Cylinder inner surface weld joint polishing structure

Abstract

The utility model discloses a barrel inner surface weld joint polishing structure which comprises a clamping assembly used for clamping and driving a pipe fitting to rotate and a polishing assembly used for polishing an inner cavity of the pipe fitting. The clamping assembly comprises a polishing table used for placing the pipe fitting, a clamping part used for clamping and driving the pipe fitting to rotate, and a moving part used for driving the clamping part to move transversely and longitudinally; the grinding assembly comprises a measuring and calculating part used for judging the position of the welding seam, a grinding part used for grinding the welding seam, a telescopic part used for driving the measuring and calculating part and the grinding part to move in the length direction of the pipe fitting and a lifting part used for driving the measuring and calculating part and the grinding part to move up and down, and the telescopic part is arranged on the lifting part.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a welding seam grinding structure on the inner surface of a cylinder. Background Art

[0002] The jointing of round tubes is generally done by welding. The surface of the joint weld is not smooth and contains oxide scale and welding slag. In order to ensure the performance of the round tubes after splicing and the spraying effect, the weld needs to be polished.

[0003] In the existing technology, grinding the inner cavity weld of small-diameter round tube heads is a technical difficulty. Since the opening of the round tube head is small, it is difficult for ordinary grinding equipment to enter, and the weld position cannot be accurately located. In addition, the grinding results cannot be directly detected, resulting in troublesome production and processing. Utility Model Content

[0004] In order to solve the technical problems existing in the background technology, the utility model proposes a welding seam grinding structure on the inner surface of a cylinder.

[0005] The technical solution adopted by the utility model to solve its technical problems is as follows:

[0006] A welding seam grinding structure on the inner surface of a cylinder comprises a clamping assembly for clamping and driving a pipe to rotate, and a grinding assembly for grinding the inner cavity of the pipe;

[0007] A clamping assembly, comprising a grinding table for placing the pipe fitting, a clamping portion for clamping and driving the pipe fitting to rotate, and a moving portion for driving the clamping portion to move horizontally and vertically;

[0008] The grinding assembly includes a measuring part for determining the position of a weld, a grinding part for grinding the weld, a telescopic part for driving the measuring part and the grinding part to move along the length of the pipe, and a lifting part for driving the measuring part and the grinding part to move up and down, wherein the telescopic part is arranged on the lifting part.

[0009] Preferably, the grinding part includes at least an open state and a retracted state, and when the grinding part moves along the inside of the pipe, the grinding part is in the retracted state, and when the grinding part is grinding, the grinding part is in the open state and fits the inner cavity of the pipe. Through the above improvement, when the grinding part moves, it is in the retracted state, and after reaching the designated grinding position, it enters the open state and fits the inner cavity of the pipe for grinding.

[0010] Preferably, the grinding part includes a mounting plate, a plurality of hinged plates hinged on the peripheral side of the mounting plate, a driving plate connected to the hinged plates, a driving unit driving the driving plate to move along the axial direction of the pipe, and a grinding unit arranged on the hinged plate, wherein the driving unit drives the driving plate to move so that the hinged plate is opened or closed relative to the mounting plate. With the above improvements, when the grinding part is placed in the inner cavity of the pipe, when the grinding part moves to a designated grinding position, the driving unit drives the driving plate to move, thereby rotating the hinged plate, so that the grinding position of the grinding unit abuts against the weld to be polished, and as the grinding unit works, the welding seam is polished.

[0011] Preferably, the measurement unit includes a first detection camera and a second detection camera arranged on the mounting plate, and the first detection camera is arranged along the axial direction of the pipeline, and the second detection camera is arranged along the lateral direction of the pipeline. Through the above improvements, the first detection camera and the second detection camera can scan the inside of the pipe body and generate a measurement report, so that the grinding unit can perform grinding according to the measurement report, and after grinding is completed, the first detection camera and the second detection camera can evaluate the polished weld to determine whether the grinding is qualified, thereby improving the quality of grinding.

[0012] Preferably, the telescopic part includes a telescopic block group that can be extended step by step, the lifting part includes a lifting bracket and a lifting unit that drives the lifting plate to move up and down, the telescopic part is arranged on the lifting unit, and the telescopic block group is connected to the grinding part. Through the above improvements, the lifting unit can drive the entire telescopic part to move up and down, so that the telescopic part can drive the grinding part to enter the inside of the tube body, and the telescopic block group can transport the grinding part to a specified position according to demand, thereby further improving the grinding quality.

[0013] Preferably, the clamping part includes a chuck, clamping units arranged at intervals along the circumference of the chuck, and a rotating unit driving the chuck to rotate. Through the above improvements, the pipe is placed on the grinding table, and when the pipe and the chuck are aligned, the pipe is placed on the chuck, and then the clamping unit clamps the pipe from the circumference, so that as the rotating unit drives the chuck to rotate, the pipe rotates, thereby grinding the weld in the inner cavity of the pipe.

[0014] Preferably, the moving part includes a mounting frame, a first moving plate slidable up and down on the mounting frame, a first moving motor driving the first moving plate to move up and down, a second moving plate slidable left and right on the first moving plate, and a second moving motor driving the second moving plate to move left and right, and the chuck is arranged on the second moving plate. Through the above improvements, the pipe fitting is placed on the grinding frame, the first moving motor drives the first moving plate to move up and down, and the second moving motor drives the second moving plate to move left and right, so that the chuck is aligned with the pipe fitting, thereby further improving the grinding effect.

[0015] Preferably, a mounting groove is centrally arranged in the clamping part, and a position identification component is also arranged on the clamping part, and the position identification component includes a contour detection camera arranged in the mounting groove, and a scanning positioning camera rotating with the clamping part. Through the above improvements, the contour detection camera and the scanning positioning camera can cooperate to determine whether the pipe fitting is placed in place. When the pipe fitting is clamped, the clamped pipe fitting is identified by the measurement part, and then the moving part is fine-tuned up and down and left and right, and the scanning positioning camera is used to scan and position the pipe body. After positioning is completed, the measurement part is used to automatically measure the weld.

[0016] Preferably, the polishing table is also provided with a support part for supporting the pipe, and the support part includes a support seat that can slide along the axial direction of the pipe, and a support roller that is rotated on the support seat, and the support rollers form a support space for supporting the pipe. Through the above improvement, the pipe is placed on the support roller, so that the pipe can rotate on the support roller, thereby cooperating with the polishing to improve the polishing effect.

[0017] Preferably, the grinding table is provided with a slide rail, the support seat slides along the slide rail, and a fixed rotating arm is penetrated on the side of the support seat, the fixed rotating arm rotates so that the fixed rotating arm abuts against the support seat and limits its sliding, and a retractable fixed rod is provided on the side of the support roller, the fixed rod extends and abuts against the support roller to limit the rotation of the support roller. Through the above improvements, the support seat can slide on the slide rail, thereby driving the pipe fitting to move, which is more convenient for positioning the pipe fitting. In addition, after positioning is completed, the fixed rotating arm can be rotated to stop the support seat at the current position to prevent the pipe fitting from moving during the grinding process, and the fixed rod can be extended during the loading and unloading process to fix the support roller to prevent the pipe body from rotating.

[0018] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0019] By placing the pipe fittings on the grinding table, the moving part will drive the clamping part to move to a position matching the pipe fittings, and the pipe fittings will be placed in the clamping part and clamped and fixed by the clamping part. Then the lifting part and the telescopic part will drive the measuring part to be placed inside the pipe fittings. The measuring part can scan the inside of the pipe body and generate a measurement report. Then the grinding part will grind according to the measurement report. After grinding, the measuring part can evaluate the grinded welds to determine whether the grinding is qualified. This not only overcomes the problem of grinding the inner cavity welds of small-diameter end-capped round pipes, but also realizes automatic weld grinding and ensures the quality of grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the grinding assembly of the utility model;

[0022] Figure 3 It is a structural schematic diagram of the measuring part and the grinding part of the utility model;

[0023] Figure 4 It is an exploded view of the measuring part and the grinding part of the utility model;

[0024] Figure 5 It is a structural schematic diagram of the clamping assembly of the utility model;

[0025] Figure 6 It is a structural schematic diagram of the clamping part and the moving part of the utility model;

[0026] Figure 7 It is an exploded view of the clamping part and the moving part of the utility model;

[0027] Figure 8 It is a structural schematic diagram of the support part of the utility model;

[0028] Fig. 9 It is a structural schematic diagram of the dust collection component of the utility model;

[0029] In the figure: 1. Clamping assembly; 2. Grinding assembly; 3. Pipe fitting;

[0030] 11. grinding table; 12. clamping part; 13. moving part;

[0031] 21. Measuring part; 22. Polishing part; 23. Telescopic part; 24. Lifting part;

[0032] 101. chuck; 102. clamping unit; 103. rotating unit;

[0033] 111, mounting frame; 112, first moving plate; 113, first moving motor; 114, second moving plate; 115, second moving motor;

[0034] 121. mounting slot; 122. position identification component; 123. contour detection camera; 124. scanning positioning camera;

[0035] 131, support part; 132, support seat; 133, support roller; 134, support space; 135, slide rail; 136, fixed rotating arm; 137, fixed rod; 138, rotating seat; 139, tightening cylinder;

[0036] 201, mounting plate; 202, hinge plate; 203, drive plate; 204, grinding unit; 205, grinding wheel; 206, drive unit;

[0037] 211, a first detection camera; 212, a second detection camera;

[0038] 221. telescopic block group; 222. lifting bracket; 223. lifting unit;

[0039] 301, air blowing pipe; 302, dust collector; 303, dust suction pipe; DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0041] It should be understood that although the terms upper, middle, lower, top, end, etc. appear in this article to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish elements from each other for easy understanding, and are not used to define any direction or order limitation.

[0042] like Figure 1-9 As shown, a welding seam grinding structure on the inner surface of a cylinder includes a clamping assembly 1 for clamping and driving a pipe 3 to rotate, and a grinding assembly 2 for grinding the inner cavity of the pipe 3.

[0043] Specifically, the clamping assembly 1 includes a grinding table 11 for placing the pipe 3, a clamping portion 12 for clamping and driving the pipe 3 to rotate, and a moving portion 13 for driving the clamping portion 12 to move horizontally and vertically.

[0044] The grinding assembly 2 includes a measuring part 21 for determining the position of the weld, a grinding part 22 for grinding the weld, a telescopic part 23 for driving the measuring part 21 and the grinding part 22 to move along the length of the pipe 3, and a lifting part 24 for driving the measuring part 21 and the grinding part 22 to move up and down, and the telescopic part 23 is arranged on the lifting part 24.

[0045] During the entire grinding process, the pipe fitting 3 is first placed on the grinding table 11 manually, and then the moving part 13 drives the clamping part 12 to move to a position matching the pipe fitting 3, and then the pipe fitting 3 is placed in the clamping part 12 and clamped and fixed by the clamping part 12, and then the lifting part 24 and the telescopic part 23 drive the measuring part 21 to be placed inside the pipe fitting 3, and the measuring part 21 can scan the inside of the pipe body and generate a measurement report, and then the grinding part 22 grinds according to the measurement report, and after the grinding is completed, the measuring part 21 can evaluate the grinded weld to determine whether the grinding is qualified, thereby not only overcoming the problem of grinding the inner cavity weld of the small-diameter head round tube, but also, except for loading, all are completed automatically, and it also has better grinding quality and grinding efficiency.

[0046] like Figures 1 to 4 As shown, a further explanation of the implementation method of the grinding component 2 in this embodiment is that the grinding part 22 includes at least an open state and a retracted state, and when the grinding part 22 moves along the inside of the pipe 3, the grinding part 22 is in a retracted state, and when the grinding part 22 is grinding, the grinding part is in an open state and fits the inner cavity of the pipe 3.

[0047] Specifically, the grinding part 22 includes a mounting plate 201, a plurality of hinged plates 202 hinged on the peripheral side of the mounting plate 201, a driving plate 203 connected to the hinged plate 202, a driving unit 206 driving the driving plate 203 to move axially along the pipe 3, and a grinding unit 204 arranged on the hinged plate 202. The driving unit 206 drives the driving plate 203 to move so that the hinged plate 202 is opened or closed relative to the mounting plate 201.

[0048] The grinding unit 204 includes a driving motor, which is connected to a grinding wheel 205 in a transmission manner, and the welding seam is ground by the grinding wheel 205 .

[0049] During the grinding process, the grinding part 22 will be placed into the inner cavity of the pipe 3 with the cooperation of the telescopic part 23 and the lifting part 24. When the grinding part 22 moves to the specified grinding position, the driving unit 206 will drive the driving plate 203 to move, thereby rotating the hinged plate 202, so that the grinding position of the grinding unit 204 abuts against the weld to be polished. As the grinding unit 204 works, the grinding of the weld is completed.

[0050] In addition, the measuring unit 21 includes a first detection camera 211 and a second detection camera 212 disposed on the mounting plate 201 , and the first detection camera 211 is disposed along the axial direction of the pipeline, and the second detection camera 212 is disposed along the axial direction of the pipeline.

[0051] Before grinding, the first inspection camera 211 and the second inspection camera 212 can scan the inside of the tube body and generate a measurement report, so that the grinding unit 22 can perform grinding according to the measurement report, and after grinding is completed, the first inspection camera 211 and the second inspection camera 212 can evaluate the grinded weld to determine whether the grinding is qualified, thereby improving the quality of grinding.

[0052] The first detection camera 211 and the second detection camera 212 are both 3D laser cameras.

[0053] Specifically, the telescopic part 23 includes a telescopic block group 221 that can be extended step by step, the lifting part 24 includes a lifting bracket 222, and a lifting unit 223 that drives the lifting plate to move up and down, the telescopic part 23 is arranged on the lifting unit 223, and the telescopic block group 221 is connected to the grinding part 22. The lifting unit 223 can drive the entire telescopic part 23 to move up and down, so that the telescopic part 23 can drive the grinding part 22 to enter the inside of the tube body, and the telescopic block group 221 can be extended step by step to transport the grinding part 22 to a specified position, thereby further improving the grinding quality.

[0054] Preferably, an air blowing pipe 301 is provided above the telescopic portion 23 to blow away the waste chips produced by grinding.

[0055] like Figures 5 to 8 As shown, a further explanation of the implementation of the clamping assembly 1 in this embodiment is provided, wherein the clamping portion 12 includes a chuck 101, clamping units 102 arranged at intervals along the circumference of the chuck 101, and a rotating unit 103 for driving the chuck 101 to rotate.

[0056] During the feeding process of the pipe fitting 3, the pipe fitting 3 is placed on the grinding table 11 manually or by a robot. When the pipe fitting 3 and the chuck 101 are aligned, the pipe fitting 3 is placed on the chuck 101, and then the clamping unit 102 clamps the pipe fitting 3 from the circumferential side. As the rotating unit 103 drives the chuck 101 to rotate, the pipe fitting 3 rotates, thereby grinding the weld in the inner cavity of the pipe fitting 3.

[0057] Specifically, the movable part 13 includes a mounting frame 111, a first movable plate 112 slidably arranged on the mounting frame 111, a first movable motor 113 driving the first movable plate 112 to move up and down, a second movable plate 114 slidably arranged on the first movable plate 112, and a second movable motor 115 driving the second movable plate 114 to move left and right, and the chuck 101 is arranged on the second movable plate 114.

[0058] When the pipe 3 is placed on the grinding frame, the first moving motor 113 drives the first moving plate 112 to move up and down, and the second moving motor 115 drives the second moving plate 114 to move left and right, so that the chuck 101 is aligned with the pipe 3, thereby ensuring the accurate placement of the pipe 3 and avoiding the displacement of the pipe 3 during rotation, thereby further improving the grinding effect.

[0059] In addition, a mounting groove 121 is centrally disposed in the clamping portion 12 , and a position identification component 122 is also disposed on the clamping portion 12 . The position identification component 122 includes a contour detection camera 123 disposed in the mounting groove 121 , and a scanning positioning camera 124 that rotates with the clamping portion 12 .

[0060] The mounting groove 121 is disposed on the chuck 101 , and the scanning positioning camera 124 is disposed on the chuck 10 and rotates with the chuck 10 .

[0061] Among them, the contour detection camera 123 and the scanning positioning camera 124 can cooperate to determine whether the pipe fitting 3 is placed in place. When the pipe fitting 3 is clamped, the clamped pipe fitting 3 is identified by the measuring unit 21, and then the moving unit 13 is fine-tuned up and down and left and right, and the scanning positioning camera 124 is used to scan and position the pipe body. After positioning is completed, the measuring unit 21 is used to automatically measure the weld.

[0062] Furthermore, the polishing table 11 is also provided with a support portion 131 for supporting the pipe fitting 3. The support portion 131 includes a support seat 132 that can slide axially along the pipe fitting 3, and a support roller 133 rotated on the support seat 132, and a support space 134 for supporting the pipe fitting 3 is formed between the support rollers 133. The pipe fitting 3 is placed on the support rollers 133 so that the pipe fitting 3 can rotate on the support rollers 133, thereby cooperating with polishing to improve the polishing effect.

[0063] Among them, the support roller 133 is set on the support seat 132 through the rotating seat 138, and the support seat 132 is formed with spaced connection holes. The rotating seat 138 can be matched with different connection holes to adjust the distance between the two support rollers 133, so as to adjust the size of the supporting space 134 and match pipes 3 of different sizes.

[0064] In addition, a slide rail 135 is provided on the grinding table 11, and the support seat 132 slides along the slide rail 135, and a fixed rotating arm 136 is penetrated through the side of the support seat 132. When the fixed rotating arm 136 rotates, the support seat 132 can slide on the slide rail 135, thereby driving the pipe fitting 3 to move, which is more convenient for positioning the pipe fitting 3. In addition, after positioning is completed, the fixed rotating arm 136 can be rotated to stop the support seat 132 at the current position to prevent the pipe fitting 3 from moving during the grinding process.

[0065] like Figure 8 As shown, preferably, a retractable fixing rod 137 is provided on the side of the support roller 133, and the fixing rod 137 is extended and abuts against the support roller 133 to limit the rotation of the support roller 133. During the loading and unloading process, the fixing rod 137 can be extended to fix the support roller 133 to prevent the tube body from rotating.

[0066] Preferably, an axial tightening cylinder is further provided on the support seat 132, and the swing of the action end of the axial tightening cylinder can axially abut the pipe fitting 3, thereby limiting the rotation of the pipe fitting 3 and further improving the stability of the pipe fitting 3 during the grinding process.

[0067] like Fig. 9 As shown, preferably, a dust collector 302 is provided on the side of the polishing table 11 , and a dust suction pipe 303 of the dust collector 302 is provided on the polishing table 11 and is arranged opposite to the pipe fitting 3 .

[0068] In some other embodiments, the entire clamping assembly 1 and the grinding assembly 2 can be placed on the same ground rail platform, so as to facilitate the position adjustment between the clamping assembly 1 and the grinding assembly 2 to meet the grinding needs of pipes 3 of more sizes.

[0069] like Figures 1 to 9 As shown, further explanation of the operation process of the small-diameter head round tube inner cavity weld grinding structure in this embodiment is provided.

[0070] Follow these steps:

[0071] S1 Loading: manually or mechanically place the tube body on the support part 131 of the grinding table 11, and after the placement is completed, it enters the part clamping process. The support part 131 can set the support position according to different types of parts;

[0072] S2 Automatic part clamping: After the loading is completed, the clamping part 12 uses the contour detection camera 123 and the scanning positioning camera 124 to jointly identify whether the part is in place. After confirming that the part is in place, the clamping part 12 is aligned with the tube body through the up and down and left and right fine adjustment of the moving part 13, and the clamping unit 102 is used to clamp the tube body. After the clamping is completed, the automatic weld positioning process begins;

[0073] S3 Automatic weld seam positioning: After the automatic clamping is completed, the first detection camera 211 and the second detection camera 212 of the measuring unit 21 identify the clamped barrel parts, and then the clamping unit 12 is fine-tuned up and down and left and right to drive the scanning and positioning camera 124 to scan and position the tube body. After positioning is completed, the weld seam automatic measurement process is entered;

[0074] S4 Automatic weld measurement: After the automatic weld positioning is completed, the telescopic part 23 drives the first detection camera 211 and the second detection camera 212 of the measurement part 21 to scan the weld inside the pipe body and generate a measurement report. After the scanning and measurement are completed, the automatic grinding process is entered;

[0075] S5 Automatic evaluation of grinding quality: After the automatic weld measurement is completed, the telescopic part 23 transports the grinding part 22 to the weld position. The grinding part 22 is expanded as needed and grinds the weld of the inner cylinder of the part. The measuring part 21 scans the weld position in real time to determine the grinding process. After the grinding is completed, the measuring part 21 identifies and evaluates whether the cylinder weld that has been automatically polished is qualified. After the evaluation of the grinding is completed, the grinding part 22 is retracted and then withdrawn by driving the telescopic part 23. After the withdrawal is completed, the part separation process begins;

[0076] S6 automatic part clamping: After the automatic evaluation of the grinding quality is completed, the grinding report is automatically submitted, the clamping unit 102 on the chuck 101 releases the tube, and the tube 3 is automatically withdrawn from the chuck 101. After completion, it enters the unloading process;

[0077] S7 unloading: After the grinding quality is automatically evaluated and the grinding report is automatically submitted, all mechanisms withdraw and the polished pipe 3 is removed.

[0078] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A welding seam grinding structure on the inner surface of a cylinder, characterized in that: It comprises a clamping assembly (1) for clamping and driving a pipe (3) to rotate, and a grinding assembly (2) for grinding the inner cavity of the pipe (3); A clamping assembly (1) comprises a grinding table (11) for placing a pipe (3), a clamping portion (12) for clamping and driving the pipe (3) to rotate, and a moving portion (13) for driving the clamping portion (12) to move horizontally and vertically; The grinding assembly (2) comprises a measuring part (21) for determining the position of a weld, a grinding part (22) for grinding the weld, a telescopic part (23) for driving the measuring part (21) and the grinding part (22) to move along the length of the pipe (3), and a lifting part (24) for driving the measuring part (21) and the grinding part (22) to move up and down, wherein the telescopic part (23) is arranged on the lifting part (24).

2. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: The grinding portion (22) includes at least an open state and a retracted state, and when the grinding portion (22) moves along the inside of the pipe (3), the grinding portion (22) is in the retracted state, and when the grinding portion (22) is grinding, the grinding portion (22) is in the open state and fits the inner cavity of the pipe (3).

3. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: The grinding part (22) comprises a mounting plate (201), a plurality of hinged plates (202) hinged on the peripheral side of a driving plate (203), a driving plate (203) connected to the hinged plates (202), a driving unit (206) for driving the driving plate (203) to move along the axial direction of the pipe (3), and a grinding unit (204) arranged on the hinged plate (202), wherein the driving unit drives the driving plate (203) to move so that the hinged plate (202) is opened or retracted relative to the mounting plate (201).

4. The inner surface weld grinding structure of a cylinder according to claim 3, characterized in that: The measuring unit (21) comprises a first detection camera (211) and a second detection camera (212) which are arranged on the mounting plate (201), wherein the first detection camera (211) is arranged along the axial direction of the pipeline, and the second detection camera (212) is arranged along the axial direction of the pipeline.

5. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: The telescopic portion (23) comprises a telescopic block group (221) that can be extended step by step, the lifting portion (24) comprises a lifting bracket (222) and a lifting unit (223) that drives the lifting plate to move up and down, the telescopic portion (23) is arranged on the lifting unit (223), and the telescopic block group (221) is connected to the polishing portion (22).

6. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: The clamping portion (12) comprises a chuck (101), clamping units (102) arranged at intervals along the circumference of the chuck (101), and a rotating unit (103) for driving the chuck (101) to rotate.

7. The inner surface weld grinding structure of a cylinder according to claim 6, characterized in that: The moving part (13) comprises a mounting frame (111), a first moving plate (112) slidably arranged on the mounting frame (111) up and down, a first moving motor (113) driving the first moving plate (112) to move up and down, a second moving plate (114) slidably arranged on the first moving plate (112) left and right, and a second moving motor (115) driving the second moving plate (114) to move left and right, and the chuck (101) is arranged on the second moving plate (114).

8. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: A mounting groove (121) is centrally arranged in the clamping portion (12), and a position identification component (122) is also arranged on the clamping portion (12), wherein the position identification component (122) comprises a contour detection camera (123) arranged in the mounting groove (121), and a scanning positioning camera (124) that rotates with the clamping portion (12).

9. The inner surface weld grinding structure of a cylinder according to claim 1, characterized in that: The polishing table (11) is also provided with a support portion (131) for supporting the pipe fitting (3), the support portion (131) comprising a support seat (132) that can slide along the axial direction of the pipe fitting (3), and support rollers (133) rotated on the support seat (132), and a support space (134) for supporting the pipe fitting (3) is formed between the support rollers (133).

10. The inner surface weld grinding structure of a cylinder according to claim 9, characterized in that: The grinding table (11) is provided with a slide rail (135), the support seat (132) slides along the slide rail (135), and a fixed rotating arm (136) is penetrated on the side of the support seat (132), and the fixed rotating arm (136) rotates so that the fixed rotating arm (136) abuts against the support seat (132) and restricts its sliding, and a retractable fixed rod (137) is provided on the side of the support roller (133), and the fixed rod (137) extends out and abuts against the support roller (133) to restrict the support roller (133) from rotating.

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