Pipeline Inner Wall Grinding Device for Weld Beading Removal

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Solution Overview

Problem

Existing automatic grinding devices are inefficient for removing weld beading from the inner walls of pipelines with a large length to diameter ratio, particularly in adapting to pipes with different diameters and ensuring smooth removal without high traction force requirements.

Innovation Solution

An automatic grinding device comprising a supporting module with omni-directional wheel supports and height adjusting frames, a walking module with universal and omni-directional wheels, a working module with a grinding machine and angle control motor, and a control module with a camera and controller, allowing for adaptable movement and precise grinding on varying diameters.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a cutting device is used to remove weld beading from the inner wall of a pipeline, then the weld beading can be cleaned, but the adaptability for pipes with different diameters is low and high traction force is required

Engineering Contradiction:

Improveadaptability for pipes with different diametersVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The device employs a flexible robotic arm with adjustable length and articulation, allowing the grinding head to dynamically adapt to different pipe diameters and positions. The arm can extend, retract, and articulate to reach weld beading at various locations inside pipes of varying sizes, providing dynamic adaptability without requiring multiple fixed-size devices.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system uses a controllable grinding head with adjustable grinding wheel parameters (size, speed, angle) and a flexible arm with variable length and positioning. These parameter changes allow the same device to effectively handle pipes with different diameters by adjusting the arm extension and grinding head orientation rather than requiring different devices for each pipe size.

Inventive Principle:

Principle #35Parameter changes

2Manufacturing precision

If a cutting device is used to remove weld beading, then the weld beading can be cleaned, but the smoothness of outline after cutting cannot be guaranteed

Engineering Contradiction:

Improvesmoothness of outlineVSAvoidremoval efficiency

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The invention replaces the traditional mechanical cutting knife with a rotating grinding wheel that abrades the weld beading. This substitution of cutting mechanism with grinding allows for smoother surface finishing while maintaining efficient material removal, as the rotating grind wheel can progressively smooth the surface rather than leaving sharp edges from blade cutting.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The grinding head is designed with dynamic positioning capabilities and adjustable grinding parameters (wheel speed, feed rate, angle) that can be optimized to achieve both high removal rates and smooth surface finish. The flexible arm allows the grinding head to maintain optimal contact with the pipe inner wall throughout the grinding process, ensuring consistent surface quality.

Inventive Principle:

Principle #15Dynamics

3Reliability

If the grinding device rotates with the pipeline, then contact with the inner wall is maintained, but the pipeline rotation cannot be prevented

Engineering Contradiction:

Improvecontact with inner wallVSAvoidpipeline rotation control

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The flexible robotic arm acts as an intermediary between the stationary device body and the pipe inner wall. It allows the grinding head to follow and maintain contact with the rotating pipe wall while the main device body remains stationary. The arm's flexibility absorbs the rotational movement, enabling the grinding head to track the pipe rotation without causing the entire device to rotate.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The device is segmented into a stationary control body and a mobile grinding head connected by a flexible articulated arm. This segmentation allows the grinding head to independently follow the pipe rotation and maintain contact with the inner wall, while the stationary body houses the control systems and does not rotate, separating the functions of contact maintenance and operational control.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS11396079B2Automatic grinding device for weld beading on inner wall of pipeline with large length to diameter ratio

Publication Date: 2022.07.26 NANCHANG HANGKONG UNIVERSITY

AI summary

The present invention discloses an automatic grinding device for weld beading on the inner wall of a pipeline with a large length to diameter ratio. The automatic grinding device includes a supporting module, and a walking module, a working module and a control module which are arranged on the supporting module, where the walking module is used for moving the supporting module to the butt welding position of the pipeline; the working module is used for grinding the weld beading; and the control module is used for controlling the actions of the walking module and the working module. When the pipeline rotates along the axial direction, the position of the grinding device can remain at the bottom of the pipeline, rather than rotating together with the pipeline, and the elimination of weld beading on the whole circumference at the butt welding position of the pipeline is realized.