A pipeline repair inner wall rapid polishing equipment

Abstract

The application discloses a kind of inner wall quick polishing equipment for pipeline repair, it is related to pipeline polishing technical field, including polishing mechanism, polishing mechanism includes polishing subassembly, polishing subassembly both sides install connecting component;Connecting component includes connecting block and receiving tray;Connecting block ball joint connects first air cylinder, and first air cylinder ball joint connects second air cylinder;Receiving tray middle part is equipped with cylinder groove;Second air cylinder and cylinder groove ball joint connect;Polishing mechanism both sides are provided with propelling component;Propelling component includes centering mechanism;Polishing subassembly is docked centering mechanism by connecting component;Centering mechanism includes centering ring, and the foot base component is coaxially arranged in the ring of centering ring;Four sides of foot base component are respectively provided with telescopic support arm of fixedly embedded centering ring, and the output end of telescopic support arm is fixedly connected with connecting arm;The end of connecting arm is assembled with suction disc component;The application can avoid the jamming of long pipe and elbow transition and not in place, and widen operating range.

Description

Technical Field

[0001] This invention relates to the field of pipe grinding technology, specifically to a rapid inner wall grinding device for emergency pipe repair. Background Technology

[0002] As a core infrastructure in energy transmission, municipal water supply and drainage, and chemical media transportation, pipelines' operational stability directly affects the continuity of industrial production and urban public safety. During long-term use, the inner wall of pipelines is prone to damage due to media corrosion, scale buildup, welding residues (weld burrs, excess weld material), and external impacts, leading to decreased transport efficiency and increased leakage risk. Emergency repairs are necessary to restore their functionality. Inner wall grinding is a crucial preliminary step in pipeline repair. Its core purpose is to remove corrosion layers, scale, oxide scale, and weld impurities, creating a clean surface with uniform roughness on the inner wall. This provides a reliable bonding base for subsequent welding repairs, patch repairs, and lining protection, directly determining the quality of the repair and the pipeline's secondary service life.

[0003] With the large-scale development of industry and the extension of urban pipeline networks, pipeline application scenarios are becoming increasingly complex, placing higher demands on the adaptability, efficiency, and stability of pipeline internal wall grinding equipment for emergency repairs. Currently, existing pipeline internal wall grinding technologies and equipment still have many shortcomings and are unable to meet the core needs of emergency repairs.

[0004] Existing grinding equipment generally suffers from limitations in adaptability to various working conditions. On the one hand, for long-distance pipelines, traditional equipment often employs single-end drive or roller-type walking structures, resulting in significant power transmission losses and insufficient propulsion. This makes it difficult to achieve stable long-distance movement and uniform grinding. Some equipment even requires personnel to enter the pipeline for assistance, which is not only inefficient but also poses safety risks. On the other hand, for pipe bends (such as the 90° and 45° bends commonly found in municipal pipe networks), most equipment uses rigid connection structures, or flexible connections that can only achieve small-angle bends. The process of grinding at bends can easily lead to jamming, detachment of the grinding head from the pipe wall, or incomplete grinding in certain areas, resulting in stress concentration issues even after the inner wall of the bend is repaired. The cylindrical grinding device disclosed in patent CN115070527A can move inside the pipe through rollers, but it lacks a long-distance propulsion reinforcement structure and a flexible adaptation design, making it difficult to handle grinding bends and long pipes. Although patent CN115722990A uses a universal joint to achieve flexible connection, it does not solve the problem of long-distance drive attenuation, resulting in insufficient integrity in grinding long pipes.

[0005] In summary, existing pipe inner wall grinding equipment has significant shortcomings in terms of adaptability to all working conditions, and cannot meet the needs of rapid emergency repairs in complex conditions such as long pipes and bends. Therefore, developing a rapid inner wall grinding device for pipe repair that is adaptable to both long and bends has become an urgent technical problem to be solved in the industry. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a rapid inner wall grinding device for pipeline emergency repair, so as to solve the technical problem mentioned in the background art that the existing pipeline inner wall grinding devices have significant defects in adaptability to all working conditions and cannot meet the needs of rapid emergency repair under complex working conditions such as long pipes and bends.

[0007] In a first aspect, an inner wall rapid grinding device for pipeline emergency repair is provided, including a grinding mechanism, wherein the grinding mechanism includes a grinding component, and connecting components are symmetrically installed on both sides of the grinding component. The connecting assembly includes a connecting block and a receiving plate; the connecting block is ball-jointed to a first cylinder, and the output end of the first cylinder is ball-jointed to a second cylinder; a cylinder groove is formed in the middle of one side of the receiving plate; the output end of the second cylinder is ball-jointed to the cylinder groove. The grinding mechanism has symmetrically arranged propulsion components on both sides; each propulsion component includes a centering mechanism; the grinding component is connected to the centering mechanism via a connecting component. The centering mechanism includes a centering ring, and a foot assembly is coaxially arranged inside the centering ring; each of the four sides of the foot assembly is provided with a retractable support arm that is fixedly embedded in the centering ring, and a connecting arm is fixedly connected to the output end of the retractable support arm; a suction cup assembly is assembled at the end of the connecting arm; the suction cup assembly includes a suction cup mechanism and a magnetic attraction mechanism. The suction cup assembly has a tracked walking mechanism assembled at the end of the connecting arm on its side; the tracked walking mechanism includes a base plate assembly, and two sets of tracked walking components are assembled on one side of the base plate assembly; the base plate assembly includes a base plate, and a second connector is fixedly connected to both ends of one side of the base plate, and a torsion spring shaft is connected to the second connector; the tracked walking component includes a track frame, and a track for walking is sleeved on the side of the track frame away from the base plate assembly, and a second connector is fixedly connected to the side of the track frame close to the base plate assembly; the second connector is hinged through the torsion spring shaft and the second connector.

[0008] In a second aspect of the present invention, a rapid grinding device for the inner wall of a pipeline for emergency repair is provided. The grinding assembly includes two housings, and a centrally located shell column is fixedly connected between the two housings. Ball grooves are evenly spaced on the outer side of the shell column. Grinding plate assemblies are evenly and equidistantly arranged at the edges between the two housings; each grinding plate assembly includes a grinding base, one end of which is fixedly connected to a base shaft, the end of which passes through and is connected to a bearing movable connector housing, and a grinding head for grinding is fixedly connected to the outside of the grinding base; a telescopic column is provided on the inner side of the other end of the grinding base, and a column groove is connected to the telescopic column by a ball joint. The other side of the receiving plate is connected to the housing of the grinding assembly via a motor.

[0009] A third aspect of the present invention provides a rapid grinding device for the inner wall of a pipeline for emergency repair. The foot assembly includes a centering block with a corresponding connecting block. A pressure sensor is fixedly embedded in the centering block. The four sides of the centering block are provided with arm slots for fitting and inserting a telescopic support arm. The telescopic support arm is connected to the pressure sensor. A support ring for auxiliary support is fixedly connected between adjacent telescopic support arms.

[0010] In a fourth aspect of the present invention, a rapid grinding device for the inner wall of a pipeline for emergency repair is provided, wherein a first connector is fixedly connected to the other side of the base plate; the first connector is hinged to a first joint via a rotating shaft, and a folding arm is fixedly connected between the first joint and the connecting arm.

[0011] In a fifth aspect of this invention, a rapid grinding device for the inner wall of a pipeline for emergency repair is provided. The suction cup mechanism includes a plate base with a fixedly connected connecting arm. A trumpet-shaped flexible pneumatic suction cup is fixedly connected to one side of the plate base, and a sealing lip is fixedly connected to the edge of the flexible pneumatic suction cup. An air pipe communicating with the flexible pneumatic suction cup is fixedly connected through the plate base, and an air pump is connected to the end of the air pipe. Both the air pipe and the air pump are correspondingly embedded in the connecting arm. The flexible pneumatic suction cup has central guide grooves evenly spaced on its inner wall; an attachment sensor is embedded through the inner wall of the central guide groove; and a controller for docking the attachment sensor is provided on the outer side of the flexible pneumatic suction cup.

[0012] The magnetic suction mechanism includes annularly arranged electromagnetic ring segments, which are pressed against the sealing lip from the outside; a protective shell covering the flexible pneumatic suction cup is fixedly connected between the electromagnetic ring segments and the plate base; and a wiring through the protective shell is fixedly connected between the electromagnetic ring segments and the controller. The outer side of the protective shell is provided with magnetic bead assemblies at equal intervals.

[0013] The magnetic bead assembly includes a first panel with a fixedly connected protective shell, a plate rod inserted through the first panel, a magnetic bead connected to one end of the plate rod by a ball joint, and a second panel fixedly connected to the other end of the plate rod; a tension spring that wraps around the plate rod is fixedly connected between the second panel and the first panel.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this embodiment of the invention, the first cylinder in the connecting assembly is connected to the connecting block and the second cylinder by ball joints, and the second cylinder is connected to the receiving plate cylinder groove by ball joints to form a universal flexible connection. Combined with the creeping movement of the propulsion assembly, it can smoothly pass through the bend, avoiding jamming at the bend transition and incomplete grinding, thus expanding the working range. The suction cup assembly integrates a suction cup mechanism and a magnetic suction mechanism to achieve dual-mode fixation. Combined with the telescopic support arm of the centering mechanism, it improves the positioning stability of the equipment. The tracked walking assembly is hinged to the second seat of the base plate assembly through a torsion spring shaft. Combined with wear-resistant tracks, it can adapt to complex working conditions such as rust on the inner wall of the pipe and slight elliptical deformation, ensuring stable movement for long-distance operations. The telescopic support arm of the centering mechanism is linked with the pressure sensor in the centering block to automatically adjust the extension amount, ensuring that the equipment is closely attached to the pipe wall in different installation states such as horizontal, vertical, and inclined, reducing the amount of work offset and improving the positioning accuracy. The track frame is hinged to the second connector of the base plate assembly via the second joint. With the elastic reset action of the torsion spring shaft, it can adapt to the slight curvature change or tilt angle of the inner wall of the pipe, so that the track always fits the pipe wall. The track is made of wear-resistant rubber material containing diamond particles to increase the contact friction with the pipe wall, further enhance the stability of long-distance travel, and avoid slippage caused by roughness or deformation of the inner wall. The central shell column between the two shells and the evenly spaced ball grooves on the outside provide a ball joint connection base for the telescopic column of the grinding plate assembly, ensuring that the grinding base can be flexibly adjusted to adapt to the curvature of the inner wall of the pipe. At the same time, it provides structural support for the modular replacement of the grinding head and lays the foundation for the functional expansion of the grinding assembly. The grinding plate assembly is movably connected to the housing via a seat shaft. Combined with the ball joint connection between the telescopic column and the housing column's ball groove, it allows for multi-angle adjustment of the grinding head, ensuring a tight fit with the pipe's inner wall and uniform grinding. The grinding head supports three modular designs: abrasive wheel, wire brush, and flexible grinding. The modules can be quickly switched via the telescopic extension of the column groove, adapting to different defect types such as weld reinforcement, thick scale layers, and corrosive oxide layers. No disassembly of the grinding assembly is required, improving emergency repair efficiency. The receiving plate directly drives the grinding assembly via a motor, ensuring stable power transmission and uniform grinding head speed, improving the grinding quality of the inner wall and providing a reliable fit for subsequent emergency repair procedures. The pressure sensor inside the centering block is connected to the telescopic support arm, which provides real-time feedback on the support pressure and automatically adjusts the telescopic support arm's extension and retraction. This ensures that the equipment can fit tightly against the pipe wall in different installation postures, improving positioning accuracy. The support rings between adjacent telescopic support arms form an auxiliary support structure, enhancing the overall rigidity of the telescopic support arm and preventing deformation of the support arm due to grinding impact during operation, thus ensuring the stability of the centering mechanism. The base plate is hinged to the folding arm through the first connector and the first joint. The folding arm is made of tough material, which can adapt to the bending angle of the pipeline during the movement of the equipment, ensure the connection flexibility between the tracked walking mechanism and the centering mechanism, and not interfere with the movement and positioning of the equipment, thereby improving the adaptability to complex pipeline working conditions. The trumpet-shaped flexible pneumatic suction cup, combined with the sealing lip on the edge, can fill the unevenness of the tube wall. Even if there is slight rust or coating on the tube wall, it can achieve a tight fit and prevent it from falling off during adsorption. The air tube and air pump are embedded in the connecting arm, which is compact and does not take up extra space. It does not affect the overall movement and operation of the equipment. The air pump creates negative pressure in the flexible pneumatic suction cup through the air tube to achieve rapid adsorption and fixation, which meets the rapid response requirements of emergency repair scenarios. The central guide groove on the inner wall of the flexible pneumatic suction cup can quickly expel the air between the suction cup and the tube wall, shorten the sealing time, improve the exhaust efficiency, and automatically seal through the flexible deformation of the suction cup after exhaust without affecting the sealing effect, achieving instant adsorption, shortening the equipment debugging and positioning time, and the attachment sensor provides real-time feedback on the suction cup's adhesion status. The controller links with the subsequent magnetic suction mechanism to ensure the automation and accuracy of the adsorption process, improve the reliability of adsorption and fixation, and meet the high-efficiency needs of emergency repair scenarios. The electromagnetic ring presses the sealing lip from the outside. When energized, it generates a pre-tightening force, eliminating the tiny gaps between the sealing lip and the pipe wall, shortening the sealing time of pneumatic adsorption, improving negative pressure stability, and avoiding air leakage during long-term operation. The protective shell covers the flexible pneumatic suction cup, which can prevent grinding debris from damaging the suction cup and ensure the service life of the suction cup mechanism. The magnetic bead assembly on the outside of the protective shell can assist in positioning the adsorption position of the suction cup mechanism and enhance the positioning accuracy of the equipment. The tension spring provides elastic support for the plate rod, ensuring that the magnetic bead always adheres to the pipe wall and continuously plays a positioning assistance role. The magnetic bead is connected to the plate rod by a ball joint, which can adapt to changes in the curvature of the pipe wall. When rolling, it does not interfere with the movement of the tracked walking mechanism, realizing the synergy between positioning assistance and stable walking, and further improving the operational stability of the equipment. Attached Figure Description

[0015] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 2 A schematic diagram of the propulsion component of a pipeline emergency repair rapid inner wall grinding device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the centering mechanism of a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 4 A schematic diagram of a suction cup assembly for a rapid inner wall grinding device for pipeline repair provided in an embodiment of the present invention; Figure 5 A schematic diagram of the back of the suction cup assembly of a rapid inner wall grinding device for pipeline repair provided in an embodiment of the present invention; Figure 6 A schematic diagram of the suction cup mechanism of a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 7 A schematic diagram of the back of the suction cup mechanism of a rapid inner wall grinding device for pipeline repair provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the magnetic attraction mechanism connection of a pipeline emergency repair inner wall rapid grinding device provided in an embodiment of the present invention; Figure 9 A schematic diagram of an electromagnetic loop segment for a rapid inner wall grinding device for pipeline repair provided in an embodiment of the present invention; Figure 10 A schematic diagram of a magnetic bead assembly for a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the tracked walking mechanism of a pipeline emergency repair inner wall rapid grinding equipment provided in an embodiment of the present invention; Figure 12 A schematic diagram of the grinding mechanism of a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 13 A schematic diagram of the grinding component of a rapid inner wall grinding device for pipeline emergency repair provided in an embodiment of the present invention; Figure 14 This is a schematic diagram showing the position of the tracked walking mechanism of a pipeline emergency repair inner wall rapid grinding equipment provided in an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached drawings: 1-Centering mechanism; 101-Centering ring; 102-Centering block; 103-Pressure sensor; 104-Arm groove; 105-Retractable support arm; 106-Connecting arm; 107-Support ring; 2-Suction cup mechanism; 201-Panel base; 202-Flexible pneumatic suction cup; 203-Sealing lip; 204-Air pipe; 205-Air pump; 206-Central guide groove; 207-Attachment sensor; 208-Controller; 3-Magnetic attraction mechanism; 301-Electromagnetic ring segment; 302-Shell; 303-Wiring; 304-First panel; 305-Plate rod; 306-Magnetic bead; 3 07-Second panel; 308-Tension spring; 4-Crawler walking mechanism; 401-Base plate; 402-First connector; 403-Folding arm; 404-First joint; 405-Second connector; 406-Torsion spring shaft; 407-Crawler frame; 408-Crawler; 409-Second joint; 5-Grinding mechanism; 501-Connecting block; 502-First cylinder; 503-Second cylinder; 504-Connecting plate; 505-Cylinder groove; 506-Equipment housing; 507-Housing column; 508-Ball groove; 509-Grinding base; 510-Seat shaft; 511-Grinding head; 512-Telescopic column; 513-Column groove. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions 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, not all embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0019] Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts disclosed in this invention.

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0021] Reference manual attached Figures 1-14 The present invention provides a pipeline emergency repair inner wall rapid grinding device, including a grinding mechanism 5, the grinding mechanism 5 including a grinding component, and connecting components installed on both sides of the grinding component; The connecting assembly includes a connecting block 501 and a receiving plate 504; the connecting block 501 is ball-jointed to a first cylinder 502, and the first cylinder 502 is hinged to a second cylinder 503; a cylinder groove 505 is formed on one side of the receiving plate 504; the second cylinder 503 is hinged to the cylinder groove 505. The grinding mechanism 5 is provided with propulsion components on both sides; the propulsion components include a centering mechanism 1; the grinding components are connected to the centering mechanism 1 through connecting components. The centering mechanism 1 includes a centering ring 101, and a foot assembly is provided inside the centering ring 101; the foot assembly is provided with retractable support arms 105 on four sides that are embedded in the centering ring 101, and the retractable support arms 105 are fixedly connected to connecting arms 106; the connecting arms 106 are assembled with suction cup assembly; the suction cup assembly includes suction cup mechanism 2 and magnetic suction mechanism 3. The suction cup assembly is provided with a tracked walking mechanism 4 on its side; the tracked walking mechanism 4 includes a base plate assembly, and two sets of tracked walking components are assembled on one side of the base plate assembly; the base plate assembly includes a base plate 401, and a second connector 405 is fixedly connected to both ends of one side of the base plate 401, and a torsion spring shaft 406 is connected to the second connector 405.

[0022] In this embodiment of the invention, the first cylinder 502 in the connecting assembly is connected to the connecting block 501 and the second cylinder 503 by ball joints. The second cylinder 503 is connected to the cylinder groove 505 of the receiving plate 504 by ball joints, forming a universal flexible connection. Combined with the creeping movement of the propulsion assembly, it can smoothly pass through the bend, avoiding jamming at the bend transition and inadequate grinding, thus expanding the working range. The suction cup assembly integrates the suction cup mechanism 2 and the magnetic suction mechanism 3 to achieve dual-mode fixation. Combined with the telescopic support arm 105 of the centering mechanism 1, it improves the positioning stability of the equipment. The tracked walking assembly is hinged to the second connector 405 of the base plate assembly via the torsion spring shaft 406, and is paired with the track 408 to adapt to complex working conditions such as corrosion of the inner wall of the pipe and slight elliptical deformation, ensuring stable movement for long-distance operations. The telescopic support arm 105 of the centering mechanism 1 is linked with the pressure sensor 103 inside the centering block 102 to automatically adjust the telescopic amount, ensuring that the equipment fits tightly against the pipe wall in different installation states such as horizontal, vertical, and inclined, reducing the amount of work offset and improving the positioning accuracy.

[0023] In one possible implementation, the tracked walking assembly includes a track frame 407, on the side of the track frame 407 away from the base plate assembly, a track 408 is sleeved, and a second connector 409 is fixed to the side of the track frame 407 near the base plate assembly; the second connector 409 and the second connector 405 are hinged together.

[0024] In this embodiment of the invention, the track frame 407 is hinged to the second connector 405 of the base plate assembly via the second joint 409. With the elastic reset action of the torsion spring shaft 406, it can adapt to slight curvature changes or tilt angles of the inner wall of the pipe, so that the track 408 always fits the pipe wall. The track 408 is made of wear-resistant rubber material containing diamond particles, which increases the contact friction with the pipe wall, further enhances the stability of long-distance travel, and avoids slippage caused by roughness or deformation of the inner wall.

[0025] In one possible implementation, the polishing assembly includes two housings 506, with a centrally located housing post 507 fixedly connected between the two housings 506, and ball grooves 508 evenly spaced on the outer side of the housing post 507.

[0026] In this embodiment of the invention, the central shell column 507 between the two shells 506 and the ball grooves 508 evenly opened on the outside provide a ball joint connection base for the telescopic column 512 of the grinding plate assembly, ensuring that the grinding base 509 can flexibly adjust its angle to adapt to the curvature of the inner wall of the pipe, while providing structural support for the modular replacement of the grinding head 511, laying the foundation for the functional expansion of the grinding assembly.

[0027] In one possible implementation, grinding plate assemblies are evenly spaced at the edges between the two housings 506; each grinding plate assembly includes a grinding base 509, one end of which is fixedly connected to a seat shaft 510, the end of which passes through and is connected to a bearing movable connector housing 506, and a grinding head 511 for grinding is fixedly connected to the outer side of the grinding base 509; a telescopic column 512 is provided on the inner side of the other end of the grinding base 509, and a column groove 513 is ball-jointed between the telescopic column 512 and the ball groove 508; The other side of the receiving plate 504 is connected to the housing 506 of the grinding assembly via a motor.

[0028] In this embodiment of the invention, the grinding plate assembly is movably connected to the housing 506 via the seat shaft 510, and is connected to the ball joint of the telescopic column 512 and the ball groove 508 of the housing column 507 via the ball joint, which can realize multi-angle adjustment of the grinding head 511, ensuring close contact with the inner wall of the pipe and uniform grinding. The grinding head 511 supports three modular designs: grinding wheel, wire brush, and flexible grinding. The modules can be quickly switched by the extension and retraction of the groove 513, adapting to different defect types such as weld excess height, thick scale layer, and corrosion oxide layer. There is no need to disassemble the grinding components, which improves emergency repair efficiency. The receiving plate 504 directly drives the grinding components through the motor, ensuring stable transmission of grinding power, ensuring uniform rotation speed of the grinding head 511, improving the grinding quality of the inner wall, and providing a reliable bonding foundation for subsequent emergency repair processes.

[0029] In one possible implementation, the foot assembly includes a centering block 102 corresponding to the connecting block 501. A pressure sensor 103 is fixedly embedded in the centering block 102. The four sides of the centering block 102 are provided with arm slots 104 adapted to insert a telescopic support arm 105. The telescopic support arm 105 is connected to the pressure sensor 103. A support ring 107 for auxiliary support is fixedly connected between adjacent telescopic support arms 105.

[0030] In this embodiment of the invention, the pressure sensor 103 inside the centering block 102 is connected to the telescopic support arm 105 to provide real-time feedback on the support pressure and automatically adjust the telescopic support arm 105 to ensure that the equipment can fit tightly against the pipe wall under different installation postures, thereby improving positioning accuracy. The support rings 107 between adjacent telescopic support arms 105 form an auxiliary support structure, which enhances the overall rigidity of the telescopic support arms 105, prevents the support arms from deforming due to grinding impact during operation, and ensures the stability of the centering mechanism 1.

[0031] In one possible implementation, a first connector 402 is fixedly connected to the other side of the substrate 401; the first connector 402 is hinged to a first joint 404 via a pivot, and a folding arm 403 is fixedly connected between the first joint 404 and the connecting arm 106.

[0032] In this embodiment of the invention, the base plate 401 is hinged to the folding arm 403 via the first connector 402 and the first joint 404. The folding arm 403 is made of a tough material, which can adapt to the bending angle changes of the pipeline during the movement of the equipment, ensuring the connection flexibility between the tracked walking mechanism 4 and the centering mechanism 1, without interfering with the movement and positioning of the equipment, and improving the adaptability to complex pipeline working conditions.

[0033] In one possible implementation, the suction cup mechanism 2 includes a plate base 201 fixedly connected to the connecting arm 106. A trumpet-shaped flexible pneumatic suction cup 202 is fixedly connected to one side of the plate base 201, and a sealing lip 203 is fixedly connected to the edge of the flexible pneumatic suction cup 202. An air pipe 204 communicating with the flexible pneumatic suction cup 202 is fixedly connected through the plate base 201, and an air pump 205 is connected to the end of the air pipe 204. The air pipe 204 and the air pump 205 are both correspondingly embedded in the connecting arm 106.

[0034] In this embodiment of the invention, the trumpet-shaped flexible pneumatic suction cup 202, together with the sealing lip 203 on the edge, can fill the unevenness of the tube wall. Even if there is slight rust or coating on the tube wall, it can achieve a tight fit and prevent it from falling off during adsorption. The air pipe 204 and the air pump 205 are embedded in the connecting arm 106. The structure is compact, does not occupy extra space, and does not affect the overall movement and operation of the equipment. The air pump 205 creates negative pressure within the flexible pneumatic suction cup 202 through the air tube 204, achieving rapid adsorption and fixation, which meets the rapid response requirements of emergency repair scenarios.

[0035] In one possible implementation, the inner wall of the flexible pneumatic suction cup 202 is provided with central guide grooves 206 at equal intervals; an attachment sensor 207 is embedded through the inner wall surface of the central guide groove 206; and a controller 208 for docking with the attachment sensor 207 is provided on the outer side of the flexible pneumatic suction cup 202.

[0036] In this embodiment of the invention, the central guide groove 206 on the inner wall of the flexible pneumatic suction cup 202 can quickly discharge the air between the suction cup and the tube wall, shorten the sealing time, improve the exhaust efficiency, and automatically seal through the flexible deformation of the suction cup after exhaust, without affecting the sealing effect, achieving instant adsorption and shortening the equipment debugging and positioning time. The attachment sensor 207 provides real-time feedback on the suction cup's adhesion status, and the controller 208 links with the subsequent magnetic suction mechanism 3 to ensure the automation and precision of the adsorption process, improve the reliability of adsorption and fixation, and meet the high-efficiency requirements of emergency repair scenarios.

[0037] In one possible implementation, the magnetic attraction mechanism 3 includes annularly arranged electromagnetic ring segments 301, which are pressed against the sealing lip 203 from the outside; a protective shell 302 covering the flexible pneumatic suction cup 202 is fixedly connected between the electromagnetic ring segments 301 and the plate base 201; and a wiring 303 penetrating the protective shell 302 is fixedly connected between the electromagnetic ring segments 301 and the controller 208. The outer side of the protective shell 302 is provided with magnetic bead assemblies at equal intervals.

[0038] In this embodiment of the invention, the electromagnetic ring segment 301 presses the sealing lip 203 from the outside. After being energized, it generates a pre-tightening force, which eliminates the tiny gap between the sealing lip 203 and the pipe wall, shortens the sealing time of pneumatic adsorption, improves negative pressure stability, and avoids air leakage problems during long-term operation. The protective shell 302 covers the flexible pneumatic suction cup 202, which can prevent grinding debris from damaging the suction cup and ensure the service life of the suction cup mechanism 2. The magnetic bead assembly on the outside of the protective shell 302 can help position the suction cup mechanism 2 and enhance the accuracy of equipment positioning.

[0039] In one possible implementation, the magnetic bead assembly includes a first panel 304 fixedly connected to the protective shell 302, a rod 305 inserted through the first panel 304, a magnetic bead 306 ball-jointed to one end of the rod 305, and a second panel 307 fixedly connected to the other end of the rod 305; a tension spring 308 wrapped around the rod 305 is fixedly connected between the second panel 307 and the first panel 304.

[0040] In this embodiment of the invention, the tension spring 308 provides elastic support for the plate rod 305, ensuring that the magnetic bead 306 always fits against the tube wall and continuously plays a positioning assistance role. The magnetic bead 306 is ball-jointed to the plate rod 305, which can adapt to changes in the curvature of the pipe wall. When rolling, it does not interfere with the movement of the tracked walking mechanism 4, realizing the synergy of positioning assistance and stable walking, and further improving the operational stability of the equipment.

[0041] Working principle: The suction cup assembly includes a suction cup mechanism 2 and a magnetic suction mechanism 3. The suction cup mechanism 2 uses pneumatic adsorption, and the magnetic suction mechanism 3 uses magnetic adsorption. Metal pipes can be directly fixed by the magnetic suction mechanism 3 of the suction cup assembly, while non-metallic pipes can have a magnetic structure installed on the outside and achieve flexible adsorption through the suction cup mechanism 2 of the suction cup assembly. Together with the telescopic support arm 105 of the centering mechanism 1, a centering posture is formed. The dual-mode fixing structure of the suction cup assembly further improves stability. The telescopic support arm 105 is connected to a pressure sensor 103 installed in the centering block 102, which provides real-time pressure feedback and controls the automatic adjustment of the telescopic support arm 105's extension and retraction. This ensures that the equipment can closely adhere to the pipe wall in different installation states such as horizontal, vertical, and inclined, reducing the offset during equipment operation. The bidirectional cooperative fixing of the suction cup assembly improves positioning accuracy.

[0042] The radial central guide groove 206 of the flexible pneumatic suction cup 202 enables the air between the flexible pneumatic suction cup 202 and the pipe wall to be discharged quickly, shortening the sealing time and improving the exhaust efficiency of the suction cup assembly. Moreover, after the exhaust is completed, the central guide groove 206 is automatically closed by the flexible deformation of the flexible pneumatic suction cup 202, which does not affect the sealing effect and can achieve instant adsorption and fixation, greatly shortening the equipment debugging and positioning time, meeting the rapid response requirements of emergency repair scenarios, and improving the adsorption and fixation efficiency of the suction cup assembly.

[0043] The inner wall of the flexible pneumatic suction cup 202 is evenly provided with central guide grooves 206, which gradually narrow from the inside to the outside. Under negative pressure, the central guide grooves 206 of the flexible pneumatic suction cup 202 deform and fit against the pipe wall. At this time, the edges of the central guide grooves 206 accumulate to form elastic support. Together with the sealing lip 203 fixedly connected to the edge of the flexible pneumatic suction cup 202, it can buffer the radial impact force during grinding and avoid positioning failure caused by hard contact between the magnetic suction mechanism 3 and the pipe wall. At the same time, the tracked walking mechanism 4 is equipped with two sets of tracked walking components hinged to the base plate assembly. The track 408 is made of wear-resistant rubber material containing diamond particles to improve the contact friction with the pipe wall. Even if there is rust or slight elliptical deformation on the inner wall of the pipe, it can maintain stable walking, further enhancing the stability of long-distance operation and improving the adaptability to complex inner wall working conditions.

[0044] When the suction cup assembly performs adsorption, the telescopic support arm 105 controls the suction cup assembly to adhere to the pipe wall, and the tracked walking mechanism 4 provides auxiliary support. The magnetic bead 306 adheres to the pipe wall under the action of magnetism, helping to position the suction cup mechanism 2 at the adsorption position. The air pump 205 is started to form a negative pressure in the flexible pneumatic suction cup 202 through the air pipe 204, which causes the adhesion sensor 207 to sense and adhere to the pipe wall. The controller 208 controls the electromagnetic ring segment 301 to be energized through the wiring 303. The electromagnetic ring segment 301 presses against the sealing lip 203 from the outside. The pre-tightening force of the electromagnetic ring segment 301 eliminates the small gap between the sealing lip 203 and the pipe wall, shortens the sealing time of pneumatic adsorption, improves the stability of negative pressure, and avoids air leakage problems during long-term operation. The flexible deformation of the flexible pneumatic suction cup 202 can fill the unevenness of the pipe wall. Even if the pipe wall has slight corrosion or coating, it can avoid falling off, improving the adsorption and sealing performance of the suction cup assembly. When the suction cup assembly is working, the retractable support arm 105 controls the tracked walking mechanism 4 to adhere to the pipe wall. Since the outer edge of the tracked walking mechanism 4 protrudes from the suction cup assembly, the equipment is driven to move inside the pipe by activating the tracked walking assembly. The magnetic bead 306 adheres to the pipe wall under the action of magnetism, and its ball joint connection with the plate rod 305 ensures that its rolling does not interfere with the operation of the tracked walking mechanism 4.

[0045] The symmetrically arranged propulsion components on both sides of the grinding mechanism 5 can be stably adsorbed onto the pipe wall via suction cup components. The propulsion components are adsorbed by suction cup components on one side and move by tracked walking mechanisms on one side. With the extension and retraction of the connecting components, they can creep within long-distance pipelines, achieving stable propulsion and grinding of long pipes. The propulsion components include a centering mechanism 1. The grinding components are connected to the centering mechanism 1 via connecting components. The universal joint of the connecting components works in conjunction with the creeping motion of the propulsion components to smoothly pass through bends in the pipes, avoiding jamming and incomplete grinding at bend transitions. This covers the emergency repair needs of various scenarios such as municipal pipe networks and long-distance chemical pipelines, expanding the scope of operations.

[0046] A grinding head 511 for grinding is fixedly connected to the outside of the grinding base 509. The grinding head 511 supports three modules: a grinding wheel module for weld reinforcement and thick scale layer, a wire brush module for corrosion and oxide layer, and a flexible grinding module for fine grinding and adapting to the roughness requirements before patch repair. A telescopic column 512 is opened on the inner side of the other end of the grinding base 509. The telescopic column 512 and the ball groove 508 are connected by a column groove 513 through a ball joint. The column groove 513 enables the quick replacement of the three modules to meet different grinding needs in emergency repair. The grinding head 511 supports three modular quick processing. The extension of the column groove 513 allows the grinding base 509 of the corresponding module to be lifted off the housing 506, which can be quickly switched to adapt to different defect types such as weld reinforcement, thick scale layer, corrosion and oxide layer, and fine grinding before repair. There is no need to disassemble the grinding components, which greatly improves the emergency repair efficiency of multi-defect pipelines and improves the targeting of grinding.

[0047] 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, the scope of which is defined by the appended claims and their equivalents.

[0048] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. A rapid grinding device for the inner wall of a pipeline for emergency repair, comprising a grinding mechanism, wherein the grinding mechanism includes a grinding component, and connecting components are installed on both sides of the grinding component; Its features are: The connecting assembly includes a connecting block and a receiving plate; the connecting block is ball-jointed to a first cylinder, and the first cylinder is ball-jointed to a second cylinder; a cylinder groove is formed on one side of the receiving plate; the second cylinder and the cylinder groove are ball-jointed together. The grinding mechanism is provided with propulsion components on both sides; the propulsion components include a centering mechanism; the grinding components are connected to the centering mechanism via connecting components. The centering mechanism includes a centering ring, within which a foot assembly is disposed; the foot assembly has retractable support arms on its four sides that are fitted with the centering ring, and the retractable support arms are fixedly connected to connecting arms; the connecting arms are assembled with suction cup assemblies; the suction cup assembly includes a suction cup mechanism and a magnetic attraction mechanism; The suction cup assembly is provided with a tracked walking mechanism on its side; the tracked walking mechanism includes a base plate assembly, and two sets of tracked walking components are mounted on one side of the base plate assembly; the base plate assembly includes a base plate, and a second connector is fixedly connected to both ends of one side of the base plate, and a torsion spring shaft is connected to the second connector.

2. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 1, characterized in that: The tracked walking assembly includes a track frame, with a track sleeved on the side of the track frame away from the base plate assembly, and a second connector fixed to the side of the track frame close to the base plate assembly; the second connector and the second connector are hinged together.

3. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 2, characterized in that: The grinding assembly includes two housings, with a centrally located housing column fixedly connected between the two housings. The outer side of the housing column is provided with equidistant and uniform ball grooves.

4. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 3, characterized in that: A grinding plate assembly is evenly and equidistantly arranged at the edge between the two housings; the grinding plate assembly includes a grinding base, one end of which is fixedly connected to a seat shaft, the end of which passes through and is connected to a bearing movable connector housing, and a grinding head for grinding is fixedly connected to the outside of the grinding base; a telescopic column is provided on the inner side of the other end of the grinding base, and a column groove is connected to the telescopic column by a ball joint. The other side of the receiving plate is connected to the housing of the grinding assembly via a motor.

5. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 4, characterized in that: The foot assembly includes a centering block with a corresponding connecting block, a pressure sensor is fixedly embedded in the centering block, and arm slots are provided on all four sides of the centering block to accommodate the insertion of a telescopic support arm; the telescopic support arm is connected to the pressure sensor. A support ring for auxiliary support is fixedly connected between adjacent telescopic support arms.

6. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 5, characterized in that: A first connector is fixedly connected to the other side of the substrate; the first connector is hinged to a first joint via a pivot, and a folding arm is fixedly connected between the first joint and the connecting arm.

7. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 6, characterized in that: The suction cup mechanism includes a plate base with a fixedly connected connecting arm. A trumpet-shaped flexible pneumatic suction cup is fixedly connected to one side of the plate base, and a sealing lip is fixedly connected to the edge of the flexible pneumatic suction cup. An air tube communicating with the flexible pneumatic suction cup is fixedly connected through the plate base, and an air pump is connected to the end of the air tube. The air tube and the air pump are both correspondingly embedded in the connecting arm.

8. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 7, characterized in that: The flexible pneumatic suction cup has central guide grooves evenly spaced on its inner wall; an attachment sensor is embedded through the inner wall of the central guide groove; and a controller for docking the attachment sensor is provided on the outer side of the flexible pneumatic suction cup.

9. The rapid inner wall grinding equipment for pipeline emergency repair according to claim 8, characterized in that: The magnetic suction mechanism includes annularly arranged electromagnetic ring segments, which are pressed against the sealing lip from the outside; a protective shell covering the flexible pneumatic suction cup is fixedly connected between the electromagnetic ring segments and the plate base; and a wiring through the protective shell is fixedly connected between the electromagnetic ring segments and the controller. The outer side of the protective shell is provided with magnetic bead assemblies at equal intervals.

10. A rapid inner wall grinding device for pipeline emergency repair according to claim 9, characterized in that: The magnetic bead assembly includes a first panel with a fixedly connected protective shell, a plate rod inserted through the first panel, a magnetic bead connected to one end of the plate rod by a ball joint, and a second panel fixedly connected to the other end of the plate rod; a tension spring that wraps around the plate rod is fixedly connected between the second panel and the first panel.

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