A dressing robot for pipe elements

Abstract

The utility model discloses a kind of grinding robots for pipe inside, it is related to pipe processing technical field, the grinding robot for pipe inside, including machine body and setting on the grinding mechanism of machine body, slewing mechanism and travelling mechanism, grinding mechanism is used to carry out grinding to the inner wall of pipe to be handled.Slewing mechanism is drivingly connected with grinding mechanism, and is used to drive grinding mechanism rotate around the axis of pipe to be handled.Travelling mechanism is used to contact with the partial inner wall of pipe to be handled, and is used to drive machine body to walk along the extension direction of pipe to be handled.The grinding robot for pipe inside provided by the utility model can realize walking while grinding the inner circumferential wall of pipe, the consistency of product is good, and to a certain extent, it replaces manual operation, greatly reduces labor intensity, and improves grinding efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of pipe processing technology, specifically a grinding robot for internal pipe processing. Background Technology

[0002] After the steel pipe is rolled, defects may remain on the inner surface due to factors such as mandrel abrasion. Therefore, the defective parts need to be ground to meet the usage requirements. In order to make these pipe fittings meet the usage requirements, the inner or outer surface of the pipe fittings usually also needs to be ground to make them smooth.

[0003] In existing technologies, operators typically use hand tools for grinding. For large-diameter, short steel pipes, the grinding difficulty is relatively low. However, for small-diameter, long steel pipes, it is difficult to grind manually, observe defects, and accurately grind defects.

[0004] Therefore, existing tools for grinding the inner surface of pipe fittings require significant operator involvement, which is time-consuming, labor-intensive, and physically demanding. Furthermore, due to the relatively small internal space of the pipe fittings, the operator has limited operating space, resulting in high physical exertion and low grinding efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a grinding robot for pipe fittings, so as to solve at least one aspect of the problems and defects mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: This utility model provides a grinding robot for pipe fittings, including a body and a grinding mechanism, a rotating mechanism and a walking mechanism installed on the body. The grinding mechanism is used to grind the inner wall of the pipe fitting to be processed. The rotary mechanism is connected to the grinding mechanism and is used to drive the grinding mechanism to rotate around the axis of the pipe to be processed. The traveling mechanism is used to contact part of the inner wall of the pipe to be treated and to drive the machine body to travel along the extension direction of the pipe to be treated.

[0007] As a further improvement of this utility model, it also includes: The moving mechanism and the grinding mechanism are connected to the rotary mechanism through a transmission. The moving mechanism is used to drive the grinding mechanism to move radially along the pipe to be processed.

[0008] As a further embodiment of this utility model: the moving mechanism includes a first moving seat, a mounting seat and a first driving component, the first moving seat is movably mounted on the mounting seat, and the grinding mechanism is mounted on the first moving seat; The first drive assembly is mounted on the mounting base and is drively connected to the first movable base to drive the mounting base to move so that the grinding mechanism moves radially along the pipe to be treated.

[0009] As a further embodiment of this utility model: the rotary mechanism includes a rotary seat, a rotary assembly, and a rotary drive component. The rotary seat is connected to the end of the machine body through the rotary assembly, and the mounting base is connected to the rotary seat. The rotary drive is connected to the rotary base and is connected to the rotary assembly in a transmission manner to drive the rotary base to rotate.

[0010] As a further embodiment of this utility model: the rotary assembly includes an internal gear ring and a gear, with the internal gear ring fixedly connected to the end of the machine body; The gear is connected to the output end of the rotary drive and meshes with the internal gear ring.

[0011] As a further embodiment of this utility model: the grinding mechanism includes a grinding motor, a first transmission assembly and a grinding component, wherein the grinding motor is connected to the first movable seat; The grinding component is connected to the grinding motor via the first transmission assembly and is used to face the inner wall of the pipe to be processed.

[0012] As a further embodiment of this utility model: the walking mechanism includes at least three walking components and a telescopic mechanism, each walking component is arranged at intervals around the periphery of the machine body and is used to walk along the extension direction of the pipe to be processed; Each walking component is connected to the machine body via a telescopic mechanism, which drives each walking component to move radially along the pipe to be processed.

[0013] As a further embodiment of this utility model: the telescopic mechanism includes a second movable seat, a second drive assembly, and at least three second transmission assemblies, wherein the second movable seat is disposed on the machine body; Each second transmission component is connected to each walking component in a corresponding transmission connection. The second drive component is connected to the second moving seat and drives the second moving seat to move along the extension direction of the machine body, thereby driving each walking component to move radially.

[0014] As a further embodiment of this utility model: the second transmission component includes a transmission member and two connecting members. One end of each connecting member is hinged to the machine body, and the other end of each connecting member is hinged to the walking component to form a parallelogram hinge. One end of the transmission component is hinged to the second movable seat, and the other end of the transmission component is hinged to one of the two connecting components.

[0015] As a further embodiment of this utility model: the walking assembly includes a walking frame, a walking drive component and at least two walking wheels, wherein the walking frame is hinged to the end of each connecting component away from the machine body. Two walking wheels are respectively connected to the walking frame and are arranged at intervals along the extension direction of the machine body. The walking drive component is connected to at least one walking wheel.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows: the grinding robot for pipe fittings includes a body and a grinding mechanism, a rotary mechanism, and a walking mechanism set on the body. The grinding mechanism is used to grind the inner wall of the pipe fitting to meet the usage requirements and make the inner wall of the pipe fitting flat and smooth. The rotary mechanism is connected to the grinding mechanism and is used to drive the grinding mechanism to rotate around the axis of the pipe fitting to be processed, so that the grinding mechanism can grind the circumference of the inner wall of the pipe fitting. The walking mechanism contacts part of the inner wall of the pipe fitting to be processed and is used to drive the body to walk along the extension direction of the pipe fitting to be processed, so as to achieve grinding of the inner circumference of the pipe fitting while walking. The product has good consistency and, to a certain extent, replaces manual operation, greatly reduces labor intensity, and improves grinding efficiency. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 A schematic diagram of the structure of the grinding robot for pipe fittings provided by this utility model; Figure 2 for Figure 1 A partial structural diagram after the grinding mechanism and the moving mechanism have been removed; Figure 3 for Figure 2 A sectional view along section AA; Figure 4 for Figure 1 A partial structural diagram from another perspective; Figure 5 This is a structural schematic diagram of the grinding robot for pipe fittings provided by this utility model in its working state.

[0019] Figure label: 10. Pipe fittings to be processed; 100. Body; 200. Grinding mechanism; 210. Grinding motor; 220. First transmission assembly; 230. Grinding parts; 300. Rotary mechanism; 310. Rotary base; 320. Rotary assembly; 321. Internal gear ring; 322. Gear; 330. Rotary drive component; 400. Walking mechanism; 410. Walking assembly; 411. Walking frame; 412. Walking drive component; 413. Walking wheel; 420. Telescopic mechanism; 421. Second moving seat; 422. Second drive assembly; 423. Second transmission assembly; 4231. Transmission component; 4232. Connecting component; 500, Moving mechanism; 510, First moving seat; 520, Mounting seat; 530, First drive assembly. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model; that is, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The components of the embodiments of the present utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-5 As shown, this utility model embodiment provides a grinding robot for pipe fittings, including a body 100 and a grinding mechanism 200, a rotating mechanism 300 and a walking mechanism 400 disposed on the body 100. The grinding mechanism 200 is used to grind the inner wall of the pipe fitting 10 to be processed.

[0027] The rotary mechanism 300 is connected to the grinding mechanism 200 and is used to drive the grinding mechanism 200 to rotate around the axis of the pipe fitting 10 to be processed.

[0028] The traveling mechanism 400 is used to contact a portion of the inner wall of the pipe fitting 10 to be processed, and to drive the machine body 100 to travel along the extension direction of the pipe fitting 10 to be processed.

[0029] In this embodiment, the body 100 is generally cylindrical shell structure, providing a mounting base for the grinding mechanism 200, the rotary mechanism 300 and the walking mechanism 400, and its outer dimensions are smaller than the diameter of the pipe 10 to be processed.

[0030] The grinding mechanism 200 in this embodiment is used to grind the inner wall of the pipe fitting 10 to be processed. It can be composed of a motor and a grinding wheel. The grinding wheel is used to contact the inner wall of the pipe fitting 10 to be processed. The grinding mechanism 200 drives the grinding wheel to rotate, thereby realizing the grinding.

[0031] In this embodiment, the rotary mechanism 300 is used to drive the grinding mechanism 200 to rotate around the axis of the pipe 10 to be processed. It can be a planetary gear mechanism, a hydraulic motor, etc. The grinding mechanism 200 is connected to the front end of the machine body 100 through the rotary mechanism 300. Thus, under the rotation action of the rotary mechanism 300, the grinding mechanism 200 can grind the inner wall of the pipe 10 to be processed along the circumference.

[0032] In this embodiment, the walking mechanism 400 is used to drive the machine body 100 to walk along the extension direction of the pipe 10 to be processed. It can be a walking wheel mechanism, a track mechanism, etc. It is set on the machine body 100 and contacts part of the inner wall of the pipe 10 to be processed, thereby realizing the stable walking of the machine body 100 along the extension direction of the pipe 10 to be processed.

[0033] Specifically, such as Figure 5As shown, the grinding robot is placed inside the pipe 10 to be processed, with the grinding mechanism 200 facing and contacting the inner wall of the pipe 10. The axis of the rotary mechanism 300 is approximately coaxial with the pipe 10 to be processed. At this time, the grinding mechanism 200 begins to grind the inner wall of the pipe 10 to be processed. The rotary mechanism 300 drives the grinding mechanism 200 to rotate, thereby completing one revolution of grinding on the inner wall of the pipe 10 to be processed. The walking mechanism 400 drives the robot body 100 to the next station to perform the second revolution of grinding, and so on until the grinding is completed.

[0034] In addition, a vision unit can be set on the grinding mechanism 200 to help find the burrs or protrusions that need to be ground, so that the grinding mechanism 200 can quickly locate the position that needs to be ground, and the degree of automation is higher.

[0035] Compared to the operation method in which an operator gradually moves and adjusts the grinding position inside the pipe fitting 10 using handheld tools or grinding devices, the application of the grinding robot for the pipe fitting provided in this embodiment of the utility model can achieve grinding of the inner circumferential wall of the pipe fitting while walking, resulting in good product consistency. It can also replace manual operation to a certain extent, greatly reduce labor intensity, and improve grinding efficiency.

[0036] In some embodiments, the grinding robot for pipe fittings provided in this embodiment further includes: The moving mechanism 500 and the grinding mechanism 200 are connected to the rotary mechanism 300 through the moving mechanism 500. The moving mechanism 500 is used to drive the grinding mechanism 200 to move radially along the pipe fitting 10 to be processed.

[0037] Specifically, such as Figure 1 As shown, the moving mechanism 500 is used to drive the grinding mechanism 200 to move radially along the pipe fitting 10 to be processed. It can be a screw mechanism, telescopic mechanism, etc. The grinding mechanism 200 is connected to the rotary mechanism 300 through the moving mechanism 500.

[0038] This design facilitates adjusting the distance between the grinding mechanism 200 and the inner wall of the pipe fitting 10 to be processed, adapting to grinding adjustments for burrs or protrusions of different heights.

[0039] Furthermore, in this embodiment, the moving mechanism 500 includes a first moving seat 510, a mounting seat 520, and a first driving component 530. The first moving seat 510 is movably disposed on the mounting seat 520, and the grinding mechanism 200 is disposed on the first moving seat 510.

[0040] The first drive assembly 530 is disposed on the mounting base 520 and is connected to the first movable base 510 for driving the mounting base 520 to move so that the grinding mechanism 200 moves radially along the pipe fitting 10 to be processed.

[0041] Specifically, such as Figure 1 As shown, the first movable seat 510 is used to install the grinding mechanism 200, which can be a plate-shaped or block-shaped structure, etc. The grinding mechanism 200 can be connected to the first movable seat 510 by means of screwing, welding, etc. The mounting seat 520 is used to install the first drive assembly 530, which can also be a plate-shaped or block-shaped structure, etc. There can be one or more mounting seats 520, which can be connected to the rotary mechanism 300 by means of screwing, welding, etc.

[0042] For example, the first drive assembly 530 may include a drive motor, a lead screw, and two guide rods. The lead screw and the two guide rods are parallel and arranged radially along the body 100. The ends of the two guide rods are fixed to the mounting base 520. The two ends of the lead screw are connected to the mounting base 520 through a rotating structure such as bearings. One end of the lead screw is connected to the output end of the drive motor. The bottom of the first moving base 510 has a lead screw nut and two guide sleeves. The lead screw nut is threaded to the lead screw, and the two guide sleeves are slidably connected to the two guide rods. Thus, when the drive motor drives the lead screw to rotate, the first moving base 510, together with the grinding mechanism 200, can be driven to move radially under the action of the lead screw nut.

[0043] The specific types and specifications of the drive motor, lead screw, and guide rod can be determined according to actual needs, and this embodiment does not impose too many restrictions. Of course, other types of drive components can also be used instead, and this embodiment does not impose too many restrictions on this either.

[0044] Furthermore, in this embodiment, the rotary mechanism 300 includes a rotary seat 310, a rotary assembly 320, and a rotary drive 330. The rotary seat 310 is connected to the end of the machine body 100 through the rotary assembly 320, and the mounting base 520 is connected to the rotary seat 310.

[0045] The rotary drive 330 is connected to the rotary seat 310 and is connected to the rotary assembly 320 in a transmission manner to drive the rotary seat 310 to rotate.

[0046] Specifically, such as Figure 1 , Figure 2 As shown, the rotary seat 310 can be in the form of a disc, a circular plate, or other structures. It can be installed at the front end of the machine body 100 through a rotating structure such as bearings. That is, the rotary seat 310 can rotate around the axis of the pipe to be processed 10. The mounting seat 520 can be fixedly connected to the rotary seat 310 by means of screwing, welding, etc.

[0047] Furthermore, the rotary drive component 330 can be a drive motor, rotary motor, etc., which is fixedly mounted on the rotary base 310. The output end of the rotary drive component 330 is connected to the machine body 100 through the rotary assembly 320. In this way, the rotary drive component 330 can drive the rotary base 310 and the mounting base 520 to rotate together through the rotary assembly 320.

[0048] For example, such as Figure 2 As shown, the rotary assembly 320 includes an internal gear ring 321 and a gear 322, with the internal gear ring 321 fixedly connected to the end of the machine body 100.

[0049] Gear 322 is connected to the output end of rotary drive 330 and meshes with internal gear ring 321.

[0050] Specifically, the internal gear ring 321 can be integrally formed with the end of the machine body 100, or fixed to the end of the machine body 100 by means of screwing, snap-fitting, etc. The gear 322 matches and meshes with the internal gear ring 321. There can be one or more gears 322, and the output end of the rotary drive 330 is coaxially connected to one of the gears 322.

[0051] In this way, the rotary drive 330 drives the gear 322 to rotate, which in turn drives the rotary seat 310 to rotate in cooperation with the internal gear ring 321, resulting in a more compact structure. Of course, the rotary assembly 320 can also be replaced by other types of rotary mechanisms, and this embodiment does not impose too many restrictions on this.

[0052] Furthermore, in this embodiment, the grinding mechanism 200 includes a grinding motor 210, a first transmission assembly 220, and a grinding component 230, with the grinding motor 210 connected to the first movable seat 510.

[0053] The grinding component 230 is connected to the grinding motor 210 via the first transmission assembly 220 and is used to face the inner wall of the pipe 10 to be processed.

[0054] Specifically, such as Figure 1 As shown, the grinding motor 210 can be fixedly connected to the first movable seat 510 by means of screwing, welding or other methods. The first transmission component 220 can be composed of a transmission shaft and a bevel gear assembly, which is set in the housing at the output end of the grinding motor 210. The grinding component 230 can be a grinding wheel, a grinding brush or the like, which is connected to the first transmission component 220 for transmission. Thus, the grinding motor 210 can drive the grinding component 230 to rotate through the first transmission component 220 to achieve grinding.

[0055] The specific types and structures of the grinding motor 210, the first transmission component 220, and the grinding part 230 can be determined according to actual needs, and no excessive restrictions are imposed in this embodiment.

[0056] In some embodiments, the walking mechanism 400 includes at least three walking components 410 and a telescopic mechanism 420. Each walking component 410 is arranged at intervals around the periphery of the body 100 and is used to walk along the extension direction of the pipe 10 to be processed.

[0057] Each walking component 410 is connected to the machine body 100 via a telescopic mechanism 420. The telescopic mechanism 420 is used to drive each walking component 410 to move radially along the pipe fitting 10 to be processed.

[0058] Specifically, such as Figure 2 , Figure 4 As shown, the three walking components 410 are arranged at intervals around the periphery of the machine body 100 and are 120 degrees apart from each other. According to the three-point centering principle, when the three walking components 410 simultaneously contact the inner wall of the pipe to be processed 10, the machine body 100 can be made approximately coaxial with the pipe to be processed 10. That is, the rotary mechanism 300 is coaxial with the pipe to be processed 10, and the grinding mechanism 200 minimizes radial adjustment when grinding in the circumferential direction, thus ensuring efficiency and product consistency.

[0059] In addition, each walking component 410 is connected to the body 100 via a telescopic mechanism 420. This configuration allows each walking component 410 to simultaneously extend and retract radially along the pipe to be processed 10. On the one hand, it can adapt to grinding of different pipe diameters within a certain range, rather than grinding pipes with a single inner diameter, thus having wider adaptability. On the other hand, it makes it easier to put the robot into the pipe to be processed 10 in the early stage of grinding, or to remove the robot from the pipe to be processed 10 after grinding.

[0060] Furthermore, in this embodiment, the telescopic mechanism 420 includes a second movable seat 421, a second drive assembly 422, and at least three second transmission assemblies 423, with the second movable seat 421 disposed on the body 100.

[0061] Each second transmission component 423 is connected to each walking component 410 in a transmission connection. The second drive component 422 is connected to the second moving seat 421 and drives the second moving seat 421 to move along the extension direction of the body 100, thereby driving each walking component 410 to move radially.

[0062] Specifically, such as Figure 2 , Figure 3As shown, the second movable seat 421 can be a block-shaped, plate-shaped, or other structure, which is disposed inside the machine body 100 and can move along the extension direction of the machine body 100. The second drive assembly 422 can consist of a drive motor and a lead screw. The lead screw is arranged along the extension direction of the machine body 100 and is rotatably connected inside the machine body 100. The second movable seat 421 is threadedly connected to the lead screw through a lead screw nut. The drive motor is installed at the end of the machine body 100, and its output end is connected to the lead screw drive. When the drive motor drives the lead screw to rotate, it can drive the second movable seat 421 to move.

[0063] For example, such as Figure 3 As shown, the second transmission assembly 423 includes a transmission member 4231 and two connecting members 4232. One end of each connecting member 4232 is hinged to the machine body 100, and the other end of each connecting member 4232 is hinged to the walking assembly 410 to form a parallelogram hinge.

[0064] One end of the transmission component 4231 is hinged to the second movable seat 421, and the other end of the transmission component 4231 is hinged to one of the two connecting components 4232.

[0065] Specifically, the transmission component 4231 can be a transmission rod, and the connecting component 4232 can be a connecting rod. One end of each connecting component 4232 can be hinged to the body 100 through a structure such as a pivot or hinge. The other end of each connecting component 4232 can also be hinged to the walking component 410 through a structure such as a pivot or hinge, thereby forming a parallelogram hinge mechanism. The axis of rotation is perpendicular to the extension direction of the body 100.

[0066] Furthermore, one end of the transmission component 4231 can be hinged to the second movable seat 421 via a shaft, hinge, or other structure, and the other end of the transmission component 4231 can also be hinged to one of the connecting components 4232 via a shaft, hinge, or other structure. In this way, when the second movable seat 421 moves along the extension direction of the body 100, the transmission component 4231 can push the connecting component 4232 to swing radially, thereby realizing the radial extension and retraction of the walking assembly 410, resulting in a stable and reliable structure.

[0067] It should be noted that the body 100 needs to have through holes or slots for the transmission component 4231 to pass through.

[0068] Furthermore, in this embodiment, the walking assembly 410 includes a walking frame 411, a walking drive component 412, and at least two walking wheels 413. The walking frame 411 is hinged to the end of each connecting component 4232 that is away from the body 100.

[0069] Two walking wheels 413 are respectively connected to the walking frame 411 and are arranged at intervals along the extension direction of the body 100. The walking drive component 412 is connected to at least one walking wheel 413 in a transmission connection.

[0070] Specifically, such as Figure 3 As shown, the walking frame 411 is roughly rectangular in shape or block shape and is arranged along the extension direction of the body 100. The two walking wheels 413 are also arranged along the extension direction of the body 100 and are rotatably connected to the walking frame 411. The walking drive component 412 can be a drive motor, which is installed on the walking frame 411 and is connected to at least one of the walking wheels 413 in a transmission manner, so as to drive the walking wheel 413 to walk on the inner wall of the pipe to be processed 10.

[0071] The number of walking wheels 413 can be increased. The specific type, size, structure, etc. of the walking frame 411, walking drive component 412 and walking wheels 413 can be determined according to actual needs. This embodiment does not impose too many restrictions.

[0072] The above description is merely an example and illustration of the structure of this utility model. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the structure of the utility model or exceed the scope defined in the claims, they should all fall within the protection scope of this utility model.

Claims

1. A grinding robot for use inside pipe fittings, characterized in that, It includes a body (100) and a grinding mechanism (200), a rotary mechanism (300) and a traveling mechanism (400) disposed on the body (100). The grinding mechanism (200) is used to grind the inner wall of the pipe fitting (10) to be processed. The rotary mechanism (300) is connected to the grinding mechanism (200) and is used to drive the grinding mechanism (200) to rotate around the axis of the pipe fitting (10) to be processed; The walking mechanism (400) is used to contact a portion of the inner wall of the pipe to be processed (10) and to drive the machine body (100) to walk along the extension direction of the pipe to be processed (10).

2. The grinding robot for pipe fittings according to claim 1, characterized in that, Also includes: The moving mechanism (500) and the grinding mechanism (200) are connected to the rotary mechanism (300) through the moving mechanism (500). The moving mechanism (500) is used to drive the grinding mechanism (200) to move radially along the pipe fitting (10) to be processed.

3. The grinding robot for pipe fittings according to claim 2, characterized in that, The moving mechanism (500) includes a first moving seat (510), a mounting seat (520) and a first drive assembly (530). The first moving seat (510) is movably disposed on the mounting seat (520), and the grinding mechanism (200) is disposed on the first moving seat (510). The first drive assembly (530) is disposed on the mounting base (520) and is throttle connected to the first movable base (510) for driving the mounting base (520) to move so that the grinding mechanism (200) moves radially along the pipe to be processed (10).

4. The grinding robot for pipe fittings according to claim 3, characterized in that, The rotary mechanism (300) includes a rotary seat (310), a rotary assembly (320), and a rotary drive (330). The rotary seat (310) is connected to the end of the machine body (100) through the rotary assembly (320), and the mounting base (520) is connected to the rotary seat (310). The rotary drive (330) is connected to the rotary seat (310) and is connected to the rotary assembly (320) in a transmission manner to drive the rotary seat (310) to rotate.

5. The grinding robot for pipe fittings according to claim 4, characterized in that, The rotary assembly (320) includes an internal gear ring (321) and a gear (322), wherein the internal gear ring (321) is fixedly connected to the end of the body (100); The gear (322) is connected to the output end of the rotary drive (330) and meshes with the internal gear ring (321).

6. The grinding robot for pipe fittings according to claim 3, characterized in that, The grinding mechanism (200) includes a grinding motor (210), a first transmission assembly (220), and a grinding component (230), wherein the grinding motor (210) is connected to the first movable seat (510); The grinding component (230) is connected to the grinding motor (210) via the first transmission assembly (220) and is used to face the inner wall of the pipe (10) to be processed.

7. The grinding robot for pipe fittings according to any one of claims 1 to 6, characterized in that, The walking mechanism (400) includes at least three walking components (410) and a telescopic mechanism (420). Each of the walking components (410) is arranged at intervals around the periphery of the body (100) and is used to walk along the extension direction of the pipe (10) to be processed. Each of the walking components (410) is connected to the body (100) via the telescopic mechanism (420), which is used to drive each of the walking components (410) to move radially along the pipe to be processed (10).

8. The grinding robot for pipe fittings according to claim 7, characterized in that, The telescopic mechanism (420) includes a second movable seat (421), a second drive assembly (422), and at least three second transmission assemblies (423), wherein the second movable seat (421) is disposed on the body (100); Each of the second transmission components (423) is connected to each of the walking components (410) in a transmission connection. The second drive component (422) is connected to the second moving seat (421) and drives the second moving seat (421) to move along the extension direction of the body (100) so as to drive each of the walking components (410) to move radially.

9. The grinding robot for pipe fittings according to claim 8, characterized in that, The second transmission assembly (423) includes a transmission member (4231) and two connecting members (4232). One end of each connecting member (4232) is hinged to the body (100), and the other end of each connecting member (4232) is hinged to the walking assembly (410) to form a parallelogram hinge. One end of the transmission member (4231) is hinged to the second movable seat (421), and the other end of the transmission member (4231) is hinged to one of the two connecting members (4232).

10. The grinding robot for pipe fittings according to claim 9, characterized in that, The walking assembly (410) includes a walking frame (411), a walking drive (412) and at least two walking wheels (413). The walking frame (411) is hinged to one end of each of the connecting members (4232) away from the body (100). Two of the walking wheels (413) are respectively connected to the walking frame (411) and are arranged at intervals along the extension direction of the body (100). The walking drive (412) is connected to at least one of the walking wheels (413) in a transmission connection.

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