In-pipe visioning and polishing apparatus

Abstract

The application discloses a pipeline visual polishing device, which comprises a polishing execution mechanism, a visual imaging module, a rotating device, a walking device, a driving device and a control unit. The control unit is electrically connected with the polishing execution mechanism, the visual imaging module, the rotating device and the driving device, and is used for overall planning the collaborative work of various components. The rotating device is arranged in the middle part of the device main body, and the polishing execution mechanism and the visual imaging module are arranged on the front end of the rotating device. The polishing execution mechanism and the visual imaging module rotate synchronously with the rotating device. The walking device is symmetrically arranged at the two ends of the device main body, and is used for the elastic support and center positioning of the inner wall of the pipeline. The driving device is assembled at the lower part of the device main body, and is matched with the walking device to realize the adaptive walking and braking in the pipeline. The device can complete the visual detection and polishing work of the inner wall in the pipeline, can automatically center and position, the walking braking is reliable, the detection and polishing are synchronously performed, and the processing work efficiency of the inner wall of the pipeline is improved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline construction technology, and in particular relates to a pipeline internal inspection and grinding device. Background Technology

[0002] In traditional operations, manual entry into the pipeline is often required to grind the weld scars at the weld seams. This method is not only time-consuming, costly, and poses significant safety hazards, but also makes it impossible to monitor the effect in real time during the grinding operation, which can easily lead to over-grinding or under-grinding. The quality depends on the operator's experience, and it is almost impossible to implement for small-diameter, complex-routing, or hazardous media pipelines. Furthermore, it can cause secondary damage to the pipeline structure during the operation, and may even lead to production interruption and environmental pollution.

[0003] Therefore, there is an urgent need to design a pipe internal inspection and grinding device to solve the problems mentioned above. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe interior grinding device, which has the advantage of being able to treat rust and weld scars inside pipes, and solves the problems involved in the background art.

[0005] To achieve the above objectives, the specific technical solution of the pipe interior grinding equipment of the present invention is as follows: A pipe internal inspection and grinding device includes a grinding actuator, an internal inspection imaging module, a rotating device, a traveling device, a driving device, and a control unit; The control unit is electrically connected to the grinding actuator, the internal imaging module, the rotating device, and the drive device to coordinate the work of each component. The rotating device is located in the middle of the main body of the device. The front end of the rotating device is equipped with a grinding execution mechanism and an internal imaging module. The grinding execution mechanism and the internal imaging module rotate synchronously with the rotating device. The walking device is symmetrically arranged at both ends of the main body of the device, and is used for elastic support and centering positioning of the inner wall of the pipe. The drive unit is mounted on the lower part of the main body of the device and works with the walking device to enable the device to adaptively move and brake inside the pipeline.

[0006] Furthermore, the grinding actuator includes a limit wheel shaft, a limit wheel, a limit wheel frame, a grinding wheel guard, a grinding wheel, a grinding wheel shaft, a gearbox, a flange plate, a motor mounting plate, a motor, and a cylinder; The motor is fixed to the gearbox via a motor mounting plate. The motor output is connected to the gearbox transmission structure, and the gearbox output is connected to the grinding wheel shaft. The grinding wheel shaft is fitted with the grinding wheel, and the grinding wheel guard is placed on the outside of the grinding wheel. The limit wheel shaft and limit wheel are fitted to the limit wheel frame and fixed as a whole to the front end of the grinding actuator. The cylinder is fixed to the rotating end of the device, and the piston rod is connected to the grinding actuator body. The flange plate is the fixed mounting base of the grinding actuator.

[0007] Furthermore, a height difference structure is set between the limiting wheel and the grinding wheel to define the grinding benchmark for weld beads on the inner wall of the pipe. The motor drives the grinding wheel to rotate at high speed through the gearbox, and the cylinder can push the grinding actuator to extend and retract radially as a whole, so as to realize the grinding wheel to perform a close grinding operation on the defective area of ​​the inner wall of the pipe.

[0008] Furthermore, the endoscopic imaging module includes a laser, a camera, a camera bracket, and a laser motor; The laser motor and camera are fixed to the flange plate respectively. The camera is positioned and installed through the camera bracket. The laser and laser motor are driven together. The camera and laser are electrically connected to the control unit. The laser motor drives the laser to adjust its forward and backward displacement, so that the laser spot is projected onto the detection area of ​​the inner wall of the pipe. The camera captures the inner wall image with the laser spot, which is used to identify the location and three-dimensional contour of weld beads, scale defects and other defects on the inner wall of the pipe. It can also capture images after grinding to complete the verification and comparison of the grinding effect.

[0009] Furthermore, the rotating device includes a slip ring fixing plate, a protective cover, a bracket, a slip ring, a bearing, a bearing pressure plate, a driven gear ring, a reducer, and a motor; The bracket is fixed to the main body of the device, and the slip ring fixing plate and the protective cover are assembled on the outside of the bracket to form a sealed protective structure; the motor and the reducer are fixed on the inside of the bracket, the output end of the motor is connected to the reducer, the output end of the reducer meshes with the driven gear ring, and the driven gear ring is connected to the front grinding actuator and the internal imaging module; The bearing is sleeved on the rotating spindle, the bearing pressure plate locks the axial position of the bearing, the slip ring is assembled at the rotation center position, and connects the fixed side circuitry with the rotating side electrical components.

[0010] Furthermore, the motor, in conjunction with the reducer, achieves speed reduction and torque increase transmission, driving the front-end working component to rotate continuously 360 degrees through the driven gear ring; the slip ring adopts a dynamic-static contact transmission structure to achieve uninterrupted power supply and signal transmission for the camera and laser during rotation, and the bearing and bearing pressure plate work together to ensure smooth rotation.

[0011] Furthermore, the walking device includes a first flange plate, an adjusting nut, a first fixed seat, a first spring, a spindle, a connecting rod, a second fixed seat, a wheel frame, a tensioning wheel, a second spring, and a second flange plate; The first flange plate and the second flange plate are respectively fixed on both sides of the main body of the device, and the spindle is mounted between the two flange plates; the first fixed seat and the second fixed seat are symmetrically fixed to the spindle and respectively hinged to the connecting rod, and the connecting rod is connected to the wheel frame with tension wheel; the first spring is sleeved on the spindle and the end corresponds to the adjusting nut, and the second spring is assembled on the inner side of the wheel frame.

[0012] Furthermore, adjusting the nut can adjust the initial compression of the first spring. The first spring and the second spring form a double-spring nonlinear buffer structure, which drives the tension wheel to elastically extend and retract to fit the inner wall of the pipe, adapting to changes in pipe diameter and buffering the impact of obstacles on the inner wall, ensuring the device moves stably in the center.

[0013] Furthermore, the drive unit includes a drive wheel, a wheel frame plate, a drive cylinder, a cylinder base, a cylinder seat, a cylinder pin, a gear, a bevel gear, a drive mounting base, a support flange plate, and a drive motor. The support flange plate is fixed to the bottom of the main body of the device. The cylinder seat and drive mounting seat are fixed to the support flange plate. The cylinder base is assembled on the cylinder seat. The drive cylinder is fixed to the cylinder base. The piston rod of the drive cylinder is hinged to the wheel frame plate through the cylinder pin. The drive wheel is assembled on the wheel frame plate. The drive motor is fixed to the drive mounting base, and the output end of the drive motor is connected to a bevel gear. The bevel gear meshes with the gear, and the gear transmission connects to the drive wheel shaft. The drive cylinder adjusts the pressure of the drive wheel on the inner wall of the pipe through its extension and retraction action in conjunction with the cylinder pin shaft, so as to achieve adaptive pipe diameter matching. The drive motor completes a 90-degree reversal transmission through bevel gears and gears, driving the drive wheel to rotate and providing traction force for the device to travel within the pipeline.

[0014] Furthermore, the control unit has a built-in image analysis and logic control program that receives image signals from the internal imaging module and identifies defects in the inner wall of the pipe.

[0015] The pipe interior grinding equipment of the present invention has the following advantages: By integrating internal inspection, rotary grinding, adaptive movement, and intelligent control functions, the device seamlessly completes the entire process of pipeline inner wall imaging inspection, positioning grinding, and effect verification. Its high degree of automation and visualization effectively improves the efficiency of pipeline inner wall grinding and repair. The front end of the device is equipped with an imaging module and grinding actuator, enabling 360-degree continuous inspection and grinding without blind spots as the device rotates. The accompanying slip ring structure ensures stable power supply and communication during continuous rotation, preventing cable entanglement and guaranteeing long-term stable operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the pipe internal grinding equipment of the present invention; Figure 2 This is a schematic diagram of the grinding actuator and the internal imaging module of the present invention; Figure 3 This is a schematic diagram of the rotating device of the present invention; Figure 4 This is a schematic diagram of the walking device of the present invention; Figure 5 This is a schematic diagram of the structure of the driving device of the present invention.

[0017] Explanation of markings in the diagram: 1. Grinding actuator; 101. Limit wheel shaft; 102. Limit wheel; 103. Limit wheel frame; 104. Grinding wheel guard; 105. Grinding wheel; 106. Grinding wheel shaft; 107. Gearbox body; 108. Flange plate; 109. Motor mounting plate; 110. Motor; 111. Cylinder; 2. Internal imaging module; 21. Laser; 22. Camera; 23. Camera bracket; 24. Laser motor; 3. Rotating device; 31. Slip ring mounting plate; 32. Guard; 33. Bracket; 34. Slip ring; 35. Bearing; 36. Bearing pressure plate; 37. Driven gear ring; 38. Reducer; 39. Motor; 4. 5. Walking device; 401 First flange plate; 402 Adjusting nut; 403 First fixed seat; 404 First spring; 405 Spindle; 406 Connecting rod; 407 Second fixed seat; 408 Wheel frame; 409 Tensioner wheel; 410 Second spring; 411 Second flange plate; 5. Drive device; 501 Drive wheel; 502 Wheel frame plate; 503 Drive cylinder; 504 Cylinder base; 505 Cylinder seat; 506 Cylinder pin; 507 Gear; 508 Bevel gear; 509 Drive fixed seat; 510 Support flange plate; 511 Drive motor; 6. Control unit. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0020] The following is a reference to the appendix. Figure 1 To be continued Figure 5 The present invention describes a pipe internal inspection and grinding apparatus.

[0021] like Figure 1As shown, the pipe internal grinding equipment of this invention is suitable for the visual detection and precise grinding repair of various pipe internal wall protrusion defects such as weld beads and scale. The equipment is assembled from a grinding actuator 1, an internal imaging module 2, a rotating device 3, a walking device 4, a drive device 5, and a control unit 6. The various structures are fixedly connected, transmission-coordinated, positionally aligned, and electrically interconnected to form a complete integrated operating device. The control unit 6 is the core control component of the whole machine, and it establishes electrical connections with the grinding actuator 1, the internal imaging module 2, the rotating device 3, and the drive device 5. Through the built-in image analysis and logic control program, it coordinates the start and stop of each component, parameter adjustment, and operation sequence to achieve fully automated operation of pipe internal adaptive walking, intelligent defect identification, all-round rotational grinding, and grinding effect verification.

[0022] The equipment uses the main body of the device as the overall support base. The rotating device 3 is fixed in the middle of the main body of the device. Its front rotating working end is simultaneously equipped with the grinding execution mechanism 1 and the internal imaging module 2, so that the two types of functional components can rotate in circumferentially at the same time. The walking device 4 is symmetrically assembled at both ends of the main body of the device, forming an elastic support and positioning structure with the main body of the device. The drive device 5 is fixed at the lower part of the main body of the device and works mechanically with the walking device 4 to realize the adaptive walking, pipe diameter adaptation and operation braking of the equipment inside the pipeline.

[0023] Furthermore, such as Figure 1 and Figure 2 As shown, the grinding actuator 1 is the core execution structure for cutting and repairing defects in the inner wall of the pipe. It is fixedly assembled to the front end of the rotating device 3 via a flange plate 108 and can rotate synchronously with the rotating device 3. It is composed of a limit wheel shaft 101, a limit wheel 102, a limit wheel frame 103, a grinding wheel cover 104, a grinding wheel 105, a grinding wheel shaft 106, a gearbox 107, a flange plate 108, a motor mounting plate 109, a motor 110, and a cylinder 111, all assembled and linked together. The flange plate 108 is the core mounting base of the grinding actuator 1. One side is fixedly connected to the front end of the rotating device 3, while the other side integrates and fixes all related components such as the gearbox 107, the cylinder 111, and the internal imaging module 2, achieving uniform and orderly positioning of all parts and synchronous operation.

[0024] More specifically, the motor 110 is locked and fixed to the outer wall of the gearbox 107 by the motor fixing plate 109, realizing the rigid connection and positioning of the motor 110 and the gearbox 107, ensuring that the power input position is accurate and without deviation; the power output shaft of the motor 110 extends into the inside of the gearbox 107 and forms a meshing transmission cooperation with the internal transmission structure of the gearbox 107. The power output end of the gearbox 107 is coaxially fixedly connected to the grinding wheel shaft 106, and the grinding wheel 105 is coaxially mounted and fixed on the outside of the grinding wheel shaft 106, thus forming a complete power transmission link of "motor 110-gearbox 107-grinding wheel shaft 106-grinding wheel 105". After the power output by the motor 110 is reduced and increased in torque by the gearbox 107, it drives the grinding wheel to rotate at high speed to complete the grinding and cutting operation.

[0025] Furthermore, such as Figures 1 to 3 As shown, the grinding wheel guard 104 covers the outside of the grinding wheel 105 and is fixedly connected to the front housing of the gearbox 107, forming a protective shield structure relative to the grinding wheel 105. This structure can block grinding debris from flying and protect the grinding wheel 105 from damage caused by hard objects hitting the inner wall of the pipe. The limiting wheel frame 103 is fixedly installed at the front end of the flange plate 108, in the working position in front of the grinding wheel 105. The limiting wheel shaft 101 is horizontally inserted and fixed inside the limiting wheel frame 103. The limiting wheel 102 is rotatably assembled at both ends of the limiting wheel shaft 101, realizing the integrated assembly of the limiting wheel 102, the limiting wheel shaft 101, and the limiting wheel frame 103.

[0026] More specifically, the outer edge height of the limiting wheel 102 and the grinding working surface of the grinding wheel 105 form a fixed height difference structure. This height difference is the only reference for grinding weld beads on the inner wall of the pipe. By fitting the limiting wheel 102 against the reference surface of the inner wall of the pipe, the grinding cutting depth of the grinding wheel 105 is precisely limited, eliminating over-grinding or grinding residue problems. The tail of the cylinder 11 is fixed to the rotating end base of the rotating device 3. The end of the telescopic piston rod of the cylinder 111 is hinged to the overall frame of the grinding actuator 1. Through the telescopic pushing and pulling action of the piston rod, the entire grinding actuator 1 can be driven to precisely extend and retract radially along the pipe with the flange plate 108 as the installation reference, realizing the adaptive fitting and proper fit between the grinding wheel 105 and the defect area of ​​the inner wall of the pipe.

[0027] The internal imaging module 2 is integrated and assembled on the flange plate 108 of the grinding actuator 1. It maintains a relatively static and synchronously rotating positional relationship with the grinding actuator 1. It is responsible for locating defects in the inner wall of the pipeline, detecting the contour, and verifying the grinding effect. Specifically, it is composed of a laser 21, a camera 22, a camera bracket 23, and a laser motor 24.

[0028] The camera bracket 23 is fixedly locked on the reserved installation position of the flange plate 108, and the camera 22 is fixedly assembled at the end of the camera bracket 23. The camera bracket 23 realizes the angle positioning and position fixation of the camera 22, so that the lens of the camera 22 faces the inner wall of the pipe and forms a field of view corresponding to the grinding operation area of ​​the rear grinding wheel 105, which can capture the inner wall image before and after grinding in real time.

[0029] The laser motor 24 is fixedly installed in a dedicated mounting position on the side of the flange plate 108, forming a linear transmission structure with the laser 21. The laser motor 24 is the displacement drive component of the laser 21, which can drive the laser 21 to precisely adjust its forward and backward displacement, thereby changing the laser projection distance and allowing the laser spot to be precisely focused and projected onto the pipe inner wall detection area corresponding to the camera 22. Both the camera 22 and the laser 21 are electrically connected to the control unit 6 through shielded wiring, transmitting the acquired image data and laser positioning data to the control unit 6 in real time, and simultaneously receiving the control commands from the control unit 6 to match the grinding operation rhythm and complete dynamic detection and effect verification.

[0030] Furthermore, such as Figure 3 and Figure 4 As shown, the rotating device 3 provides 360-degree circumferential rotational power for the grinding actuator 1 and the internal imaging module 2. It is the core transmission structure for realizing the grinding of the inner wall of the pipe without blind spots. It is fixedly assembled in the middle of the main body of the device and is composed of a slip ring fixing plate 31, a protective cover 32, a bracket 33, a slip ring 34, a bearing 35, a bearing pressure plate 36, a driven gear ring 37, a reducer 38, and a motor 39, which are assembled and linked in sequence. Among them, the bracket 33 is the main load-bearing structure of the rotating device 3, and its bottom is rigidly fixedly connected to the main body of the device, providing an installation reference for all components of the rotating device 3.

[0031] Both the motor 39 and the reducer 38 are embedded and fixed in the inner cavity of the bracket 33. The output shaft of the motor 39 and the input shaft of the reducer 38 are coaxially fixedly connected to form a reduction transmission. The output shaft of the reducer 38 meshes with the driven gear ring 37. The front end face of the driven gear ring 37 is fixedly connected to the back side of the flange plate 108 of the grinding actuator 1, realizing the power connection between the rotating device 3 and the front working module. After the power of the motor 39 is reduced and increased in torque by the reducer 38, it drives the grinding actuator 1 and the internal imaging module 2 to rotate continuously as a whole through the driven gear ring 37.

[0032] More specifically, the bearing 35 is coaxially sleeved on the outside of the main shaft of the rotating device 3, located at the connection position between the bracket 33 and the driven gear ring 37, to reduce the rotational friction of the main shaft and ensure smooth rotation; the bearing pressure plate 36 is locked and fixed to the end of the main shaft, axially fitting and pressing against the end face of the bearing 35 to achieve axial limiting and fixing of the bearing 35, preventing the bearing 35 from shifting or deviating during operation. The slip ring fixing plate 31 is fixedly installed on the outer end of the bracket 33, and the protective cover 32 is fastened and assembled on the outside of the slip ring fixing plate 31. The two together form a sealed protective cavity to protect the internal slip ring 34, wiring and transmission connection parts from dust and dirt.

[0033] The slip ring 34 is coaxially mounted on the central main shaft of the rotating device 3, passing through the center of rotation. Its fixed end circuit is connected to the fixed side control circuit of the equipment, and its rotating end circuit is electrically connected to the rotating side electrical components such as the camera 22 and the laser 21. Through the dynamic and static contact transmission structure, uninterrupted power supply and stable signal transmission are achieved when the equipment is rotating, solving the problems of circuit entanglement and signal interruption during rotating operations.

[0034] The traveling device 4 is symmetrically arranged at both ends of the main body of the device and is fixedly connected to the main body. The two devices work together symmetrically to achieve overall centered positioning and elastic support of the equipment, adapt to changes in the inner diameter of the pipe and buffer the impact of travel. It is mainly assembled from the first flange plate 401, adjusting nut 402, first fixed seat 403, first spring 404, spindle 405, connecting rod 406, second fixed seat 407, wheel frame 408, tension wheel 409, second spring 410 and second flange plate 411. The first flange plate 401 and the second flange plate 411 are respectively aligned and fixed to the end faces of the main body of the device. The spindle 405 is horizontally mounted between the first flange plate 401 and the second flange plate 411, and its two ends are locked and fixed to the two flange plates respectively, forming the lateral bearing reference of the traveling device 4. The first fixed seat 403 and the second fixed seat 407 are symmetrically sleeved and fixed on the spindle 405 rod body and are symmetrically distributed along the axis of the spindle 405. The first fixed seat 403 and the second fixed seat 407 are respectively hinged to one end of the connecting rod 406 on the corresponding side, and the other end of the connecting rod 406 is hinged to the wheel frame 408, forming a multi-link 406 elastic telescopic transmission structure.

[0035] The first spring 404 is sleeved on the outer rod of the mandrel 405, with one end abutting against the first fixed seat 403 and the other end corresponding to the adjusting nut 402. The adjusting nut 402 is threaded onto the end of the mandrel 405. By rotating the adjusting nut 402, the first spring 404 can be compressed, and its initial compression can be adjusted to adapt to the pre-tightening support force of different pipe diameters. The second spring 410 is embedded in the inner cavity of the wheel frame 408, with both ends abutting against the inner wall of the wheel frame 408 and the wheel body of the tension wheel 409, respectively. The first spring 404 and the second spring 410 form a bidirectional nonlinear buffer structure. The tension wheel 409 is rotatably mounted on the outer side of the wheel frame 408. The whole structure forms an elastic linkage structure through the connecting rod 406, the spring, the mandrel 405, and the flange plate. During the movement, the tension wheel 409 always elastically fits against the inner wall of the pipe, relying on the double spring structure to buffer the impact and vibration of protruding obstacles on the inner wall of the pipe. At the same time, it adaptively adapts to small deviations in pipe diameter, continuously ensuring that the equipment moves stably on the central axis of the pipe, avoiding deviation, tilting, and jamming.

[0036] Furthermore, such as Figure 4 and Figure 5 As shown, the drive device 5 is fixedly mounted at the center of the bottom of the main body of the device, corresponding vertically to the traveling devices 4 at both ends, providing traction for movement within the equipment pipeline. It also adaptively adapts to the pipe diameter and adjusts the traveling clamping force. The complete transmission and adjustment structure consists of a drive wheel 501, wheel frame plate 502, drive cylinder 503, cylinder base 504, cylinder seat 505, cylinder pin 506, gear 507, bevel gear 508, drive fixing seat 509, support flange plate 510, and drive motor 511. The support flange plate 510 of the drive device 5 is fixedly attached to the bottom of the main body of the device, serving as the installation reference for the entire drive device 5. Both the cylinder seat 505 and the drive fixing seat 509 are locked and fixed to the lower end face of the support flange plate 510, achieving overall positional fixation.

[0037] More specifically, the cylinder base 504 is embedded and fixed inside the cylinder seat 505, and the main body of the drive cylinder 503 is vertically fixed on the cylinder base 504, achieving stable positioning of the drive cylinder 503. The telescopic piston rod of the drive cylinder 503 is set downward, and the end of the piston rod is hinged to the wheel frame plate 502 through the cylinder pin 506. The cylinder pin 506 can achieve hinged rotation to avoid telescopic jamming. The drive wheel 501 is rotatably mounted on the outside of the wheel frame plate 502. It completes the lifting and fitting action with the swing of the wheel frame plate 502. The cylinder telescopic movement can pull the wheel frame plate 502 to flip, precisely adjusting the pressure between the drive wheel 501 and the inner wall of the pipe to achieve adaptive fitting for different pipe diameters.

[0038] The drive motor 511 is fixedly installed at the lower end of the drive mounting base 509, maintaining a horizontal fixed posture. The output shaft end of the drive motor 511 is fixedly equipped with a bevel gear 508. The bevel gear 508 meshes perpendicularly with the vertically arranged gear 507, forming a 90° reversing transmission structure. The central rotating shaft of the gear 507 is coaxially and fixedly connected to the axle of the drive wheel 501. The horizontal rotational power output by the drive motor 511 is transmitted vertically to the drive wheel 501 after being reversed and speed changed by the bevel gear 508 and the gear 507, driving the drive wheel 501 to rotate and providing continuous traction for the equipment to move. It cooperates with the elastic support structure of the walking device 4 to realize the smooth movement of the equipment, start-stop braking and pipe diameter adaptive adaptation.

[0039] This application also includes a control unit 6, which serves as the control center of the entire machine. Independently integrated within the electrical control cavity of the equipment, the control unit 6 establishes electrical connections with all execution and detection components, including the motor 110 and cylinder 111 of the grinding actuator 1, the laser 21, laser motor 24, and camera 22 of the internal imaging module 2, the motor 39 of the rotating device 3, and the drive motor 511 and drive cylinder 503 of the drive device 5. The control unit 6 has a built-in dedicated image analysis program and logic control program. It can receive real-time image signals of the pipe inner wall transmitted by the internal imaging module 2, intelligently identify the location, size, and three-dimensional contour of weld beads and scale defects, and then precisely adjust the operating parameters of each actuator based on the defect data. This coordinated operation completes a fully closed-loop automated process of defect positioning, radial fitting, circumferential rotation grinding, and grinding effect verification, ensuring grinding accuracy and operational efficiency.

[0040] The working principle of the pipe interior grinding equipment in this invention is as follows: During the equipment's movement, the internal imaging module 2 continuously performs real-time detection of defects on the inner wall of the pipeline, with all detection actions precisely controlled by the control unit 6. The laser motor 24 drives the laser 21 to adjust its forward and backward displacement, precisely controlling the laser projection position so that the laser spot is stably focused on the detection area of ​​the inner wall of the pipeline. The camera 22, fixed on the camera bracket 23, simultaneously acquires images of the inner wall with the laser spot and transmits the real-time image signal to the control unit 6. The control unit 6, through its built-in image analysis program, intelligently identifies the specific location, size, and three-dimensional contour of defects such as weld beads and scale on the inner wall of the pipeline, accurately locating the defect area to be polished, providing data for subsequent polishing operations. The internal imaging module 2 is fully assembled on the flange plate 108 of the polishing actuator 1, remaining relatively stationary with the front-end working components. It can rotate synchronously with the rotating device 3, achieving full circumferential scanning detection of the inner wall of the pipeline without any blind spots.

[0041] After defect identification and location are completed, the control unit 6 automatically adjusts the rotating device 3 and the grinding actuator 1 according to the defect parameters to start the precision grinding operation. The rotating device 3 uses the bracket 33 as a fixed base, and the motor 39 and the reducer 38 realize the speed reduction and torque increase transmission. Through the meshing driven gear ring 37, it drives the front flange plate, the grinding actuator 1 and the internal imaging module 2 to rotate 360 ​​degrees continuously in the circumferential direction, so as to realize the all-round grinding operation of the inner wall of the pipe without dead angles. During the operation, the bearing 35 at the main shaft ensures the rotation stability, the bearing pressure plate 36 realizes the axial limit of the bearing 35, and the slip ring 34 uses the dynamic and static contact structure to continuously supply power and transmit signals to the camera 22 and the laser 21 in the rotating state, eliminating the problems of wire entanglement and signal interruption, and ensuring that the detection and grinding are carried out synchronously and stably.

[0042] Simultaneously, the grinding actuator 1 receives a command from the control unit 6 to initiate the grinding process. The cylinder 111 extends and retracts, driving the entire mechanism to extend and retract radially along the pipeline, pushing the grinding wheel 105 to conform to the defect area on the inner wall of the pipeline. The motor 110 is stably fixed by the motor fixing plate 109, and after being reduced in speed and torque increased by the gearbox 107, it drives the grinding wheel shaft 106 and the grinding wheel 105 to rotate at high speed, cutting and grinding weld beads and scale defects. During the operation, the limiting structure composed of the limiting wheel frame 103, the limiting wheel shaft 101, and the limiting wheel 102 precisely limits the grinding reference and cutting depth through the fixed height difference between the limiting wheel 102 and the grinding wheel 105, effectively avoiding over-grinding or grinding residue. The grinding wheel guard 104 simultaneously blocks the flying of grinding debris, ensuring a clean working environment and the safety of equipment components.

[0043] After the single-area grinding operation is completed, the equipment again acquires images of the inner wall of the pipe through the internal imaging module 2 and transmits the image data back to the control unit 6. By comparing the images and contour data before and after grinding, the equipment automatically verifies the grinding effect and determines whether the defects have been completely removed and whether the inner wall flatness meets the standards. If there are residual defects, the control unit 6 will again adjust the equipment's travel positioning, rotation scanning, and grinding mechanism until the defects on the inner wall of the pipe are completely repaired. After all operations are completed, the equipment automatically resets and exits the pipe, ultimately completing the integrated repair operation of the inner wall defects of the pipe.

[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pipe interior inspection and grinding device, characterized in that, It includes a grinding actuator, an internal imaging module, a rotating device, a traveling device, a drive device, and a control unit; The control unit is electrically connected to the grinding actuator, the internal imaging module, the rotating device, and the drive device to coordinate the work of each component. The rotating device is located in the middle of the main body of the device. The front end of the rotating device is equipped with a grinding execution mechanism and an internal imaging module. The grinding execution mechanism and the internal imaging module rotate synchronously with the rotating device. The walking device is symmetrically arranged at both ends of the main body of the device, and is used for elastic support and centering positioning of the inner wall of the pipe. The drive unit is mounted on the lower part of the main body of the device and works with the walking device to enable the device to adaptively move and brake inside the pipeline.

2. The pipe interior grinding equipment according to claim 1, characterized in that, The grinding actuator includes a limit wheel shaft, a limit wheel, a limit wheel frame, a grinding wheel guard, a grinding wheel, a grinding wheel shaft, a gearbox, a flange plate, a motor mounting plate, a motor, and a cylinder; The motor is fixed to the gearbox via a motor mounting plate. The motor output is connected to the gearbox transmission structure, and the gearbox output is connected to the grinding wheel shaft. The grinding wheel shaft is fitted with the grinding wheel, and the grinding wheel guard is placed on the outside of the grinding wheel. The limit wheel shaft and limit wheel are fitted to the limit wheel frame and fixed as a whole to the front end of the grinding actuator. The cylinder is fixed to the rotating end of the device, and the piston rod is connected to the grinding actuator body. The flange plate is the fixed mounting base of the grinding actuator.

3. The pipe interior grinding equipment according to claim 2, characterized in that, A height difference structure is set between the limiting wheel and the grinding wheel to define the benchmark for grinding weld beads on the inner wall of the pipe. The motor drives the grinding wheel to rotate at high speed through the gearbox. The cylinder can push the grinding actuator to extend and retract radially as a whole, so as to realize the grinding wheel to fit the defect area on the inner wall of the pipe for grinding.

4. The pipe interior grinding equipment according to claim 1, characterized in that, The endoscopic imaging module includes a laser, a camera, a camera bracket, and a laser motor; The laser motor and camera are fixed to the flange plate respectively. The camera is positioned and installed through the camera bracket. The laser and laser motor are driven together. The camera and laser are electrically connected to the control unit. The laser motor drives the laser to adjust its forward and backward displacement, so that the laser spot is projected onto the detection area of ​​the inner wall of the pipe. The camera captures the inner wall image with the laser spot, which is used to identify the location and three-dimensional contour of weld beads, scale defects and other defects on the inner wall of the pipe. It can also capture images after grinding to complete the verification and comparison of the grinding effect.

5. The pipe interior grinding equipment according to claim 1, characterized in that, The rotating device includes a slip ring fixing plate, a protective cover, a bracket, a slip ring, a bearing, a bearing pressure plate, a driven gear ring, a reducer, and a motor; The bracket is fixed to the main body of the device, and the slip ring fixing plate and the protective cover are assembled on the outside of the bracket to form a sealed protective structure; the motor and the reducer are fixed on the inside of the bracket, the output end of the motor is connected to the reducer, the output end of the reducer meshes with the driven gear ring, and the driven gear ring is connected to the front grinding actuator and the internal imaging module; The bearing is sleeved on the rotating spindle, the bearing pressure plate locks the axial position of the bearing, the slip ring is assembled at the rotation center position, and connects the fixed side circuitry with the rotating side electrical components.

6. The pipe interior grinding equipment according to claim 5, characterized in that, The motor, in conjunction with the reducer, achieves speed reduction and torque increase transmission, driving the front-end working component to rotate continuously 360 degrees via the driven gear ring; the slip ring adopts a dynamic-static contact transmission structure to ensure uninterrupted power supply and signal transmission for the camera and laser during rotation, and the bearing and bearing pressure plate work together to ensure smooth rotation.

7. The pipe interior grinding equipment according to claim 1, characterized in that, The traveling device includes a first flange plate, an adjusting nut, a first fixed seat, a first spring, a spindle, a connecting rod, a second fixed seat, a wheel frame, a tensioning wheel, a second spring, and a second flange plate; The first flange plate and the second flange plate are respectively fixed on both sides of the main body of the device, and the spindle is mounted between the two flange plates; the first fixed seat and the second fixed seat are symmetrically fixed to the spindle and respectively hinged to the connecting rod, and the connecting rod is connected to the wheel frame with tension wheel; the first spring is sleeved on the spindle and the end corresponds to the adjusting nut, and the second spring is assembled on the inner side of the wheel frame.

8. The pipe interior grinding equipment according to claim 7, characterized in that, The adjusting nut can adjust the initial compression of the first spring. The first spring and the second spring form a double-spring nonlinear buffer structure, which drives the tension wheel to elastically extend and retract to fit the inner wall of the pipe, adapt to changes in pipe diameter and buffer the impact of obstacles on the inner wall, ensuring the device moves in a stable and centered manner.

9. The pipe interior grinding equipment according to claim 1, characterized in that, The drive unit includes a drive wheel, a wheel frame plate, a drive cylinder, a cylinder base, a cylinder seat, a cylinder pin, gears, bevel gears, a drive mounting base, a support flange plate, and a drive motor. The support flange plate is fixed to the bottom of the main body of the device. The cylinder seat and drive mounting seat are fixed to the support flange plate. The cylinder base is assembled on the cylinder seat. The drive cylinder is fixed to the cylinder base. The piston rod of the drive cylinder is hinged to the wheel frame plate through the cylinder pin. The drive wheel is assembled on the wheel frame plate. The drive motor is fixed to the drive mounting base, and the output end of the drive motor is connected to a bevel gear. The bevel gear meshes with the gear, and the gear transmission connects to the drive wheel shaft. The drive cylinder adjusts the pressure of the drive wheel on the inner wall of the pipe through its extension and retraction action in conjunction with the cylinder pin shaft, so as to achieve adaptive pipe diameter matching. The drive motor completes a 90-degree reversal transmission through bevel gears and gears, driving the drive wheel to rotate and providing traction force for the device to travel within the pipeline.

10. The pipe interior grinding equipment according to claim 1, characterized in that, The control unit has a built-in image analysis and logic control program that receives image signals from the internal imaging module and identifies defects in the inner wall of the pipe.

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