sides of the transmission gear mesh with the driving gear and the driven gear, respectively. Power transmission and steering conversion are achieved through three-stage gear meshing, ensuring that the drive shaft 23 and the adjustment shaft 30 rotate in the same direction.

[0060] When the mechanism is in the normal rotational grinding or oscillating grinding state, the electromagnetic clutch 29 is in the de-energized disengaged state, and the magnetic control clamping assembly clamps the main shaft 14. The de-energization of the electromagnetic clutch 29 results in no power transmission between the adjusting shaft 30 and the main shaft 14, and the main shaft 14 rotates synchronously with the turntable 15. After starting the rotary motor 22, the output torque of the rotary motor 22 is transmitted to the turntable 15 in sequence through the drive shaft 23, the first gear, and the second gear, driving the turntable 15 to rotate. The turntable 15 rotates in the opposite direction to the drive shaft 23, and the turntable 15 drives the main shaft 14 to rotate synchronously. The main shaft 14 is fixedly connected to the second bevel gear 27, so the second bevel gear 27 rotates synchronously with the turntable 15 and the main shaft 14. As the turntable rotates, bevel gear 26 revolves with the turntable 15, thus keeping bevel gear 26 and bevel gear 27 relatively stationary. There is no relative meshing transmission between bevel gear 26 and bevel gear 27. Adjusting screw 16 remains stationary to prevent accidental rotation. The turntable 15 drives the eccentric slider 17 to rotate around the axis of the main shaft 14 via the adjusting groove 19. This, in turn, drives the rotating rod 8 to swing via the eccentric shaft 12 and radial slider 9. When the radial position of the eccentric slider 17 needs adjustment, the rotating motor 22 is first stopped, then the electromagnetic clutch 29 is energized and engaged, and the magnetic clamping assembly is released from clamping the main shaft 14. Electrical engagement rigidly connects the adjusting shaft 30 to the main shaft 14. Since the magnetic clamping assembly releases its grip on the main shaft 14, the turntable 15 can rotate relative to the main shaft 14. Restarting the rotary motor 22 causes the drive shaft 23 to rotate, which in turn drives the driven gear and adjusting shaft 30 to rotate via the transmission gear. The rotation direction of the driven gear and adjusting shaft 30 is the same as that of the drive shaft 23 and the drive gear. The adjusting shaft 30 drives the main shaft 14 to rotate synchronously via the electromagnetic clutch 29. The rotary motor 22 drives the turntable 15 to rotate via the first and second gears. The rotation direction of the turntable 15 is opposite to that of the drive shaft 23, thus allowing the main shaft to rotate. The rotation direction of the main shaft 14 is opposite to that of the turntable 15. When the main shaft 14 rotates, it drives the second bevel gear 27 to rotate, which in turn drives the first bevel gear 26 to rotate. The first bevel gear 26 drives the adjusting screw 16 to rotate, thereby adjusting the position of the eccentric slider 17. Since the eccentric slider 17 is limited by the adjusting groove 19, it can only slide radially. The rotational motion of the adjusting screw 16 is converted into the radial linear movement of the eccentric slider 17 along the adjusting groove 19 through the thread transmission, thereby achieving precise adjustment of the eccentricity. After the adjustment is completed, the electromagnetic clutch 29 is de-energized and disconnected, cutting off the power connection between the adjusting shaft 30 and the main shaft 14, and the normal rotation drive state can be restored.

[0061] like Figures 8-11As shown, multiple sets of clamping grooves 31 are arranged in a circular array around the rotating hole 18 on the turntable 15. The clamping grooves 31 communicate with the rotating hole 18. The magnetically controlled clamping assembly is disposed in the clamping grooves 31. The magnetically controlled clamping assembly includes a spring 32, a clamping slide rod 33, and a clamping member 34. The clamping slide rod 33 is slidably disposed in the clamping groove 31. The spring 32 is disposed between the clamping slide rod 33 and the inner wall of the clamping groove 31. The spring 32 applies a pushing force to the clamping slide rod 33, causing the clamping slide rod 33 to tend to slide towards the rotating hole 18. The clamping member 34 is disposed at the end of the clamping slide rod 33 near the rotating hole 18. The clamping member 34 is arc-shaped, and the concave sidewall of the clamping member 34 is provided with an anti-slip layer. 35. The anti-slip layer 35 is made of wear-resistant rubber, and the clamping slide rod 33 is made of ferromagnetic material. The turntable 15 is provided with an annular electromagnet 36 on the outside. When the annular electromagnet 36 is not energized, the spring 32 pushes the clamping slide rod 33 to drive the clamping member 34 to slide towards the rotating hole 18, i.e., the main shaft 14, to clamp and fix the main shaft 14. Therefore, when the turntable 15 rotates, it will drive the main shaft 14 to rotate synchronously. When the annular electromagnet 36 is energized, the annular electromagnet 36 generates magnetic force, which generates magnetic attraction force on multiple sets of clamping slide rods 33, so that the clamping slide rods 33 retract along the clamping slide groove 31 under the magnetic attraction, releasing the clamping of the main shaft 14. At this time, the turntable 15 and the main shaft 14 can rotate freely relative to each other.

[0062] like Figures 5-8 As shown, in some embodiments, the electric adjustment assembly 25 is provided with a magnetic shielding cover 37 on the outside. The magnetic shielding cover 37 is made of silicon steel sheets in layers to suppress electromagnetic interference.

[0063] In this embodiment, the line shift drive 7 is an electric push rod.

[0064] like Figures 1-14 As shown, a control compartment 59 is provided on the side of the fixed base 49 away from the drive base 48. The dual-mode grinding device 2 is located at the end of the control compartment 59. The control compartment 59 is equipped with a controller and an energy storage power supply. The controller is electrically connected to the walking motor, grinding motor 46, centering motor 52, line shift drive 7, electromagnetic clutch 29, annular electromagnet 36, rotating motor 22, displacement sensor 21, and pressure sensor 45, respectively. The energy storage power supply is electrically connected to the controller, walking motor, grinding motor 46, centering motor 52, line shift drive 7, electromagnetic clutch 29, annular electromagnet 36, rotating motor 22, displacement sensor 21, and pressure sensor 45, respectively.

[0065] In some embodiments, the control cabin 59 is equipped with a wireless communication module, which is electrically connected to the controller and the energy storage power supply.

[0066] In practical use, the device is first placed inside the welded pipe to be processed. Initially, the movable seat 51 is close to the fixed seat 49, and the inner support rotating rod 53 drives the traveling wheel 54 to approach the fixed seat 49. Then, the centering motor 52 is started, which drives the centering screw 50 to rotate, thereby causing the movable seat 51 to slide along the centering screw 50 and the guide slide rod 56 closer to the fixed seat 49. When the movable seat 51 moves, the inner support rotating rod 53 is driven to rotate through the inner support push rod 55. The inner support rotating rod 53 drives the traveling wheel 54 to rotate away from the axis of the centering screw 50. The distance between the traveling wheel 54 and the axis of the centering screw 50 is adjusted. When the traveling wheel 54 is in close contact with the inner wall of the welded pipe, the centering motor 52 is stopped. At this time, the device is aligned with the axis of the welded pipe. Then, the electric motor is adjusted. The push rod 41 extends, and adjusting the extension of the electric push rod 41 drives the grinding assembly 39 to move closer to the welded pipe wall. When the grinding assembly 39 is in contact with the inner wall of the welded pipe, the electric push rod 41 continues to extend. The reaction force of the pipe wall pushes the sliding mounting bracket 43, causing the sliding mounting bracket 43 to slide relative to the fixed mounting bracket 42. At the same time, it compresses the detection spring 44 and the pressure sensor 45. The force detected by the pressure sensor 45 at this time directly reflects the pressure of the grinding assembly 39 on the inner wall of the pipe. When the value detected by the pressure sensor 45 reaches the preset value, the controller controls the electric push rod 41 to stop extending. At this time, the grinding assembly 39 is in contact with the inner wall of the welded pipe. Then, the travel motor, the rotation motor 22, and the grinding motor 46 are started. The travel motor drives the travel wheel 54 to rotate, thereby... The drive device moves inside the welded pipe, and the grinding motor 46 drives the grinding head 47 to rotate for grinding. Initially, the rotating mechanism 10 is in the first position. The linear drive 7 drives the rotating mechanism 10 to switch between the first and second positions, thereby realizing the switching between two modes: full rotation grinding and partial swing grinding. When performing partial grinding on the weld, the linear drive 7 drives the rotating mechanism 10 to move to the second position. At this time, the axis of the rotating mechanism 10 is radially offset from the axis of the rotating shaft 6, and the axis of the rotating shaft 6 is completely outside the rotation trajectory of the eccentric shaft 12. Initially, the electromagnetic clutch 29 is de-energized and disengaged, cutting off the power connection between the adjusting shaft 30 and the main shaft 14, and the annular electromagnet 36 is de-energized. The magnetically controlled clamping assembly clamps the main shaft 14. Spring 32 pushes the clamping slide bar 33, causing the clamping member 34 to slide towards the rotating hole 18, i.e., the main shaft 14, thus clamping and fixing the main shaft 14. The main shaft 14 rotates synchronously with the turntable 15. Therefore, when the rotating motor 22 is started, the output torque of the rotating motor 22 is transmitted sequentially through the drive shaft 23, the first gear, and the second gear to the turntable 15, causing the turntable 15 to rotate. The turntable 15 rotates in the opposite direction to the drive shaft 23, causing the main shaft 14 to rotate synchronously. The main shaft 14 is fixedly connected to the second bevel gear 27, so the second bevel gear 27 rotates synchronously with the turntable 15 and the main shaft 14. At this time, the first bevel gear 26 revolves with the turntable 15, thus the first bevel gear 26 and the second bevel gear 27 remain relatively stationary.The bevel gear 26 and bevel gear 27 do not mesh with each other. The adjusting screw 16 remains stationary to prevent accidental rotation. The turntable 15 drives the eccentric slider 17 and the eccentric shaft 12 to rotate around the axis of the main shaft 14 via the adjusting groove 19. Due to the radial offset between the axis of the main shaft 14 and the axis of the rotating shaft 6, the rotation of the eccentric shaft 12 will apply a reciprocating thrust to the rotating rod 8 through the radial slider 9. At this time, the radial slider 9 slides back and forth along the radial groove 11 of the rotating rod 8, and at the same time drives the rotating rod 8 to oscillate back and forth around the axis of the rotating shaft 6. The rotating rod 8 drives the rotating shaft 6 to oscillate synchronously. Finally, the rotating shaft 6 drives the grinding execution unit 5 to oscillate back and forth. The grinding face of the grinding head 47 performs localized concentrated fine grinding on the welded pipe weld. If it is necessary to adjust the oscillation amplitude, i.e. When adjusting the radial position of the eccentric slider 17, the wireless communication module trigger controller first stops the rotary motor 22 and the grinding motor 46. Then, the wireless communication module trigger controller energizes and engages the electromagnetic clutch 29, and energizes the annular electromagnet 36 to generate magnetism, causing the magnetic clamping assembly to release its grip on the main shaft 14. The annular electromagnet 36 generates magnetic force, which magnetically attracts multiple sets of clamping slide rods 33, causing the clamping slide rods 33 to retract along the clamping groove 31 under the magnetic attraction, thus releasing the grip on the main shaft 14. At this time, the turntable 15 and the main shaft 14 can rotate freely relative to each other. The electromagnetic clutch 29 is energized and engaged, making the adjusting shaft 30 rigidly connected to the main shaft 14. Since the magnetic clamping assembly has released its grip on the main shaft 14, Therefore, the turntable 15 and the main shaft 14 can rotate relative to each other. The rotating motor 22 is started again via the wireless communication module. The drive shaft 23 drives the active gear to rotate, which, after being rotated by the transmission gear, drives the driven gear and the adjusting shaft 30 to rotate in the same direction. The adjusting shaft 30 drives the main shaft 14 to rotate synchronously via the electromagnetic clutch 29. The rotation direction of the main shaft 14 is the same as that of the drive shaft 23. The rotating motor 22 drives the turntable 15 to rotate via the first gear and the second gear. The rotation direction of the turntable 15 is opposite to that of the drive shaft 23. Therefore, the rotation direction of the main shaft 14 is opposite to that of the turntable 15. When the main shaft 14 rotates, it drives the second bevel gear 27 to rotate. The second bevel gear 27 drives the first bevel gear 26 to rotate, which in turn drives the adjusting screw 16 to rotate. The position of the eccentric slider 17 is adjusted. Because the eccentric slider 17 is limited by the adjusting groove 19, it can only slide radially. The rotational motion of the adjusting screw 16 is converted into linear radial movement of the eccentric slider 17 along the adjusting groove 19 via threaded transmission, thus achieving precise adjustment of the eccentricity. The greater the distance between the eccentric slider 17 and the axis of the turntable 15, the greater the swing amplitude of the rotating rod 8, i.e., the greater the swing amplitude of the grinding execution unit 5, and the larger the local grinding range. The displacement sensor 21 detects the position of the eccentric slider 17 in real time and sends it to the controller. The controller transmits the data to the mobile terminal in real time via the wireless communication module. When the eccentric slider 17 is adjusted to the appropriate position, the controller is triggered by the wireless communication module to stop the rotating motor 22. After adjustment,The controller triggers the electromagnetic clutch 29 to de-energize and disengage via the wireless communication module, and de-energizes the annular electromagnet 36 to demagnetize. This restarts the rotating motor 22 and the grinding motor 46, restoring the normal oscillating grinding state. If overall finishing grinding is required, the linear drive 7 moves the rotating mechanism 10 to the first position. At this position, the axis of the rotating mechanism 10 (the axis of the main shaft 14) is aligned with the axis of the rotating shaft 6, and they are coaxial. When the rotating mechanism 10 drives the eccentric shaft 12 to rotate circumferentially, since the rotating mechanism 10 and the rotating shaft 6 are coaxial, the circumferential rotation of the eccentric shaft 12 is transmitted to the rotating rod 8 through the radial slider 9 and radial groove 11, causing the rotating rod 8 to rotate synchronously around the axis of the rotating shaft 6. The rotating rod 8, through the rotating shaft 6, drives the grinding execution unit 5 to rotate synchronously. The grinding surface of the grinding head 47 performs comprehensive grinding along the circumference of the welded pipe, performing overall grinding of the inner wall of the welded pipe.

[0067] It should be noted that, in this document, 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 process, method, article, or apparatus.

[0068] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

[0069] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A welding seam grinding device for welded pipes, characterized in that: The device includes a centering and walking mechanism (1), with a dual-mode grinding device (2) at one end. The dual-mode grinding device (2) includes an integrated chamber (3), a dual-mode drive (4), and a grinding execution unit (5). The dual-mode drive (4) is located inside the integrated chamber (3). A rotating shaft (6) is rotatably connected to one end of the integrated chamber (3). The grinding execution unit (5) is fixedly connected to the rotating shaft (6) and is rotatably located outside the integrated chamber (3) via the rotating shaft (6). The rotating shaft (6) is connected to the output end of the dual-mode drive (4). The dual-mode drive (4) includes a linear displacement drive (7), a rotating rod (8), and a radial slider (9). The rotating mechanism (10) is provided with a rotating rod (8) located in the integrated compartment (3) and fixedly connected to the rotating shaft (6). The side wall of the rotating rod (8) is provided with a radial groove (11) adapted to the radial slider (9) along the length direction. The radial slider (9) is slidably locked in the radial groove (11). The linear displacement drive (7) is located in the integrated compartment (3). The rotating mechanism (10) is located at the output end of the linear displacement drive (7). The rotating mechanism (10) is provided with an eccentric shaft (12). The eccentric shaft (12) is rotatably connected to the radial slider (9). The diameter of the rotation trajectory of the eccentric shaft (12) is smaller than the length from the end of the radial groove (11) to the axis of the rotating shaft (6). The linear drive (7) drives the rotating mechanism (10) to switch between the first and second positions, thereby realizing the switching between two modes: full rotation grinding and partial swing grinding. When the rotating mechanism (10) is in the first position, the axis of the rotating mechanism (10) is aligned with the axis of the rotating shaft (6), and the two are coaxial. At this time, the rotating mechanism (10) drives the eccentric shaft (12) to rotate circumferentially. Since the rotating mechanism (10) and the rotating shaft (6) are coaxial, the circumferential rotation of the eccentric shaft (12) will be transmitted to the rotating rod (8) through the radial slider (9) and the radial groove (11), causing the rotating rod (8) to rotate synchronously around the axis of the rotating shaft (6). The rotating rod (8) drives the grinding execution unit (5) to rotate synchronously through the rotating shaft (6). The grinding surface of the grinding execution unit (5) performs full coverage grinding along the circumferential direction of the inner wall of the welded pipe, which is suitable for the overall grinding of the inner wall of the welded pipe. When the linear drive (7) When the rotating mechanism (10) is moved to the second position, the axis of the rotating mechanism (10) and the axis of the rotating shaft (6) are radially offset, and the axis of the rotating shaft (6) is completely outside the rotation trajectory of the eccentric shaft (12). Therefore, when the rotating mechanism (10) drives the eccentric shaft (12) to rotate, due to the radial offset between the rotating mechanism (10) and the rotating shaft (6), the circumferential rotation of the eccentric shaft (12) will apply a reciprocating thrust to the rotating rod (8) through the radial slider (9). At this time, the radial slider (9) slides back and forth along the radial groove (11) of the rotating rod (8), and at the same time drives the rotating rod (8) to swing back and forth around the axis of the rotating shaft (6). The rotating rod (8) drives the rotating shaft (6) to swing synchronously. Finally, the rotating shaft (6) drives the grinding execution unit (5) to swing back and forth. The grinding surface of the grinding execution unit (5) can perform local concentrated fine grinding on the welded pipe weld, which is suitable for local repair of the weld.

2. The weld seam grinding device for welded pipes according to claim 1, characterized in that: The rotating mechanism (10) includes a mounting bracket (13), a main shaft (14), a turntable (15), an adjusting screw (16), and an eccentric slider (17). The mounting bracket (13) is located at the output end of the linear drive (7). The main shaft (14) is rotatably mounted on the mounting bracket (13), and the turntable (15) is rotatably mounted on the mounting bracket (13). A rotating hole (18) is provided through the center of the turntable (15), and the main shaft (14) rotatably passes through the rotating hole (18). The turntable (15) is located far from the center. An adjustment groove (19) adapted to the eccentric slider (17) is provided radially on one side away from the main shaft (14). The adjustment screw (16) is rotatably disposed in the adjustment groove (19). The eccentric slider (17) is slidably locked in the adjustment groove (19). The eccentric slider (17) is threadedly connected to the adjustment screw (16). The eccentric shaft (12) is disposed on the side of the eccentric slider (17) near the rotating rod (8). The mounting bracket (13) is provided with a rotary drive (20) for driving the turntable (15) to rotate.

3. The weld seam grinding device for welded pipes according to claim 2, characterized in that: The rotary drive (20) includes a rotary motor (22), a drive shaft (23), and a reverse transmission assembly (24). The rotary motor (22) is mounted on a mounting bracket (13) and provides a power source for the rotary drive (20). The drive shaft (23) is rotatably mounted on the mounting bracket (13). The output shaft of the rotary motor (22) is coaxially and fixedly connected to the drive shaft (23). The reverse transmission assembly (24) is connected between the drive shaft (23) and the turntable (15).

4. The weld seam grinding device for welded pipes according to claim 3, characterized in that: The rotating mechanism (10) further includes an electric adjustment assembly (25), which includes a bevel gear one (26), a bevel gear two (27), a co-directional transmission assembly (28), and an electromagnetic clutch (29). The bevel gear one (26) and the bevel gear two (27) are rotatably disposed in the adjustment groove (19). The bevel gear one (26) and the bevel gear two (27) are perpendicularly meshed. The bevel gear one (26) is coaxially fixed to the adjustment screw (16). The bevel gear two (27) is perpendicularly meshed to the adjustment screw (16). 27) Coaxially fixed to the main shaft (14), the mounting bracket (13) is rotatably mounted with an adjusting shaft (30) coaxially arranged with the main shaft (14), the electromagnetic clutch (29) is located between the adjusting shaft (30) and the main shaft (14), the co-directional transmission assembly (28) is connected between the adjusting shaft (30) and the drive shaft (23) and drives the adjusting shaft (30) and the drive shaft (23) to rotate in the same direction, and a magnetic control clamping assembly is provided between the main shaft (14) and the turntable (15).

5. The weld seam grinding device for welded pipes according to claim 4, characterized in that: Multiple sets of clamping grooves (31) are arranged in a circular array around the rotating hole (18) on the turntable (15). The clamping grooves (31) are connected to the rotating hole (18). The magnetically controlled clamping assembly is located in the clamping grooves (31). The magnetically controlled clamping assembly includes a spring (32), a clamping rod (33), and a clamping member (34). The clamping rod (33) is slidably located in the clamping groove (31). The spring (32) is located between the clamping rod (33) and the inner wall of the clamping groove (31). The clamping member (34) is located at one end of the clamping rod (33) near the rotating hole (18). The clamping member (34) is arc-shaped. The inner concave sidewall of the clamping member (34) is provided with an anti-slip layer (35). The clamping rod (33) is made of ferromagnetic material. A ring electromagnet (36) is provided on the outer side of the turntable (15).

6. The weld seam grinding device for welded pipes according to claim 5, characterized in that: The eccentric slider (17) is equipped with a displacement sensor (21).

7. The weld seam grinding device for welded pipes according to claim 6, characterized in that: The grinding execution unit (5) includes an adjustable bracket (38) and a grinding assembly (39) located at the end of the adjustable bracket (38). The adjustable bracket (38) includes a mounting base (40), an adjusting electric push rod (41), a fixed mounting bracket (42), a sliding mounting bracket (43), and a detection spring (44). The mounting base (40) is located at the end of the rotating shaft (6). The adjusting electric push rod (41) is inserted through the mounting base (40). The fixed mounting bracket (42) is located at the end of the adjusting electric push rod (43). At the end of 41), the sliding mounting bracket (43) is slidably mounted on the fixed mounting bracket (42), the detection spring (44) is located between the sliding mounting bracket (43) and the fixed mounting bracket (42), and a pressure sensor (45) is provided between the detection spring (44) and the fixed mounting bracket (42). The grinding assembly (39) is mounted on the sliding mounting bracket (43). The grinding assembly (39) includes a grinding motor (46) and a grinding head (47) coaxially fixed to the output end of the grinding motor (46).

8. The weld seam grinding device for welded pipes according to claim 7, characterized in that: The centering walking mechanism (1) includes a drive seat (48), a fixed seat (49), a centering screw (50), a movable seat (51), a centering motor (52), an inner support rotating rod (53), a walking wheel (54), and an inner support push rod (55). The centering screw (50) is rotatably disposed between the drive seat (48) and the fixed seat (49). A guide slide rod (56) is arranged in an array between the drive seat (48) and the fixed seat (49). The movable seat (51) is slidably disposed on the guide slide rod (56). The movable seat (51) is threadedly connected to the centering screw (50). The circumferential sidewall of the drive seat (48) and the circumferential sidewall of the movable seat (51) are respectively provided with a first rotating hole (57). The first rotating hole (57) of the drive seat (48) and the first rotating hole (57) of the movable seat (51) are misaligned. The circumferential sidewall of the drive seat (48) The wall and the movable seat (51) are respectively provided with second rotating holes (58). The second rotating holes (58) of the drive seat (48) and the second rotating holes (58) of the movable seat (51) are misaligned. The first rotating holes (57) of the drive seat (48) and the second rotating holes (58) of the movable seat (51) correspond one-to-one. The first rotating holes (57) of the movable seat (51) and the second rotating holes (58) of the drive seat (48) correspond one-to-one. One end of the inner support rotating rod (53) is rotatably disposed in the first rotating hole (57). The walking wheel (54) is rotatably disposed at the other end of the inner support rotating rod (53). The inner support rotating rod (53) is provided with a walking motor that drives the walking wheel (54) to rotate. One end of the inner support push rod (55) is rotatably disposed in the second rotating hole (58). The other end of the inner support push rod (55) is rotatably connected to the middle part of the inner support rotating rod (53).

9. A weld seam grinding device for welded pipes according to claim 8, characterized in that: The fixed base (49) is provided with a control compartment (59) on the side away from the drive base (48). The dual-mode grinding device (2) is located at the end of the control compartment (59). The control compartment (59) is provided with a controller and an energy storage power supply. The controller is electrically connected to the walking motor, the grinding motor (46), the centering motor (52), the line drive (7), the electromagnetic clutch (29), the annular electromagnet (36), the rotating motor (22), the displacement sensor (21), and the pressure sensor (45). The energy storage power supply is electrically connected to the controller, the walking motor, the grinding motor (46), the centering motor (52), the line drive (7), the electromagnetic clutch (29), the annular electromagnet (36), the rotating motor (22), the displacement sensor (21), and the pressure sensor (45).

10. A weld seam grinding device for welded pipes according to claim 9, characterized in that: The control cabin (59) is equipped with a wireless communication module, which is electrically connected to the controller and the energy storage power supply.

Images