Pipeline inner circumferential weld mechanical arm grinding mechanism and grinding robot
The pipe internal weld seam mechanical arm and robot system addresses the challenges of internal weld seam grinding by providing precise and adaptable grinding capabilities, enhancing safety and efficiency in pipe weld seam formation.
Patent Information
- Application Number
- CN202422272788.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-09-18
AI Technical Summary
In the prior art, it is difficult to achieve efficient, safe and precise automated processing of the welds in the inner ring of the pipeline, especially in the case of small pipe diameters, manual operation is dangerous and inefficient, and cannot meet the corrosion protection requirements.
A mechanical arm grinding mechanism for inner ring welds of pipelines is designed, including a rotating seat, a mechanical arm, a grinding wheel, a video input device and a power source. Through the robot arm, the grinding wheel is driven to rotate at any angle and the power source drive the rotation shaft to rotate, so as to realize grinding of the inner ring welds of pipelines and any angle and surface shape grinding.
It realizes efficient and precise grinding of the inner ring welds of the pipeline, adapts to different pipe diameters and complex inner walls, improves grinding efficiency and safety, and avoids the danger of manual operation.
Smart Images
Figure CN223098800U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of pipeline grinding, and particularly to a mechanical arm grinding mechanism for internal circumferential welds of pipelines and a grinding robot. Background Art
[0002] In large-scale engineering fields such as oil pipeline laying and seawater desalination, pipelines are formed by welding sections of steel pipes. Liquids such as oil or seawater are highly corrosive. To extend the service life of pipelines, anti-corrosion treatments must be applied to both the interior and exterior of the pipelines. Each steel pipe is treated with an anti-corrosion coating on its inner wall at the prefabrication factory, leaving only a section at both ends of the steel pipe uncoated. After two steel pipes are welded together at the construction site, an internal coating joint technology is used to perform anti-corrosion treatment on the circumferential weld. Pipeline welding can only be carried out externally, either manually or by an automatic welding machine. The surface formation of the internal circumferential weld of the pipeline must be neat and uniform, and there are strict requirements for the weld height, which cannot exceed the standard. Otherwise, the coating at the weld will fail, the anti-corrosion effect will not be achieved, and the service life of the entire pipeline will be reduced. Therefore, the requirements for welding technology are very high, the welding efficiency is low, and if the height of a single weld point exceeds the standard, the entire weld must be scrapped.
[0003] In response to the above problems, for large-diameter pipelines that people can enter, personnel can enter the pipeline with equipment to manually grind the welds. This method is very dangerous and can only be operated by trained professionals. For small-diameter pipelines that people cannot enter, the pipeline can only be cut open and re-welded until the requirements are met. Summary of the Utility Model
[0004] Embodiments of this application provide a mechanical arm grinding mechanism for internal circumferential welds of pipelines and a grinding robot.
[0005] In a first aspect, embodiments of this application provide a mechanical arm grinding mechanism for internal circumferential welds of pipelines, including:
[0006] A rotating base, which is connected to the main body of the grinding robot;
[0007] A mechanical arm, one end of which is connected to the rotating base;
[0008] A grinding grinder, which is connected to the other end of the mechanical arm through a first rotating shaft; the mechanical arm drives the grinding grinder to rotate at any angle;
[0009] A first video input device, which is connected to the first rotating shaft and is stationary relative to the grinding grinder;
[0010] A first power source, which is used to drive the first rotating shaft.
[0011] In one of the embodiments, the mechanical arm includes a first rotating arm and a second rotating arm;
[0012] One end of the first rotating arm is connected to the rotating base, the other end of the first rotating arm is connected to one end of the second rotating arm, and the other end of the second rotating arm is connected to the grinding and polishing machine.
[0013] In one embodiment, the robotic arm includes two second rotating arms;
[0014] The two second rotating arms are symmetrically arranged on both sides of the grinding and polishing machine and on both sides of the first rotating arm.
[0015] In one embodiment, the first rotating arm is connected to the rotating base through a second rotating shaft,
[0016] The grinding mechanism further includes: a second power source for driving the second rotating shaft.
[0017] In one embodiment, the first rotating arm is connected to the second rotating arm through a third rotating shaft,
[0018] The grinding mechanism further includes: a third power source for driving the third rotating shaft.
[0019] In one embodiment, the grinding and polishing machine includes a grinding wheel, a transmission structure, and a fourth power source for driving the transmission structure, and the transmission structure drives the grinding wheel to rotate.
[0020] In one embodiment, a protective cover is provided outside the grinding wheel, and the protective cover is fan-shaped;
[0021] The first video input device is arranged on a side far from the protective cover.
[0022] In one embodiment, the grinding mechanism further includes:
[0023] A second video input device, and the second video input device and the first video input device are respectively connected to both ends of the first rotating shaft.
[0024] In a second aspect, an embodiment of the present application provides a grinding robot, which is characterized by including the pipe inner ring weld robotic arm grinding mechanism as in the first aspect.
[0025] The present application has the following beneficial effects compared with the prior art:
[0026] According to the positioning of the inner ring weld of the first video input device, the grinding robot brings the grinding mechanism to the position to be ground, and then the robotic arm drives the grinding and polishing machine to rotate at any angle, and the first power source drives the first rotating shaft to drive the grinding and polishing machine to rotate, so as to realize the grinding of the inner ring weld of the pipe at any angle and any surface shape. Description of the Drawings
[0027] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0028] Figure 1 Structural schematic diagram of the robotic arm grinding mechanism for the inner circumferential weld of the pipeline in the embodiment of the present application;
[0029] Figure 2 is Figure 1 right view of. Detailed implementation manners
[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.
[0031] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.
[0032] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; for those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0033] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.
[0034] Refer to Figure 1 、 Figure 2, an embodiment of the present application provides a mechanical arm grinding mechanism for the inner ring weld of a pipeline, including:
[0035] A rotating base 1, which is connected to the main body of the grinding robot;
[0036] A robotic arm 2, one end of which is connected to the rotating base 1;
[0037] A grinding grinder 3, which is connected to the other end of the robotic arm 2 through a first rotating shaft 4; the robotic arm 2 drives the grinding grinder 3 to rotate at any angle;
[0038] A first video input device 5, which is connected to the first rotating shaft 4 and is stationary relative to the grinding grinder 3;
[0039] A first power source, which is used to drive the first rotating shaft 4.
[0040] Specifically, the rotating base 1 is a base for supporting and connecting other components. It is connected to the main body structure of the grinding robot, providing stable support for the entire system. It can be understood that the rotating base 1 can be connected to the grinding robot through a rotating shaft and driven by a motor to rotate the rotating base 1.
[0041] The first video input device 5 is any device that can capture video signals and transmit them to a computer or other device for processing or display. The first video input device 5 can be used for inner ring weld positioning and observing the surface state and grinding condition of the inner ring weld. Optionally, the first video input device 5 is a camera.
[0042] The grinding grinder 3 is connected to the robotic arm 2 through the first rotating shaft 4, which can make the grinding grinder 3 move with the movement of the robotic arm 2, thus realizing complex motion trajectories.
[0043] The first power source is the source of power, which can include motors, pneumatic or hydraulic systems, etc., and is specifically set according to actual needs and application scenarios. The first power source provides power for the first rotating shaft 4, which can achieve precise control of the movement of the grinding grinder 3. Optionally, the first power source is a driving motor.
[0044] In this embodiment, according to the positioning of the inner ring weld by the first video input device 5, the grinding robot brings the grinding mechanism to the position to be ground, then the robotic arm 2 drives the grinding grinder 3 to rotate at any angle, and the first power source drives the first rotating shaft 4 to drive the grinding grinder 3 to rotate, which can achieve grinding of the inner ring weld of the pipeline at any angle and any surface shape.
[0045] In one embodiment, the robotic arm 2 includes a first rotating arm 21 and a second rotating arm 22;
[0046] One end of the first rotating arm 21 is connected to the rotating base 1, the other end of the first rotating arm 21 is connected to one end of the second rotating arm 22, and the other end of the second rotating arm 22 is connected to the grinding and polishing machine 3.
[0047] Wherein, the first rotating arm 21 and the rotating base 1 are connected by a second rotating shaft 6.
[0048] The grinding mechanism further includes: a second power source for driving the second rotating shaft 6.
[0049] Wherein, the first rotating arm 21 and the second rotating arm 22 are connected by a third rotating shaft 7. The grinding mechanism further includes: a third power source for driving the third rotating shaft 7.
[0050] Specifically, one end of the first rotating arm 21 is connected to the rotating base 1. Such a connection enables the first rotating arm 21 to rotate around an axis, thereby adjusting its angle relative to the rotating base 1. Exemplarily, the first rotating arm 21 is connected to the rotating base 1 through the second rotating shaft 6, and the second rotating shaft 6 is driven by a second power source, that is, driving the rotation of the first rotating arm 21 relative to the rotating base 1, providing precise control of the position of the first rotating arm 21.
[0051] The other end of the first rotating arm 21 is connected to one end of the second rotating arm 22. They can be connected by a joint or a rotating shaft. Such a connection enables the second rotating arm 22 to rotate relative to the first rotating arm 21, increasing the flexibility of the robotic arm 2. Exemplarily, the second rotating arm 22 is connected to the first rotating arm 21 through the third rotating shaft 7, and the third rotating shaft 7 is driven by a third power source, that is, driving the rotation of the second rotating arm 22 relative to the first rotating arm 21, further enhancing the operation flexibility and precision of the robotic arm 2.
[0052] The second rotating arm 22 can be connected to the grinding and polishing machine 3 through a joint or a rotating shaft. Such a connection enables the grinding and polishing machine 3 to move along with the movement of the second rotating arm 22, thereby realizing more complex movement trajectories.
[0053] It can be understood that in the above embodiments, both the second power source and the third power source can use drive motors.
[0054] In this embodiment, the robotic arm 2 is implemented by two rotating arms, namely the first rotating arm 21 and the second rotating arm 22, which significantly improves the overall flexibility. Moreover, each rotating arm can independently rotate within a certain range, enabling the grinding structure to complete different working positions and angles and adapt to more complex grinding tasks. And the multi-segment design of the robotic arm 2 can help improve the operation accuracy. Also, by adjusting the angles of the two rotating arms, the working direction and position of the grinding wheel 3 can be easily changed to adapt to the complex or irregular inner wall of the pipeline, so that the grinding robot can adapt to pipelines with different diameters. Additionally, the multi-segment robotic arm 2 can expand the working range of the grinding robot without increasing the overall occupied space, which is particularly beneficial for pipelines with smaller diameters.
[0055] Equipping each rotating shaft with an independent power source enables the movement of each rotating shaft to be independently controlled, which can improve the control accuracy and stability of the robotic arm 2. Also, the independent power source provides power for each rotating shaft, which can reduce the response delay problem caused by sharing a power source and make the grinding mechanism of the robotic arm more efficient.
[0056] In one embodiment, the robotic arm 2 includes two second rotating arms 22;
[0057] The two second rotating arms 22 are symmetrically arranged on both sides of the grinding wheel 3 and on both sides of the first rotating arm 21.
[0058] In this embodiment, setting two second rotating arms 22 and symmetrically arranging them on both sides of the grinding wheel 3 and on both sides of the first rotating arm 21 can provide balanced support for the grinding wheel 3, which helps improve the stability of the entire grinding mechanism.
[0059] In one embodiment, the grinding wheel 3 includes a grinding wheel 31, a transmission structure 32, and a fourth power source 33. The fourth power source 33 is used to drive the transmission structure 32, and the transmission structure 32 drives the grinding wheel 31 to rotate.
[0060] Specifically, the transmission mechanism can adopt a structure of two gears. The fourth power source 33 can use a driving motor. The rotating shaft of the driving motor drives one of the gears, and the other gear rotates driven by one gear, thereby driving the grinding wheel 31 to rotate.
[0061] In this embodiment, by driving the transmission structure 32 with the fourth power source 33 to drive the grinding wheel 31 to rotate, the rotation speed of the grinding wheel 31 can be adjusted by the fourth power source 33 according to different grinding requirements to adapt to different grinding tasks.
[0062] In one embodiment, a protective cover 34 is arranged outside the grinding wheel 31, and the protective cover 34 is fan-shaped;
[0063] The first video input device 5 is arranged on one side away from the protective cover 34.
[0064] Specifically, during the grinding process of the grinding wheel 31, splashes may be generated. The protective cover 34 arranged outside the grinding wheel 31 can prevent sparks, fragments, etc. generated during the grinding process from splashing everywhere, ensuring the cleanliness in the grinding pipeline.
[0065] The first video input device 5 being arranged on one side away from the protective cover 34 can ensure that the field of view of the first video input device 5 is not blocked by the protective cover 34, and can clearly capture the details during the grinding process.
[0066] In one embodiment, the grinding mechanism further includes:
[0067] A second video input device 8, and the second video input device 8 and the first video input device 5 are respectively connected to both ends of the first rotating shaft 4.
[0068] By setting the second video input device 8, it can be used as an alternative device when the first video input device 5 fails, can also be used as a device for positioning the grinding robot in the pipeline, can also be used as a device for correcting the positioning of the first video input device 5, and can also jointly provide grinding videos with the first video input device 5, etc.
[0069] It can be understood that the mechanical arm grinding mechanism for the internal circumferential weld of the pipeline provided in any of the above embodiments may further include a control module, which can control each power source to drive its corresponding rotating shaft or transmission mechanism.
[0070] This application also provides a grinding robot, which includes the mechanical arm grinding mechanism for the internal circumferential weld of the pipeline provided in any of the above embodiments.
[0071] It can be understood that the rotating base 1 of the mechanical arm grinding mechanism for the internal circumferential weld of the pipeline can be connected to the main body of the grinding robot through the fifth rotating shaft 9, and the fifth rotating shaft is driven by a fifth power source. The main body of the grinding robot is not shown in the figure.
[0072] Using the grinding robot provided in this embodiment, it can be used for grinding the surface of the internal circumferential weld of the pipeline, and can realize grinding at any angle and any surface shape of the internal circumferential weld of the pipeline.
[0073] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any change or replacement within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.
Claims
1. A mechanical arm grinding mechanism for the inner circumferential weld of a pipeline, characterized in that, Comprising: A rotating base (1), the rotating base (1) being connected to the main body of the grinding robot; A robotic arm (2), one end of the robotic arm (2) being connected to the rotating base (1); A grinding grinder (3), the grinding grinder (3) being connected to the other end of the robotic arm (2) through a first rotating shaft (4); the robotic arm (2) drives the grinding grinder (3) to rotate at any angle; A first video input device (5), the first video input device (5) being connected to the first rotating shaft (4) and being relatively stationary with respect to the grinding grinder (3); A first power source for driving the first rotating shaft (4).
2. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 1, wherein The robotic arm (2) includes a first rotating arm (21) and a second rotating arm (22); One end of the first rotating arm (21) is connected to the rotating base (1), the other end of the first rotating arm (21) is connected to one end of the second rotating arm (22), and the other end of the second rotating arm (22) is connected to the grinding grinder (3).
3. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 2, wherein The robotic arm (2) includes two of the second rotating arms (22); The two second rotating arms (22) are symmetrically arranged on both sides of the grinding grinder (3) and on both sides of the first rotating arm (21).
4. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 2 or 3, characterized in that, The first rotating arm (21) is connected to the rotating base (1) through a second rotating shaft (6), The grinding mechanism further includes: a second power source for driving the second rotating shaft (6).
5. The mechanical arm grinding mechanism for inner circumferential welds of pipes according to claim 2 or 3, characterized in that, The first rotating arm (21) is connected to the second rotating arm (22) through a third rotating shaft (7), The grinding mechanism further includes: a third power source for driving the third rotating shaft (7).
6. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 1, characterized in that, The grinding grinder (3) includes a grinding wheel (31), a transmission structure (32), and a fourth power source (33), the fourth power source (33) being used to drive the transmission structure (32), and the transmission structure (32) driving the grinding wheel (31) to rotate.
7. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 6, wherein A protective cover (34) is provided outside the grinding wheel (31), and the protective cover (34) is fan-shaped; The first video input device (5) is arranged on a side away from the protective cover (34).
8. The mechanical arm grinding mechanism for the inner circumferential weld of the pipeline according to claim 1, characterized in that, The grinding mechanism further includes: A second video input device (8), the second video input device (8) and the first video input device (5) are respectively connected to both ends of the first rotating shaft (4).
9. A grinding robot, characterized in that, Including the inner ring weld robotic arm grinding mechanism according to any one of claims 1-8.