CN210388599U - Electromagnet adsorption self-propelled steel pipe welding seam internal and external simultaneous repair equipment - Google Patents

Abstract

The utility model discloses an electro-magnet adsorbs self-propelled steel pipe welding seam inside and outside and repair equipment simultaneously, including last bistrique and lower bistrique, therefore can realize carrying out the welding seam coping to spiral weld steel pipe or straight weld steel pipe inside and outside simultaneously, practice thrift welding seam coping time. Therefore, the problems of low efficiency and the like caused by manual operation or using an automatic special machine in the prior art are solved. Secondly, weld joint autonomous detection and automatic grinding can be realized, the problems of low grinding quality and the like caused by the prior art are solved, accurate grinding can be carried out, and the grinding quality is improved. The moving wheel is made of super-elastic material polyurethane, and can increase the contact surface through the contact with the welding seam steel pipe, so that stable driving force is provided for the mechanism. Adsorb the structural connection of crawling device through the tight cover that expands and fixed removal wheel, through the tight connection of expanding of the tight cover that expands, can come the adjusting device size according to different pipe diameters.

Description

Electromagnet adsorption self-propelled steel pipe welding seam internal and external simultaneous repair equipment

Technical Field

The utility model relates to a coping apparatus field especially relates to an equipment is repaiied with inside and outside electromagnet absorption self-propelled steel pipe welding seam.

Background

West gas and east gas transmission is a symbolic project developed in the west, and the project is a gas transmission project for transmitting natural gas in Tarim and Changqing gas fields to east China through gas transmission pipelines. Both the APISPEC5L standard and the GBT 9711.1-1997 standard specify: the inner and outer weld margins of the two ends of the steel pipe within the length range of at least 150mm from the pipe end are removed, the part of the inner weld exceeding the surface of the steel pipe after removal is less than 0.5mm but not less than the pipe body, and parent metal can not be obviously damaged during grinding.

However, in the field of sharpening instruments, there are currently the following problems:

1. the existing grinding method is generally ground by manual operation or an automatic special machine, the former has low production efficiency, high labor intensity, high working cost, serious pollution to the surrounding environment and difficult guarantee of processing precision, the surface of a base body is frequently ground, and in the actual production process, because the welding seams of the steel pipes are connected between curved surfaces, the processing amount of the welding seams is larger, so that the processing quality is more difficult to guarantee. The latter is usually only suitable for parts of a certain specific structure, and the production flexibility is not high, and the cost is high.

2. For straight welds or spiral welds, it is often necessary to use different equipment to accomplish this.

3. Many existing grinding devices can only grind the inner wall or the outer wall of the steel pipe, but cannot grind the inner wall and the outer wall simultaneously.

4. The wall surface adsorption function of the existing wall climbing equipment is not enough, and the existing wall climbing equipment can not be stably and firmly adsorbed on a steel pipe under some special conditions.

5. How to control the braking of the motor and realize the stalling of the machine is also the problem to be solved at present.

Disclosure of Invention

An object of the utility model is to provide an electro-magnet adsorbs inside and outside from walking steel pipe welding seam and repair equipment, mainly solve prior art coping equipment adsorb insecure, can not the pipe wall inside and outside with repair, the problem of coping inefficiency, can also realize a tractor serves several purposes function simultaneously. Therefore, the electromagnet adsorption self-propelled steel pipe welding seam internal and external simultaneous repair equipment is designed, the equipment can be stably and firmly adsorbed on a steel pipe, meanwhile, the grinding quality, precision and speed can be greatly improved, a large amount of labor force can be saved, and the electromagnetic adsorption self-propelled steel pipe welding seam internal and external simultaneous repair equipment has important practical value.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the device comprises an upper grinding mechanism, an adsorption crawling device and a lower grinding mechanism, wherein the upper grinding mechanism is connected to one surface of the adsorption crawling device, and the lower grinding mechanism is positioned on the other surface of the adsorption crawling device;

the upper grinding mechanism comprises an upper grinding head, and the upper grinding head is used for grinding the welding line on the outer surface of the pipe wall;

the lower grinding mechanism comprises a lower grinding head, and the lower grinding head is used for grinding the welding line on the inner surface of the pipe wall;

the adsorption crawling device comprises a power system and a support frame, the support frame is in an arc shape matched with the pipe wall of the steel pipe, moving wheels are arranged on two sides of the support frame, electromagnets are arranged on the outer sides of the moving wheels, and the power system provides power for the moving wheels.

Preferably, the upper grinding mechanism further comprises an upper two-degree-of-freedom platform, the upper two-degree-of-freedom platform is connected to the adsorption crawling device, an upper grinding head is connected to the upper two-degree-of-freedom platform, and the upper grinding mechanism is connected with the support frame through the upper two-degree-of-freedom platform; the lower grinding mechanism comprises a lower two-degree-of-freedom platform, the lower grinding mechanism and the upper grinding mechanism are completely identical in structure and symmetrically arranged around the adsorption crawling device, and the lower grinding mechanism is connected with the adsorption crawling device through a curved beam supporting structure.

More preferably, the upper grinding mechanism can make linear displacement on the upper two-degree-of-freedom platform; the lower grinding mechanism can make linear displacement on the lower two-degree-of-freedom platform.

Further, displacement sensors are arranged on the upper two-degree-of-freedom platform and the lower two-degree-of-freedom platform, and upper visual detectors are arranged in front of the upper grinding head and the lower grinding head. The upper grinding head and the lower grinding head are driven by the motor to reversely rotate.

To adsorbing the device of crawling, preferably, the junction of support frame and removal wheel is provided with the tight cover that expands.

Furthermore, two mounting plates are symmetrically arranged on two sides of the support frame, the mounting plates intersect with the plane where the support frame is located, and moving wheels are arranged on the mounting plates and made of polyurethane elastomer materials.

More preferably, one long-neck moving wheel is provided at one side of the support frame, and a plurality of short-neck moving wheels are provided side by side at the other side of the support frame.

And simultaneously, the electro-magnet adsorb inside and outside from walking steel pipe welding seam with repairing equipment and still include the controller, the controller is used for sending locking instruction to driving system when adsorbing the device of crawling and reacing the welding seam position for remove the quick stall of wheel.

Further, the controller also has an alarm function and is used for giving an alarm when the moving wheel deviates;

the controller also has an illumination function and is used for illuminating the pipe wall and the welding line under the condition of poor light.

Compared with the prior art, the utility model discloses an effect lies in:

(1) an upper grinding mechanism and a lower grinding mechanism are adopted, so that the simultaneous grinding of the inner welding seam and the outer welding seam of the pipe wall can be realized, and the working efficiency is high; and the upper grinding head and the lower grinding head are used for reverse grinding, so that the grinding force can be balanced, and the influence of the grinding force on equipment is reduced.

(2) Adopt the electromagnetism mode of adsorbing, adsorb firm, simultaneously, the electro-magnet is laid in the removal wheel outside, can avoid the welding seam, can ensure that the electro-magnet provides sufficient electromagnetism adsorption affinity moreover, makes equipment adsorb and carries out the steady removal on the steel pipe, has advantages such as control convenience, power density is big simultaneously.

Meanwhile, the moving wheel of the adsorption crawling device is made of a polyurethane elastomer material with low hardness, is extremely superior in wear resistance, is very suitable for being used as a friction driving material, and can provide large friction force when contacting with a steel pipe, so that sufficient driving force is provided for equipment to crawl on the outer wall of the steel pipe. Meanwhile, the elasticity of the polyurethane elastomer is high, the contact surface between the moving wheel and the steel pipe can be increased, the moving wheel of polyurethane is combined with magnetic attraction, and the maximum adsorption performance can be cooperatively exerted.

(3) The automatic welding line welding machine has the advantages that a set of control system is adopted, the automatic welding line welding machine has the functions of scanning and identifying welding lines, automatically moving and the like, is fully automatic, and the problems of low efficiency, low precision and the like caused by manual operation or the use of an automatic special machine in the prior art are solved.

(4) Wide application range and multiple purposes. The reasonable adjustment of the size of the movable wheel and the distance between the front movable wheel and the rear movable wheel is realized through the expansion sleeve, and the device can be used for grinding straight welding lines and spiral welding lines.

(5) When the welding seam position is reached, a locking instruction is sent to the motor through the controller, the motor is locked, and quick braking can be achieved, so that the moving wheel stops rotating quickly, and the efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of an electromagnet adsorption self-propelled steel pipe welding seam inside and outside simultaneous repair device;

FIG. 2 is a schematic structural view of an adsorption crawling device;

FIG. 3 is a schematic view of an upper grinding mechanism (or lower grinding mechanism);

fig. 4 is a schematic view of an upper grinding mechanism (or a lower grinding mechanism) without a two-degree-of-freedom platform.

In the figure: 1. an upper visual sense detector; 2. an upper grinding head; 3. an upper two-degree-of-freedom platform; 4. a welded steel pipe; 5. an adsorption crawling device; 6. a lower two-degree-of-freedom platform; 7. a lower grinding head; 8. a lower vision detector; 9. a curved beam support device; 5-1, expanding and tightening the sleeve; 5-2, moving wheels; 5-3, a magnetic suction device; 5-4, a support frame; 5-5, mounting plates.

Detailed Description

Two degree of freedom equipment is conventional mechanism, and the mesa has two angular motion's degree of freedom promptly, also called biax revolving stage, includes normal direction servo feed system, lead screw etc. usually. When the device is used in the device, the normal servo feeding system of the two-degree-of-freedom platform drives the grinding head to move in the direction close to the welding line, and the wheel is matched with the radial lead screw in a rotating manner to move so as to find other welding lines.

The present invention will be described in further detail with reference to the accompanying drawings:

referring to fig. 1-4, the embodiment provides an electromagnet adsorption self-propelled steel pipe welding seam internal and external simultaneous repair polishing device, which comprises an upper and lower grinding mechanism and an adsorption crawling device 5, wherein the upper grinding mechanism comprises an upper visual detector 1 which is fixedly connected with an upper grinding head 2, the upper grinding head 2 is fixedly connected with an upper two-degree-of-freedom platform 3, and the upper two-degree-of-freedom platform 3 is fixedly connected with the adsorption crawling device 5; camber beam bearing structure 9 and the fixed connection of adsorbing device 5 of crawling, camber beam bearing device 9 and lower part two degree of freedom platform 6 fixed connection, lower visual detector 8 and lower grinding head 7 fixed connection, lower grinding head 7 and lower part two degree of freedom platform 6 fixed connection can realize the inside and outside grinding of pipe wall simultaneously, and work efficiency is high.

Further, the utility model discloses a device is at the during operation, goes up bistrique 2 and the reverse grinding of lower bistrique 6, but not only balanced grinding power reduces the influence of grinding power to equipment, can carry out the welding seam coping to the steel pipe inside and outside simultaneously moreover, practices thrift welding seam coping time, therefore has changed in the past through manual work or has used the inefficiency scheduling problem that automatic special plane brought.

Meanwhile, high-precision visual detectors 1 and 7 are arranged on the grinding head, the functions of automatically identifying the welding line and reconstructing the three-dimensional spiral welding line are achieved, and automatic detection and automatic grinding of the welding line can be achieved. And high-precision displacement sensors are arranged on the two-degree-of- freedom platforms 3 and 5, so that accurate identification, positioning and grinding of spiral welding seams or straight welding seams are realized. The method is applied to a closed-loop servo system, can realize closed-loop feedback, and has the characteristics of large detection range, high detection precision and high response speed. When the grinding length of the pipe end reaches the standard, the displacement sensor can feed back the displacement sensor to the controller, and the grinding is not required to be carried out again, so that the spiral welding line or the straight welding line can be accurately identified.

The utility model discloses a device still includes the controller simultaneously, when reacing the welding seam position, sends the locking instruction to adsorbing the motor of crawling device 5 through the controller, and the motor is locked, can realize the quick braking for remove wheel 5-2 quick stall, raise the efficiency.

Preferably, the moving wheel 5-2 of the adsorption crawling device 5 is made of polyurethane elastomer material with low hardness, has excellent wear resistance, is very suitable for being used as friction driving material, and can provide large friction force when contacting with a steel pipe, so that enough driving force is provided for equipment to crawl on the outer wall of the steel pipe. Meanwhile, the polyurethane elastomer has high elasticity, can increase the contact surface between the movable wheel and the steel pipe, and has the advantages of shock absorption, wear resistance, long service life, low noise, high transmission efficiency and the like.

The utility model discloses a device, during the use, behind vision detector autonomous identification spiral or straight welding seam position, the bistrique reachs appointed welding seam position about 5 loads of absorption crawl device, if remove the wheel and walk partially, alarm system can start by oneself until reacing appointed posterous alarm and remove, the controller sends the locking instruction this moment, absorption crawl device 5 stop motion immediately, begin to carry out the inside and outside reverse coping of pipe wall, when displacement sensor detects the welding seam length of coping and reaches relevant standard requirement, stop the coping, the bistrique returns initial position, if memory function record has the unqualified welding seam of coping, will carry out the secondary coping, under the not good condition of light, lighting system can be opened.

In order to increase the applicability of the grinding equipment, the adsorption crawling device 5 is connected by an expansion sleeve 5-1, and the connection of the expansion sleeve 5-1 has high centering precision; the installation, adjustment and disassembly are convenient; high strength, stable and reliable connection and the like; the device for adjusting the size of the whole machine is realized by changing the positions of the left and right movable wheels, so that steel pipes with different sizes can be polished. The adjusting device is convenient to adjust, reliable in connection and high in rigidity, and equipment can be protected from being damaged when the adjusting device is overloaded.

Furthermore, the mounting plate 5-5 is intersected on the plane of the support frame 5-4, a certain included angle is formed between the mounting plate 5-5 and the support frame, and the included angle can be adjusted so as to be matched with the expansion sleeve to adapt to different pipe diameters.

Furthermore, the magnetic attraction device 5-3 can adopt an electromagnet and is arranged outside the moving wheel, so that the welding seam can be avoided, and the electromagnet can be ensured to provide enough electromagnetic attraction force, so that the moving wheel 5-2 can move on the welding seam steel pipe 4, and the magnetic attraction device has the advantages of convenience in control, high power density and the like.

The utility model discloses a device not only can be used for the inside and outside coping simultaneously of steel pipe straight weld, also can be used to some special operating mode under the inside and outside coping simultaneously of spiral weld. Due to the fact that the special working condition of the outer wall of the spiral weld steel pipe and the obstacle avoidance capacity of the wheel type moving mode are poor, the adsorption crawling device 5 designed for matching with the grinding actuating mechanism is provided, if the long moving wheel 5-1 is used, although a large contact surface can be guaranteed and stable driving force can be provided, the transmission power performance is poor, most importantly, the moving wheel cannot avoid a weld joint in grinding work, the complete machine is prone to shaking, grinding accuracy of the weld joint is affected, and safety accidents can happen seriously, therefore, through analysis of the limit position of the moving wheel, preferably, the long-neck moving wheel is arranged on one side of the support frame 5-4, the short-neck moving wheels are arranged on the other side of the support frame 5-4 side by side, and driving and avoiding of the weld joint are comprehensively considered. Meanwhile, the welding seam can be avoided by selecting the proper size of the movable wheel and the distance between the front movable wheel and the rear movable wheel, and the specific size of the movable wheel and the distance between the front movable wheel and the rear movable wheel are determined according to the specific welding seam condition.

The working principle of the utility model is as follows:

the utility model provides an electromagnet adsorption self-propelled steel pipe welding seam inside and outside simultaneous repair device, an upper visual detector 1 is fixedly connected with an upper grinding head 2, the upper grinding head 2 is fixedly connected with an upper two-degree-of-freedom platform 3, and the upper two-degree-of-freedom platform 3 is fixedly connected with an adsorption crawling device 5; the mechanical arm grabbing and camber beam supporting structure 9 is fixedly connected with the adsorption crawling device 5, the mechanical arm grabbing and supporting device 9 is fixedly connected with the lower two-degree-of-freedom platform 6, the lower contourgraph 8 is fixedly connected with the lower grinding head 7, and the lower grinding head 7 is fixedly connected with the lower two-degree-of-freedom platform 6.

During operation, the motor drives equipment to move on a welding seam steel pipe 4, the high-precision up-and-down visual detectors 1 and 8 on the grinding head can send information to the control system, when the welding seam is identified, the normal servo feeding system of the two-degree-of-freedom platform drives the grinding head to move towards the direction close to the welding seam, the grinding is conducted inside and outside the welding seam, after the grinding is completed, the grinding head returns to the initial position, the grinding seam is scanned again at the moment, and the non-grinding or the non-standard-grinding precision recording is carried out so as to carry out secondary grinding. After polishing is completed at one position, the wheel is rotationally matched with the radial lead screw to move so as to find other welding seams, polishing is carried out again, and automatic detection and automatic grinding of the welding seams are achieved.

Simultaneously the utility model discloses a controller still has alarming function simultaneously for moving the wheel and walking the police dispatch newspaper when partially, confirm again and adsorb the action orbit of crawling device 5.

The controller also has an illumination function, and is used for illuminating the pipe wall and the welding seam under the condition of poor light, and providing better light.

The gas transmission pipeline selected for the west-east gas transmission is mainly a spiral welded pipe aiming at the project facing the equipment, and is specifically specified in APISPEC5L standard and GBT 9711.1-1997 standard: the extra height of the inner and outer welding seams of the two ends of the steel pipe within the length range of at least 150mm from the pipe end is eliminated, so that a high-precision displacement sensor is arranged on an axial servo feeding system on the two-degree-of-freedom platform, when the grinding length of the pipe end reaches 150mm, the sensor can feed back the extra height to a control system, and the extra height does not need to be ground any more, so that the spiral welding seams can be accurately identified, positioned and polished. The method has the characteristics of large detection range, high detection precision and high response speed.

The working object of the full-automatic weld seam grinding equipment is a spiral welded steel pipe for conveying fuel gas, the steel pipe has different pipe diameter application requirements in practical engineering, in order to increase the applicability of the grinding equipment, an expansion sleeve is adopted for connecting an adsorption crawling device, and the expansion sleeve has high centering precision; the installation, adjustment and disassembly are convenient; high strength, stable and reliable connection and the like; the device for adjusting the size of the whole machine is realized by changing the positions of the left and right movable wheels under the action of the expansion sleeve, so that steel pipes with different sizes can be polished. Meanwhile, the adjusting device is convenient to adjust, reliable in connection and high in rigidity, and equipment can be protected from being damaged when the adjusting device is overloaded.

Because the special operating mode and wheeled removal mode of steel pipe outer wall keep away the barrier ability relatively poor, for the absorption crawl device that the cooperation coping actuating mechanism designed, if can guarantee great contact surface and provide stable drive power with longer removal wheel, but transmission power performance is relatively poor, the most important removes the wheel and can't avoid the welding seam in the coping work, this will cause the inclination of complete machine to quiver, not only influence the coping precision of welding seam, can take place the incident when serious, consequently through the extreme position analysis to removing the wheel, suitable removal wheel size and back-and-forth movement interval theory can be selected in order to avoid the welding seam.

Claims (10)

1. The electromagnet adsorption self-propelled steel pipe welding seam internal and external simultaneous repair equipment is characterized by comprising an upper grinding mechanism, an adsorption crawling device (5) and a lower grinding mechanism, wherein the upper grinding mechanism is connected to one surface of the adsorption crawling device (5), and the lower grinding mechanism is positioned on the other surface of the adsorption crawling device (5);

the upper grinding mechanism comprises an upper grinding head (2), and the upper grinding head (2) is used for grinding the welding line on the outer surface of the pipe wall of the steel pipe;

the lower grinding mechanism comprises a lower grinding head (7), and the lower grinding head (7) is used for grinding the welding line on the inner surface of the pipe wall of the steel pipe at the same time;

the adsorption crawling device comprises a power system and a support frame (5-4), the support frame (5-4) is in an arc shape matched with the pipe wall of the steel pipe, moving wheels (5-2) are arranged on two sides of the support frame (5-4), the central axis of each moving wheel (5-2) is parallel to the central axis of the steel pipe, a magnetic attraction device (5-3) is arranged on the outer side of each moving wheel (5-2), and the power system provides power for the moving wheels (5-2).

2. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment according to claim 1, wherein the upper grinding mechanism further comprises an upper two-degree-of-freedom platform (3), the upper two-degree-of-freedom platform (3) is connected to the adsorption crawling device (5), an upper grinding head (2) is connected to the upper two-degree-of-freedom platform (3), and the upper grinding mechanism is connected with the support frame (5-4) through the upper two-degree-of-freedom platform (3);

the lower grinding mechanism comprises a lower two-degree-of-freedom platform (6), the lower grinding mechanism and the upper grinding mechanism are completely identical in structure and symmetrically arranged around the adsorption crawling device (5), and the lower grinding mechanism is connected with the adsorption crawling device (5) through a camber beam supporting structure (9).

3. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment as claimed in claim 2, wherein the upper grinding mechanism can displace on the upper two-degree-of-freedom platform (3); the lower grinding mechanism can move on the lower two-degree-of-freedom platform (6).

4. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment according to claim 2, wherein displacement sensors are arranged on the upper two-degree-of-freedom platform (3) and the lower two-degree-of-freedom platform (6) and are used for detecting and transmitting grinding length standard signals;

an upper visual detector (1) is arranged in front of the upper grinding head (2), a lower visual detector (8) is arranged in front of the lower grinding head (7), and the upper visual detector and the lower visual detector are both used for scanning and searching the position of a welding seam needing to be ground.

5. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment according to claim 1 or 2, characterized in that the upper grinding head (2) and the lower grinding head (7) are driven by a motor to run in opposite directions.

6. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment as claimed in claim 1 or 2, wherein the joint of the support frame (5-4) and the moving wheel (5-2) is provided with an expansion sleeve (5-1).

7. The electromagnet adsorption self-propelled steel pipe weld inside and outside simultaneous repair equipment as claimed in claim 6, wherein two adjustable mounting plates (5-5) are symmetrically arranged on two sides of the support frame (5-4), the mounting plates (5-5) are intersected on the plane of the support frame (5-4), a moving wheel (5-2) is arranged on the mounting plates (5-5), and the moving wheel (5-2) is made of polyurethane elastomer material.

8. The electromagnet adsorption self-propelled steel pipe welding line inside and outside simultaneous repair equipment as claimed in claim 1, wherein a long neck moving wheel is arranged on one side of the support frame (5-4), a plurality of short neck moving wheels are arranged on the other side of the support frame (5-4) side by side, and the long neck moving wheel is higher than the short neck moving wheels.

9. The inside and outside repairing device for the welding seam of the steel pipe with the self-propelled absorption function by the electromagnet as claimed in claim 1 or 4, wherein the inside and outside repairing device for the welding seam of the steel pipe with the self-propelled absorption function by the electromagnet further comprises a controller, and the controller is used for identifying the welding seam and sending a locking instruction to the power system when the absorption crawling device reaches the position of the welding seam, so that the moving wheel stops rotating rapidly.

10. The electromagnet adsorption self-propelled steel pipe welding line internal and external simultaneous repair device according to claim 9, wherein the controller also has a welding line memory function, and records and guides secondary repair of welding lines which are not repaired or are not repaired to reach the standard in precision;

the controller also has an alarm function and is used for giving an alarm when the moving wheel deviates;

the controller also has an illumination function and is used for illuminating the pipe wall and the welding line under the condition of poor light.

Images