Submerged type pipeline welding joint polishing robot based on modular design

Abstract

The invention provides a submerged type pipeline welding joint polishing robot based on a modular design. The submerged type pipeline welding joint polishing robot comprises a power module and a polishing module. The power module is used for driving the whole robot to move in a pipeline. The power module is divided into an upper portion, a middle portion and a lower portion to adapt to the change of a pipe diameter. The polishing module is used for polishing the welding joint position of the pipeline. The polishing module is composed of three parts which are a front and back supporting structure, a main shaft and a polishing feeding operating mechanism. The power module and the polishing module are connected through a cardan joint to guarantee the coordination of the two modules when the robot moves forward and backward and guarantee that the robot can move normally when passing through the curved pipeline. According to the submerged type pipeline welding joint polishing robot, the modular design is adopted, and modules such as a detecting module and a spraying module can be developed flexibly in the later period.

Description

technical field [0001] The invention relates to a pipeline weld grinding robot. A power module and a grinding module are designed based on the concept of modularization. The robot can adapt to a certain range of pipe diameter changes (340mm to 420mm in diameter), and the robot can enter the pipeline to grind the weld of the pipeline. Background technique [0002] Pipeline transportation of oil and natural gas has the advantages of high efficiency, low consumption, continuous transportation and high degree of automation. Unground pipe welds can result in pipes that are highly susceptible to corrosion, leaks and fractures. The traditional grinding methods include manual grinding with a portable ordinary grinder, or using a honing machine to precisely honed the inner wall of the pipe, or using air to push the polyurethane elastomer material to clean the inner wall of the pipe. However, due to the long length or small diameter of some pipes, it is impossible to grind them with ...

AI Technical Summary

Problems solved by technology

However, due to the long length or small diameter of some pipes, it is impossible to grind them with a hand-held ordinary grinder; while using a honing machine for honing, the maintenance cost is too high, and it is difficult to find suitable for such a length and pipe diameter. Pipe Honing Machines

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