Off-line spiral welded pipe under-welding seam full-welding seam automatic grinding equipment and grinding method

Abstract

This invention relates to an automatic grinding equipment and method for the entire outer weld seam of an offline spiral welded pipe, belonging to the field of spiral welded pipe weld seam grinding technology. The equipment includes a base with multiple adjustable-angle conveying devices arrayed on it, and an automatic outer weld seam grinding device installed on the base. This invention allows for flexible adjustment of the conveyor roller spacing and lifting position, adapting to different specifications of spiral welded pipes and broadening the applicable working conditions. It integrates multiple fine-tuning mechanisms, combined with a universal ball elastic positioning structure, to precisely control the weld seam grinding allowance, improving grinding uniformity and dimensional accuracy. The elastic limiting structure strictly limits the grinding limit stroke of the abrasive belt, preventing damage to the steel pipe base material during grinding. The entire equipment integrates automatic feeding and conveying, weld seam alignment, trajectory tracking, automatic grinding, and material unloading, reducing manual labor and significantly improving production efficiency. It is suitable for various offline precision processing production lines for spiral welded pipes.

Description

Technical Field

[0001] This invention relates to an automatic grinding equipment and method for the entire weld seam of an offline spiral welded pipe, belonging to the field of spiral welded pipe weld seam grinding technology. Background Technology

[0002] Spiral welded pipes are produced by continuously bending and welding rolled steel plates along a spiral line, resulting in two weld seams, one inside and one outside. The continuously produced steel pipes are then cut to a specific length on the production line, producing individual pipes. The process before cutting is online, while the processing of individual pipes after cutting is offline. Excessive weld reinforcement on the outer seam can easily lead to stress concentration, reducing pipeline lifespan and operational safety. It also accelerates the thinning of the 3PE external anti-corrosion layer at the weld seam. To meet the required anti-corrosion thickness, the amount of anti-corrosion material needs to be increased, significantly increasing production costs. Therefore, it is necessary to grind the entire outer weld seam of the spiral welded pipe.

[0003] Current external weld seam grinding mainly relies on online lateral grinding, and there is no mature offline automated grinding equipment and method for the entire external weld seam of spiral welded pipes. Offline grinding presents many technical challenges: the diameter and weld condition of a single steel pipe vary randomly, making equipment adaptation difficult; a dedicated conveying mechanism is required to move the steel pipe in and out; the grinding motion and the spiral weld seam trajectory of the steel pipe need to be precisely coupled; and changes in pipe diameter, pitch, and radial position of the weld seam must be taken into account to accurately control the grinding height and prevent damage to the base material. This results in traditional solutions being complex, expensive, and difficult to apply industrially. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an automatic grinding equipment and method for the entire weld seam of the outer weld seam of an offline spiral welded pipe, so as to solve the problems of no dedicated equipment, poor adaptability, low grinding accuracy and easy damage to the base material in offline grinding, and realize the automatic, high-precision and stable grinding of the entire weld seam of the outer weld seam of spiral welded pipes of different diameters.

[0005] The offline spiral welded pipe under-pipe automatic weld seam grinding equipment of the present invention includes a base base, on which multiple sets of adjustable angle conveying devices are arrayed. The adjustable angle conveying devices can move along the axial direction of the steel pipe and can realize circumferential, straight and spiral conveying of the steel pipe. The base base is also equipped with an automatic weld seam grinding device, which can realize automatic tracking and automatic grinding of the weld seam, and can accurately control the height of the remaining weld seam after grinding. The adjustable angle conveying device includes a V-shaped base with inclined support surfaces on both sides. A driven conveying component and an active conveying component are slidably connected above the support surfaces on both sides. The positions of the driven conveying component and the active conveying component are adjustable. The driven conveying component is equipped with a driven roller, and the active conveying component is equipped with an active roller. The rotation shafts of the driven roller and the active roller are adjustable. By adjusting the positions of the driven and driven conveying components, suitable lifting for different pipe diameters can be achieved, ensuring the consistency of the bottom reference of the steel pipe; by adjusting the rotation shafts of the driven and driven rollers, the direction of the driving force of the driven roller on the steel pipe can be adjusted, thereby realizing the linear, spiral, and circumferential transmission of the steel pipe. The aforementioned automatic external weld seam grinding equipment includes an axial adjustment slide, on which a multi-dimensional adjustable grinding device is movably installed; the multi-dimensional adjustable grinding device includes, from bottom to top, an axial fine adjustment mechanism, a radial fine adjustment mechanism, a lifting and rotation adjustment mechanism, and a universal ball positioning mechanism; a vertical adjustable angle sander is provided on one side of the universal ball positioning mechanism, and a spatter collection box is fixedly connected to the vertical adjustable angle sander.

[0006] Preferably, the automatic external weld seam grinding equipment also includes a heightening seat, which is detachably installed below the multi-dimensional adjustable grinding device. The multi-dimensional adjustable grinding device can move and lock on the axial adjustment slide through the heightening seat. The automatic external weld seam grinding equipment also includes a position-adjustable laser tracking camera, a monitoring camera, and a detection switch. The laser tracking camera is used to realize real-time positioning and trajectory tracking of the steel pipe weld seam. Even if there is a displacement deviation of the weld seam when the steel pipe rotates during the grinding process, it can be automatically and timely adjusted to achieve accurate weld seam tracking. The monitoring camera is used to observe the relative position of the abrasive belt and the weld seam and the degree of weld seam grinding after grinding. The detection switch is used to monitor the position of the pipe end of the steel pipe.

[0007] Preferably, an axial motor for a conveying device is mounted on the V-shaped base, a gear is mounted on the output shaft of the axial motor, and an axial drive rack is fixed on the base base, with the gear meshing with the axial drive rack; an axial sliding guide rail is also fixed on the base base, and the V-shaped base slides with the axial sliding guide rail via a slider; the adjustable angle conveying device moves along the base base via the axial motor of the conveying device. Both the driven conveying component and the active conveying component are connected to the V-shaped base via a lead screw assembly. A digital display is installed on the lead screw assembly to ensure the consistency of the adjustment of the driven conveying component and the active conveying component, thereby ensuring that the steel pipe grinding position has a relatively stable spatial position.

[0008] Preferably, the driven conveying assembly includes a driven slide, the top surface of which is inclined, a driven turntable is rotatably connected to the top of the driven slide, a driven roller is rotatably connected to the driven turntable, a motor is mounted on the driven slide, and the driven turntable is driven to rotate by the motor. The active conveying assembly includes an active slide, the top surface of which is inclined, an active turntable rotatably connected to the top of the active slide, a motor mounted on the active slide, and the active turntable driven to rotate by the motor; an active roller is rotatably connected to the active turntable, and the active roller is driven to rotate by an active roller motor. When the axes of the driving roller and the driven roller are perpendicular to the axis of the steel pipe, the steel pipe can be conveyed in a straight line; when the axes of the driving roller and the driven roller are parallel to the axis of the steel pipe, the steel pipe can be rotated circumferentially in place; when the axes of the driving roller and the driven roller are at a certain angle to the axis of the steel pipe, the steel pipe can be conveyed in a spiral rotation.

[0009] Preferably, the lifting seat is threadedly connected to a lifting bullseye bearing. By adjusting the lifting bullseye bearing, the lifting seat can be lifted up, thereby adjusting the position of the lifting seat.

[0010] Preferably, the axial fine-tuning mechanism includes an axial fine-tuning base plate, which is detachably installed above the heightening seat. An axial fine-tuning upright plate is fixed to one side of the axial fine-tuning base plate, and an axial fine-tuning motor is fixedly installed on the axial fine-tuning upright plate. The axial fine-tuning motor is connected to the axial fine-tuning top plate through a lead screw assembly. The axial fine-tuning top plate is also slidably connected to the axial fine-tuning base plate through a guide rail slider assembly. Dustproof bellows covers are installed on both sides of the axial fine-tuning top plate to protect the internal lead screw assembly and guide rail slider assembly. The axial fine-tuning motor can drive the axial fine-tuning top plate to move axially along the steel pipe.

[0011] Preferably, the radial fine-tuning mechanism includes a radial fine-tuning base plate, which is detachably connected to the axial fine-tuning top plate by bolts. A radial adjusting screw is rotatably connected below the radial fine-tuning base plate, and the radial adjusting screw is threadedly connected to the axial fine-tuning top plate. The axial fine-tuning top plate is provided with an elongated hole for adjustment. When radial adjustment is required, the bolts are loosened, and the radial adjusting screw is rotated to drive the radial fine-tuning base plate to move radially along the steel pipe.

[0012] Preferably, the lifting and turning adjustment mechanism includes a cylinder fixing seat, a cylinder is fixed on the cylinder fixing seat, a belt sander mounting plate is fixed to the first end of the cylinder rod, and the belt sander mounting plate is fixedly connected to the right angle connecting seat. The bottom of the cylinder mounting base is rotatably connected to the radial fine-tuning base plate via a pin. The radial fine-tuning base plate is rotatably connected to the angle adjusting screw via a rotatable bearing with a seat. The bearing with a seat allows the angle adjusting screw to swing horizontally, and the screw can rotate around the mounting hole of the bearing with a seat. The angle adjusting screw is rotatably connected to the cylinder mounting base via a fisheye connector, and the head of the screw is threadedly connected to the fisheye connector. By rotating the angle adjusting screw, the engagement length with the fisheye connector can be adjusted, thereby adjusting the horizontal angle of the cylinder mounting base.

[0013] Preferably, the vertical adjustable belt sander includes a belt sander bracket, which is hinged to a right-angle connecting seat. A grinding motor is fixed to the hinged side of the belt sander bracket, and a drive pulley is sleeved on the output shaft of the grinding motor. A grinding wheel, a belt tensioning and adjustment mechanism, and a belt sander angle adjustment mechanism are installed on the side of the belt sander bracket opposite to the grinding motor. The grinding wheel is rotatably connected to the belt sander bracket. The belt tensioning and adjustment mechanism is used to tension the belt and adjust the belt angle, and the belt sander angle adjustment mechanism is used to adjust the angle between the vertical adjustable belt sander and the right-angle connecting seat.

[0014] Preferably, the belt tensioning and adjustment mechanism includes a tensioning device. The first end of the tensioning device is movably connected to a sliding block via a fisheye connector. The sliding block is slidably connected to the belt sander bracket. The sliding block is rotatably connected to an adjustment wheel via a mounting arm. A top bolt is threaded onto the mounting arm. By rotating the top bolt, the deflection angle of the adjustment wheel can be adjusted, thereby adjusting the deflection angle of the belt. The tensioning device pushes the sliding block to move, which in turn drives the adjustment wheel to move, thus tensioning the belt.

[0015] Preferably, the belt sander swing angle adjustment mechanism includes a swing angle adjustment screw, which is rotatably connected to the belt sander bracket via a fixed seat. A fisheye connector is threadedly connected to the swing angle adjustment screw. After passing through the belt sander bracket, the swing angle adjustment screw is hinged to the swing angle connecting seat via the fisheye connector. When the swing angle adjustment screw is rotated, under the threaded transmission action of the fisheye connector and the swing angle adjustment screw, the belt sander bracket rotates around the hinge point between the fisheye connector and the right-angle connecting seat, thereby realizing the swing angle adjustment of the vertical swing-angle belt sander.

[0016] Preferably, the universal ball positioning mechanism includes a worm gear lift, which is fixed to a right-angle connecting seat. A connecting sleeve is provided at the top of the worm gear lift, and a disc spring is installed inside the connecting sleeve. The connecting sleeve is elastically connected to the limiting universal ball through the disc spring. A rocker arm is provided on one side of the worm gear lift, which drives the worm gear lift to move, thereby causing the limiting universal ball to rise and fall. The disc spring provides buffering to prevent rigid collision between the limiting universal ball and the bottom of the steel pipe when the cylinder is lifted, thus extending the service life of the cylinder and the worm gear lift, and preventing displacement of the universal ball positioning mechanism.

[0017] The offline spiral welded pipe underside external weld seam automatic grinding method of the present invention includes the following steps: S1. Adjust the steel pipe to the vertical bottom elevation reference position and the horizontal center reference position; S11. Adjust the positions of the driven conveying component and the active conveying component according to the diameter of the steel pipe, and use the digital display installed on the screw assembly of the two components to make the opening and closing degree of the driven conveying component and the active conveying component consistent, so that the bottom of the steel pipe is located at the vertical bottom elevation reference position. S12. By adjusting the rotation angles of the active and driven turntables, the steel pipe axis is aligned with the horizontal center reference position. S2. Vertical swing-angle belt sander and universal ball positioning mechanism for centering adjustment; The axial fine-tuning mechanism, radial fine-tuning mechanism, lifting and rotation adjustment mechanism are adjusted in combination to ensure that the apex of the limit universal ball and the apex of the grinding wheel fall into the vertical center plane of the straight transmission of the steel pipe, and to confirm that the grinding wheel is lower than the apex of the limit universal ball to ensure a safe distance before debugging. S3. Preliminary adjustment of the universal ball positioning mechanism and alignment of welds; S31. Define the steel pipe conveying direction as forward and the steel pipe feeding direction as backward; transport the steel pipe forward in a straight line through the driven conveying component and the active conveying component. When the detection switch located at the front detects the front end of the steel pipe, the steel pipe transport will automatically stop; then, the driven conveying component and the active conveying component will rotate the steel pipe in place so that the weld seam of the steel pipe is rotated to the bottom. S32. Start the cylinder to rise independently. At this time, the grinding wheel does not work. Make the top of the limit universal ball contact the outer wall directly below the steel pipe. Then adjust the worm gear lift to descend by rocker arm. Due to the action of the cylinder, the grinding wheel rises relatively. Stop when the sanding belt gradually rises and just touches the weld. S33. Re-adjust and confirm that the sanding belt is directly below and facing the weld seam, and start the cylinder to descend and reset separately; S4. Adjustment of monitoring device position; Adjust each monitoring camera to observe the target relative to the sand belt and the weld, as well as the target of the degree of weld grinding after grinding; then adjust the laser tracking camera to face the weld so that the weld is in the center of its detection frame; at this time, the steel pipe is spirally conveyed by the driven conveying component and the active conveying component to confirm that the weld tracking is reliable during the spiral conveying process, and the top of the grinding wheel is always directly facing the weld below the steel pipe. S5. Adjustment of weld seam grinding height; When the steel pipe is being conveyed by a screw conveyor, the grinding motor is started and the cylinder is lifted. When the apex of the limit universal ball contacts the outer wall directly below the steel pipe, the worm gear lift is lowered by adjusting the rocker arm. Due to the action of the cylinder, the grinding wheel rises relatively, and the sanding belt gradually grinds the weld until the required weld height is achieved. During this process, the deflection angle of the grinding wheel is adjusted by the lifting and rotation adjustment mechanism to ensure that the grinding wheel is parallel to the outer weld of the steel pipe and to prevent uneven grinding. S6. After all adjustments meet the grinding requirements, perform automatic grinding. S61. The steel pipe is conveyed forward by an adjustable angle conveyor. The linkage grinding motor starts, the cylinder lifts, and the laser tracking camera starts tracking. At this time, the grinding wheel automatically grinds the weld. When the laser tracking camera detects that the weld position has deviated, the program automatically adjusts it through each motor. S62. When the detection switch located at the rear detects the rear end of the steel pipe, the cylinder falls, the grinding motor stops synchronously, and the adjustable angle conveying device stops after a delay when conveying the steel pipe to the designated position. S63. After the steel pipe grinding is completed, the adjustable angle conveying device transports the steel pipe out, waiting for the next steel pipe to be ground.

[0018] The beneficial effects of this invention compared to the prior art are: 1. This invention uses an adjustable angle conveying device to flexibly adjust the spacing between conveying rollers, the deflection angle and the lifting position, adapting to spiral welded pipes of different diameters. It can accurately complete the conveying, positioning and attitude adjustment of steel pipes with different pitches and different weld formation states, effectively solving the industry problems of poor pipe diameter adaptability and low workpiece compatibility of traditional offline grinding equipment, and broadening the applicable working conditions of the equipment. 2. This invention integrates multiple micro-adjustment mechanisms for axial, radial, lifting, angle, and swing angle, combined with a universal ball elastic positioning structure, which can stably lock the bottom reference of the steel pipe and the weld grinding reference, and accurately control the weld grinding allowance; supplemented by laser real-time weld tracking, it can compensate for the weld position offset caused by the rotation and conveying of the steel pipe in real time, and follow the spiral weld movement trajectory to complete the fitting grinding, accurately control the remaining height of the weld after grinding, and improve the grinding uniformity and dimensional accuracy. 3. Relying on the dual limiting of mechanical reference positioning and elastic limit structure, the limit stroke of the sanding belt is strictly limited, eliminating the problem of over-grinding from the structural level and completely avoiding damage to the steel pipe base material during grinding. 4. The entire set of equipment integrates automatic feeding and conveying, weld seam alignment, trajectory tracking, automatic grinding, and material unloading into a fully automated control process. It is equipped with pipe end position detection switches to achieve intelligent start and stop linkage, eliminating the need for manual repositioning and adjustment of weld seam position and grinding angle. This significantly reduces on-site manual input and reduces human error, enabling continuous offline grinding operations in a production line manner, and significantly improving production efficiency. 5. The belt sander is equipped with a spatter collection box, which can collect metal dust and grinding debris generated during the grinding process in a timely manner, effectively improving the workshop working environment and reducing dust pollution; 6. The adjustable angle conveying device can freely switch between linear conveying, in-situ circumferential rotation, and spiral feeding modes. It can not only complete the loading and unloading of steel pipes, but also accurately complete the low-position alignment of weld seams, seamlessly connecting the entire process of loading, seam finding, grinding, and unloading. It is suitable for various spiral welded pipe offline precision processing production lines. 7. The one-step spiral welded pipe production mode is equivalent to spiral conveying for the output of steel pipes. Therefore, this device can also be used for online automatic grinding of the entire outer weld seam during the one-step spiral welded pipe production process. It can be linked with the spiral welded pipe production host to continuously grind the outer weld seam of the steel pipe. Since the spatial spiral line formed during online spiral welded pipe production is more stable, PLC control and laser detection for weld seam tracking are not required to complete the corresponding adjustments, operations, and automatic grinding of the entire weld seam. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the state during the operation of the present invention; Figure 2 This is a structural diagram of the base; Figure 3 This is a schematic diagram of the adjustable angle conveying device; Figure 4 This is a schematic diagram of the driven conveyor assembly; Figure 5 This is a schematic diagram of the active delivery component; Figure 6 This is a schematic diagram of an automatic external weld seam grinding equipment; Figure 7 This is a schematic diagram of the structure of a multi-dimensional adjustable grinding device; Figure 8 This is a schematic diagram of the axial fine-tuning mechanism; Figure 9 This is a schematic diagram of the radial fine-tuning mechanism; Figure 10 This is a schematic diagram of the lifting and turning adjustment mechanism; Figure 11 This is one of the structural schematic diagrams of a vertical angle-swing belt sander; Figure 12 This is the second structural schematic diagram of a vertical angle-swing belt sander; Figure 13 This is a cross-sectional view of the omnidirectional ball positioning mechanism.

[0020] In the diagram: 1. Adjustable angle conveying device; 11. V-shaped base; 12. Axial motor of the conveying device; 13. Driven conveying assembly; 131. Driven slide; 132. Driven turntable; 133. Driven roller; 14. Active conveying assembly; 141. Active slide; 142. Active turntable; 143. Active roller; 144. Active roller motor; 2. Automatic grinding equipment for external welds; 21. Axial adjustment slide; 22. Spatter collection box; 23. Laser tracking camera; 24. Monitoring camera; 25. Detection switch; 26. Multi-dimensional adjustable grinding device; 261. Axial fine-tuning mechanism; 2611. Axial fine-tuning base plate; 2612. Axial fine-tuning motor; 2613. Axial fine-tuning vertical plate; 2614. Axial fine-tuning top plate; 262. Radial fine-tuning mechanism; 2621. Radial adjustment wire. 2622. Bracket; 263. Radial fine-tuning base plate; 263. Lifting and angle adjustment mechanism; 2631. Cylinder mounting seat; 2632. Cylinder; 2633. Angle adjustment screw; 2634. Belt sander mounting plate; 264. Vertical swing-angle belt sander; 2641. Drive pulley; 2642. Tensioning device; 2643. Sliding block; 2644. Adjusting wheel; 2645. Swing angle adjustment screw; 2 646. Grinding wheel; 2647. Grinding motor; 2648. Belt sander bracket; 2649. Right-angle connector; 265. Universal ball positioning mechanism; 2651. Worm gear jack; 2652. Rocker arm; 2653. Connecting sleeve; 2654. Limiting universal ball; 2655. Disc spring; 27. Elevation seat; 3. Foundation base; 31. Axial sliding guide rail; 32. Axial drive rack. Detailed Implementation

[0021] Example 1 like Figures 1-13 As shown, this embodiment is achieved through the following technical solution: The offline spiral welded pipe under-pipe automatic weld seam grinding equipment described in this embodiment includes a base base 3, on which multiple sets of adjustable angle conveying devices 1 are arrayed. The adjustable angle conveying devices 1 can move along the axial direction of the steel pipe, and can realize circumferential, straight, and spiral conveying of the steel pipe. The base base 3 is also equipped with an automatic weld seam grinding device 2, which can realize automatic tracking and automatic grinding of the weld seam, and can accurately control the height of the remaining weld seam after grinding. The adjustable angle conveying device 1 includes a V-shaped base 11 with inclined support surfaces on both sides. A driven conveying component 13 and an active conveying component 14 are slidably connected above the support surfaces on both sides. The positions of the driven conveying component 13 and the active conveying component 14 are adjustable. The driven conveying component 13 is equipped with a driven roller 133, and the active conveying component 14 is equipped with an active roller 143. The rotation shafts of the driven roller 133 and the active roller 143 are adjustable. By adjusting the positions of the driven conveying component 13 and the active conveying component 14, suitable lifting of different pipe diameters can be achieved, ensuring the consistency of the bottom reference of the steel pipe. By adjusting the rotation shafts of the driven roller 133 and the active roller 143, the driving force direction of the active roller 143 on the steel pipe can be adjusted, thereby realizing the linear, spiral, and circumferential transmission of the steel pipe. The aforementioned automatic external weld seam grinding equipment 2 includes an axial adjustment slide 21, on which a heightening seat 27 is movably mounted. The position of the heightening seat 27 on the axial adjustment slide 21 can be locked. A multi-dimensional adjustable grinding device 26 is installed above the heightening seat 27. The multi-dimensional adjustable grinding device 26 includes, from bottom to top, an axial fine-tuning mechanism 261, a radial fine-tuning mechanism 262, a lifting and rotation adjustment mechanism 263, and a universal ball positioning mechanism 265. A vertical swingable belt sander 264 is provided on one side of the universal ball positioning mechanism 265. The vertical angled belt sander 264 is fixedly connected to a spatter collection box 22; it also includes a position-adjustable laser tracking camera 23, a monitoring camera 24, and a detection switch 25; the laser tracking camera 23 is used to realize real-time positioning and trajectory tracking of the steel pipe weld, so that even if the weld has displacement deviation when the steel pipe rotates during the grinding process, it can be automatically and timely adjusted to achieve accurate weld tracking; the monitoring camera 24 is used to observe the relative position of the sanding belt and the weld and the degree of weld grinding after grinding; the detection switch 25 is used to monitor the position of the pipe end of the steel pipe.

[0022] In this embodiment, an axial motor 12 for a conveying device is mounted on the V-shaped base 11. A gear is mounted on the output shaft of the axial motor 12. An axial drive rack 32 is fixed on the base base 3, and the gear meshes with the axial drive rack 32. An axial sliding guide rail 31 is also fixed on the base base 3. The V-shaped base 11 slides with the axial sliding guide rail 31 through a slider. The adjustable angle conveying device 1 moves along the base base 3 through the axial motor 12. Both the driven conveying component 13 and the active conveying component 14 are connected to the V-shaped base 11 via a lead screw assembly. A digital display is installed on the lead screw assembly to ensure the consistency of the adjustment of the driven conveying component 13 and the active conveying component 14, thereby ensuring that the steel pipe grinding position has a relatively stable spatial position.

[0023] The driven conveying assembly 13 includes a driven slide 131, the top surface of which is inclined, and a driven turntable 132 is rotatably connected to the top of the driven slide 131. A driven roller 133 is rotatably connected to the driven turntable 132. A motor is mounted on the driven slide 131, and the driven turntable 132 is driven to rotate by the motor. The active conveying assembly 14 includes an active slide 141, the top surface of which is inclined, and an active turntable 142 is rotatably connected to the top of the active slide 141. A motor is mounted on the active slide 141. The active turntable 142 is driven to rotate by a motor; the active roller 143 is rotatably connected to the active turntable 142, and the active roller 143 is driven to rotate by the active roller motor 144; when the axes of the active roller 143 and the driven roller 133 are perpendicular to the axis of the steel pipe, the steel pipe can be conveyed in a straight line; when the axes of the active roller 143 and the driven roller 133 are parallel to the axis of the steel pipe, the steel pipe can be rotated circumferentially in place; when the axes of the active roller 143 and the driven roller 133 are at a certain angle to the axis of the steel pipe, the steel pipe can be conveyed in a spiral rotation.

[0024] The heightening seat 27 is threadedly connected to a lifting bullseye bearing. By adjusting the lifting bullseye bearing, the heightening seat 27 can be lifted, thus adjusting its position. The axial fine-tuning mechanism 261 includes an axial fine-tuning base plate 2611, which is detachably installed above the heightening seat 27. An axial fine-tuning vertical plate 2613 is fixed to one side of the axial fine-tuning base plate 2611. An axial fine-tuning motor 2612 is fixedly installed on the axial fine-tuning vertical plate 2613. The axial fine-tuning motor 2612 is connected to the axial fine-tuning top plate 2614 via a lead screw assembly. The axial fine-tuning top plate 2614 is also slidably connected to the axial fine-tuning base plate 2611 via a guide rail slider assembly. Dustproof bellows covers are installed on both sides of the axial fine-tuning top plate 2614 to protect the internal lead screw assembly and guide rail slider assembly. The axial fine-tuning motor 2612 can drive the axial fine-tuning top plate 2614 to move axially along the steel pipe.

[0025] The radial fine-tuning mechanism 262 includes a radial fine-tuning base plate 2622, which is detachably connected to an axial fine-tuning top plate 2614 by bolts. A radial adjusting screw 2621 is rotatably connected below the radial fine-tuning base plate 2622, and the radial adjusting screw 2621 is threadedly connected to the axial fine-tuning top plate 2614. The axial fine-tuning top plate 2614 is provided with an elongated hole for adjustment. When radial adjustment is required, the bolts are loosened, and the radial adjusting screw 2621 is rotated to drive the radial fine-tuning base plate 2622 to move radially along the steel pipe.

[0026] The lifting and angle adjustment mechanism 263 includes a cylinder mounting base 2631, on which a cylinder 2632 is fixed. A belt sander mounting plate 2634 is fixed to the first end of the cylinder rod, and the belt sander mounting plate 2634 is fixedly connected to a right-angle connecting seat 2649. The bottom of the cylinder mounting base 2631 is rotatably connected to a radial fine-tuning base plate 2622 via a pin. The radial fine-tuning base plate 2622 is rotatably connected to an angle adjusting screw 2633 via a rotatable bearing with a seat. The bearing with a seat allows the angle adjusting screw 2633 to swing horizontally, and the angle adjusting screw 2633 can rotate around the mounting hole of the bearing with a seat. The angle adjusting screw 2633 is rotatably connected to the cylinder mounting base 2631 via a fisheye connector, and the first end of the angle adjusting screw 2633 is threadedly connected to the fisheye connector. By rotating the angle adjusting screw 2633, the engagement length with the fisheye connector can be adjusted, thereby adjusting the horizontal angle of the cylinder mounting base 2631.

[0027] The vertical adjustable belt sander 264 includes a sander bracket 2648, which is hinged to a right-angle connecting seat 2649. A grinding motor 2647 is fixed on the hinged side of the sander bracket 2648. A drive pulley 2641 is sleeved on the output shaft of the grinding motor 2647. A grinding wheel 2646, a belt tensioning and adjustment mechanism, and a belt swing angle adjustment mechanism are installed on the side of the sander bracket 2648 opposite to the grinding motor 2647. The grinding wheel 2646 is rotatably connected to the sander bracket 2648. The belt tensioning and adjustment mechanism is used to tension the sander belt and adjust the sander belt angle. The belt swing angle adjustment mechanism is used to adjust the angle between the vertical adjustable belt sander 264 and the right-angle connecting seat 2649.

[0028] The belt tensioning and adjustment mechanism includes a tensioning device 2642, which is a push-pull quick clamp. The first end of the tensioning device 2642 is movably connected to a sliding block 2643 via a fisheye connector. The sliding block 2643 is slidably connected to the belt sander bracket 2648. The sliding block 2643 is rotatably connected to the adjustment wheel 2644 via a mounting arm. A top bolt is threaded onto the mounting arm. By rotating the top bolt, the deflection angle of the adjustment wheel 2644 can be adjusted, thereby adjusting the deflection angle of the sanding belt. By pushing the sliding block 2643 to move through the tensioning device 2642, the adjustment wheel 2644 can be moved, thus tensioning the sanding belt.

[0029] The aforementioned belt sander swing angle adjustment mechanism includes a swing angle adjusting screw 2645, which is rotatably connected to the belt sander bracket 2648 via a fixed seat. A fisheye connector is threadedly connected to the swing angle adjusting screw 2645. After passing through the belt sander bracket 2648, the swing angle adjusting screw 2645 is hinged to the swing angle connecting seat via the fisheye connector. When the swing angle adjusting screw 2645 is rotated, under the threaded transmission action of the fisheye connector and the swing angle adjusting screw 2645, the belt sander bracket 2648 rotates around its hinge point with the right-angle connecting seat 2649, thereby realizing the swing angle adjustment of the vertical swing angle belt sander 264.

[0030] The universal ball positioning mechanism 265 includes a worm gear lift 2651, which is fixed to a right-angle connecting seat 2649. A connecting sleeve 2653 is provided at the top of the worm gear lift 2651, and a disc spring 2655 is provided inside the connecting sleeve 2653. The connecting sleeve 2653 is elastically connected to the limiting universal ball 2654 through the disc spring 2655. A rocker arm 2652 is provided on one side of the worm gear lift 2651. The rocker arm 2652 drives the worm gear lift 2651 to move, thereby causing the limiting universal ball 2654 to rise and fall. By using the disc spring 2655 for buffering, rigid collisions between the limiting universal ball 2654 and the bottom of the steel pipe are avoided when the cylinder 2632 is lifted, thus extending the service life of the cylinder 2632 and the worm gear lift 2651, and preventing displacement of the universal ball positioning mechanism 265.

[0031] Example 2 The offline spiral welded pipe underside external weld seam automatic grinding method described in this embodiment includes the following steps: S1. Adjust the steel pipe to the vertical bottom elevation reference position and the horizontal center reference position; S11. Adjust the positions of the driven conveying component 13 and the active conveying component 14 according to the diameter of the steel pipe, and use the digital display installed on the screw assembly of the two to make the opening and closing degree of the driven conveying component 13 and the active conveying component 14 consistent, so that the bottom of the steel pipe is located at the vertical bottom elevation reference position. S12. By adjusting the rotation angles of the active turntable 142 and the driven turntable 132, the steel pipe axis is aligned with the horizontal center reference position. S2, Vertical tiltable belt sander 264 and universal ball positioning mechanism 265 are aligned and adjusted; The axial fine-tuning mechanism 261, radial fine-tuning mechanism 262, and lifting and rotation adjustment mechanism 263 are adjusted in combination to ensure that the apex of the limit universal ball 2654 and the apex of the grinding wheel 2646 fall into the vertical center plane of the straight transmission of the steel pipe, and to confirm that the grinding wheel 2646 is lower than the apex of the limit universal ball 2654 to ensure a safe distance before debugging. S3, Initial adjustment of the universal ball positioning mechanism 265 and alignment of weld seams; S31. Define the steel pipe conveying direction as forward and the steel pipe feeding direction as backward; transport the steel pipe forward in a straight line through the driven conveying component 13 and the active conveying component 14. When the detection switch 25 located at the front detects the front end of the steel pipe, the steel pipe transport will automatically stop; then, the driven conveying component 13 and the active conveying component 14 will rotate the steel pipe in place so that the weld seam of the steel pipe is rotated to the bottom. S32. The cylinder 2632 is started to rise independently. At this time, the grinding wheel 2646 is not working, so that the top of the limit universal ball 2654 contacts the outer wall directly below the steel pipe. Then, the worm gear lift 2651 is adjusted to descend by the rocker arm 2652. Due to the action of the cylinder 2632, the grinding wheel 2646 rises relatively. When the sanding belt gradually rises and just touches the weld, it stops. S33. Re-adjust and confirm that the sanding belt is directly below and facing the weld seam, and start cylinder 2632 separately to descend and reset. S4. Adjustment of monitoring device position; Adjust each monitoring camera 24 so that it can observe the target relative to the position of the sand belt and the weld, as well as the target of the degree of weld grinding after grinding; then adjust the laser tracking camera 23 to face the weld so that the weld is located in the center of its detection frame; at this time, the steel pipe is spirally conveyed by the driven conveying component 13 and the active conveying component 14 to confirm that the weld tracking is reliable during the spiral conveying process, and the top of the grinding wheel 2646 is always directly facing the weld directly below the steel pipe; S5. Adjustment of weld seam grinding height; When the steel pipe is being conveyed by a screw conveyor, the grinding motor 2647 is started, and the cylinder 2632 is simultaneously controlled to lift. When the apex of the limit universal ball 2654 contacts the outer wall directly below the steel pipe, the worm gear lift 2651 is lowered by the rocker arm 2652. Due to the action of the cylinder 2632, the grinding wheel 2646 rises relatively, and the sand belt gradually grinds the weld until the required weld height is achieved. During this process, the deflection angle of the grinding wheel 2646 is adjusted by the lifting and rotation adjustment mechanism 263 to ensure that the grinding wheel 2646 is parallel to the outer weld of the steel pipe and to prevent uneven grinding. S6. After all adjustments meet the grinding requirements, perform automatic grinding. S61. The steel pipe is conveyed forward by the adjustable angle conveyor 1. The linkage grinding motor 2647 is started, the cylinder 2632 is lifted, and the laser tracking camera 23 is started to track. At this time, the grinding wheel 2646 automatically grinds the weld. When the laser tracking camera 23 detects that the weld position has deviated, the program automatically adjusts it through each motor. S62. When the detection switch 25 located on the rear side detects the rear end of the steel pipe, the cylinder 2632 falls, the grinding motor 2647 stops synchronously, and the adjustable angle conveying device 1 stops after a delay when conveying the steel pipe to the designated position. S63. After the steel pipe grinding is completed, the adjustable angle conveying device 1 transports the steel pipe out, waiting for the next steel pipe to be ground.

Claims

1. An offline automatic grinding device for the outer weld seam of a spiral welded pipe, characterized in that, Includes a base base (3), on which multiple adjustable angle conveying devices (1) are arrayed; the base base (3) is also equipped with an automatic external weld seam grinding device (2); The adjustable angle conveying device (1) includes a V-shaped base (11), with inclined support surfaces on both sides of the V-shaped base (11). A driven conveying assembly (13) and an active conveying assembly (14) are slidably connected above the support surfaces on both sides. The driven conveying assembly (13) is provided with a driven roller (133), and the active conveying assembly (14) is provided with an active roller (143). The shafts of the driven roller (133) and the active roller (143) can be deflected and adjusted. The automatic external weld seam grinding equipment (2) includes an axial adjustment slide (21), on which a multi-dimensional adjustable grinding device (26) is movably installed; the multi-dimensional adjustable grinding device (26) includes, from bottom to top, an axial fine adjustment mechanism (261), a radial fine adjustment mechanism (262), a lifting and rotation adjustment mechanism (263), and a universal ball positioning mechanism (265), and a vertical swing angle sander (264) is provided on one side of the universal ball positioning mechanism (265); The lifting and angle adjustment mechanism (263) includes a cylinder mounting base (2631), a cylinder (2632) is fixed on the cylinder mounting base (2631), a belt sander mounting plate (2634) is fixed to the first end of the cylinder rod, and the belt sander mounting plate (2634) is fixedly connected to the right angle connecting seat (2649); the bottom of the cylinder mounting base (2631) is rotatably connected to the radial fine-tuning base plate (2622) through a pin; the radial fine-tuning base plate (2622) is rotatably connected to the angle adjusting screw (2633) through a rotatable bearing with a seat; the angle adjusting screw (2633) is rotatably connected to the cylinder mounting base (2631) through a fisheye connector, and the first end of the angle adjusting screw (2633) is threadedly connected to the fisheye connector; The vertical adjustable belt sander (264) includes a belt sander bracket (2648), which is hinged to a right-angle connecting seat (2649). A grinding motor (2647) is fixed on the hinged side of the belt sander bracket (2648). A drive pulley (2641) is sleeved on the output shaft of the grinding motor (2647). A grinding wheel (2646), a belt tensioning and adjustment mechanism, and a belt sander angle adjustment mechanism are installed on the side of the belt sander bracket (2648) away from the grinding motor (2647). The grinding wheel (2646) is rotatably connected to the belt sander bracket (2648). The universal ball positioning mechanism (265) includes a worm gear lift (2651), which is fixed on a right-angle connecting seat (2649). The top of the worm gear lift (2651) is provided with a connecting sleeve (2653), and a disc spring (2655) is provided inside the connecting sleeve (2653). The connecting sleeve (2653) is elastically connected to the limiting universal ball (2654) through the disc spring (2655). A rocker arm (2652) is provided on one side of the worm gear lift (2651).

2. The offline spiral welded pipe underside external weld seam automatic grinding equipment according to claim 1, characterized in that, The external weld automatic grinding equipment (2) also includes a heightening seat (27), which is detachably installed below the multi-dimensional adjustable grinding device (26). The multi-dimensional adjustable grinding device (26) moves and locks on the axial adjustment slide (21) through the heightening seat (27). The external weld automatic grinding equipment (2) also includes a position-adjustable laser tracking camera (23), a monitoring camera (24), and a detection switch (25).

3. The offline spiral welded pipe underside external weld seam automatic grinding equipment according to claim 1, characterized in that, The V-shaped base (11) is equipped with a conveying device axial motor (12), and a gear is installed on the output shaft of the conveying device axial motor (12). An axial drive rack (32) is fixed on the base base (3), and the gear meshes with the axial drive rack (32). An axial sliding guide rail (31) is also fixed on the base base (3), and the V-shaped base (11) slides with the axial sliding guide rail (31) through a slider. The driven conveying component (13) and the active conveying component (14) are both connected to the V-shaped base (11) through a lead screw assembly. A digital display is installed on the lead screw assembly to ensure consistent adjustment.

4. The offline spiral welded pipe under-pipe automatic weld seam grinding equipment according to claim 1, characterized in that, The driven conveying assembly (13) includes a driven slide (131), a driven turntable (132) is rotatably connected to the top of the driven slide (131), a driven roller (133) is rotatably connected to the driven turntable (132), a motor is installed on the driven slide (131), and the driven turntable (132) is driven to rotate by the motor. The active conveying assembly (14) includes an active slide (141), an active turntable (142) is rotatably connected to the top of the active slide (141), a motor is mounted on the active slide (141), and the active turntable (142) is driven to rotate by the motor; an active roller (143) is rotatably connected to the active turntable (142), and the active roller (143) is driven to rotate by the active roller motor (144).

5. The offline spiral welded pipe underside external weld seam automatic grinding equipment according to claim 1, characterized in that, The axial fine-tuning mechanism (261) includes an axial fine-tuning base plate (2611), which is detachably installed above the heightening seat (27). An axial fine-tuning vertical plate (2613) is fixed on one side of the axial fine-tuning base plate (2611). An axial fine-tuning motor (2612) is fixedly installed on the axial fine-tuning vertical plate (2613). The axial fine-tuning motor (2612) is connected to the axial fine-tuning top plate (2614) through a lead screw assembly. The axial fine-tuning top plate (2614) is also slidably connected to the axial fine-tuning base plate (2611) through a guide rail slider assembly. Dustproof bellows covers are installed on both sides of the axial fine-tuning top plate (2614).

6. The offline spiral welded pipe underside external weld seam automatic grinding equipment according to claim 1, characterized in that, The radial fine-tuning mechanism (262) includes a radial fine-tuning base plate (2622), which is detachably connected to an axial fine-tuning top plate (2614). A radial adjusting screw (2621) is rotatably connected below the radial fine-tuning base plate (2622), and the radial adjusting screw (2621) is threadedly connected to the axial fine-tuning top plate (2614).

7. A method for automatic grinding of the entire weld seam of the outer weld seam of an offline spiral welded pipe, comprising using the automatic grinding equipment for the entire weld seam of the outer weld seam of an offline spiral welded pipe as described in claim 2, characterized in that... Includes the following steps: S1. Adjust the steel pipe to the vertical bottom elevation reference position and the horizontal center reference position; S11. Adjust the positions of the driven conveying assembly (13) and the active conveying assembly (14) according to the diameter of the steel pipe, and make the opening and closing degree of the driven conveying assembly (13) and the active conveying assembly (14) consistent through the digital display installed on the screw assembly of the two, so that the bottom of the steel pipe is located at the vertical bottom elevation reference position. S12. By adjusting the rotation angles of the active turntable (142) and the driven turntable (132), the steel pipe axis is aligned with the horizontal center reference position. S2. Alignment and adjustment of the vertical swing-angle belt sander (264) and the universal ball positioning mechanism (265); The axial fine-tuning mechanism (261), radial fine-tuning mechanism (262), and lifting and rotation adjustment mechanism (263) are adjusted in combination to ensure that the apex of the limit universal ball (2654) and the apex of the grinding wheel (2646) fall into the vertical center plane of the straight transmission of the steel pipe, and to confirm that the grinding wheel (2646) is lower than the apex of the limit universal ball (2654) to ensure a safe distance before debugging; S3. Preliminary adjustment of the universal ball positioning mechanism (265) and alignment of the weld; S31. Define the steel pipe conveying direction as forward and the steel pipe feeding direction as backward. The steel pipe is transported forward in a straight line by the driven conveying component (13) and the active conveying component (14). When the detection switch (25) located on the front side detects the front end of the steel pipe, the steel pipe transport will automatically stop. Then, the steel pipe is rotated in place by the driven conveying component (13) and the active conveying component (14) so ​​that the weld of the steel pipe is rotated to the bottom. S32. The cylinder (2632) is started to rise. At this time, the grinding wheel (2646) is not working, so that the top of the limit ball (2654) contacts the outer wall directly below the steel pipe. Then, the worm gear lift (2651) is adjusted to descend by the rocker arm (2652). Due to the action of the cylinder (2632), the grinding wheel (2646) rises relatively. When the sand belt gradually rises and just touches the weld, it stops. S33. Re-adjust and confirm that the sanding belt is directly below and facing the weld seam, and start the cylinder (2632) separately to descend and reset; S4. Adjustment of monitoring device position; Adjust each monitoring camera (24) so ​​that it can observe the target relative to the sand belt and the weld, and the target that can observe the degree of weld grinding after grinding; then adjust the laser tracking camera (23) to face the weld so that the weld is located in the middle of its detection frame; at this time, the steel pipe is spirally conveyed by the driven conveying component (13) and the active conveying component (14) to confirm that the weld tracking is reliable during the spiral conveying process, and the top of the grinding wheel (2646) is always facing the weld directly below the steel pipe; S5. Adjustment of weld grinding height: When the steel pipe is being conveyed by a screw conveyor, start the grinding motor (2647) and simultaneously control the cylinder (2632) to lift. When the top of the limit universal ball (2654) contacts the outer wall directly below the steel pipe, adjust the worm gear lift (2651) to descend by rocker arm (2652). Due to the action of the cylinder (2632), the grinding wheel (2646) rises relatively, and the sand belt gradually grinds the weld until the required weld height is reached. During this process, the deflection angle of the grinding wheel (2646) is adjusted by the lifting and rotation adjustment mechanism (263) to ensure that the grinding wheel (2646) is parallel to the outer weld of the steel pipe and to prevent uneven grinding. S6. After all adjustments meet the grinding requirements, perform automatic grinding. S61. The steel pipe is conveyed forward by the adjustable angle conveying device (1), the linkage grinding motor (2647) is started, the cylinder (2632) is lifted, and the laser tracking camera (23) is started to track. At this time, the grinding wheel (2646) automatically grinds the weld. When the laser tracking camera (23) detects that the weld position has deviated, the program automatically adjusts it through each motor. S62. When the detection switch (25) located on the rear side detects the rear end of the steel pipe, the cylinder (2632) falls, the grinding motor (2647) stops synchronously, and the adjustable angle conveying device (1) stops after a delay in conveying the steel pipe to the designated position. S63. After the steel pipe grinding is completed, the adjustable angle conveying device (1) transports the steel pipe out, waiting for the next steel pipe to continue grinding.

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