Pipeline welding seam milling robot

Abstract

The invention discloses a pipeline welding seam milling robot. The pipeline welding seam milling robot comprises a frame, and travelling devices which are arranged on the frame in a central symmetry mode and used for circumferentially supporting the inner wall of the pipeline and driving the frame to axially travel, a power assembly which is arranged on the frame, a milling assembly which is arranged on the frame, and a clutch assembly which is arranged on the frame and is used for distributing the power output direction of the power assembly; the power assembly can independently drive the travelling devices to stretch and contract through the clutch assembly so as to change the radius of the outer circle formed by the travelling devices, and further can independently drive the milling assembly to rotate so as to enable the milling assembly to be converted the orientation along the pipeline circumferential direction. The milling robot can move in the axial direction of the inner wall of the pipeline, the milling assembly can convert the orientation along the pipeline circumferential direction at the same time, so that the milling operation on the weld joints in all directions inside the pipeline can be realized, the milling efficiency is high, the milling quality is good, the operation is convenient, and the labor cost is saved.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a pipe welding seam cutting and milling robot. Background technique [0002] With the continuous development of my country's long-distance pipeline business, the demand for oil and gas pipelines has increased significantly, and straight seam submerged arc welded steel pipes are the most common among them. Factors such as blunt edge seam of groove, edge deformation of steel plate and other factors cause more defects in the inner weld seam during pre-welding; this requires weld seam cleaning to prepare for the next step of final welding. At present, in addition to manual cleaning, domestic The weld seam cleaning devices established are all manually propelled walking trolleys, and equipped with a three-degree-of-freedom platform for manual weld seam cleaning. This structure has high labor costs and low cleaning efficiency, which is far from meeting the growing requirements of modern so...

AI Technical Summary

Problems solved by technology

[0002] With the continuous development of my country's long-distance pipeline business, the demand for oil and gas pipelines has increased significantly. The straight seam submerged arc welded steel pipe is the most common among them. The straight seam double-sided submerged arc welded steel pipe is often due to welding parameters Factors such as the blunt edge of the groove, the joint of the blunt edge of the groove, and the deformation of the edge of the steel plate cause more defects in the inner weld during pre-welding; this requires weld cleaning to prepare for the next step of final welding. At present, in addition to manual cleaning, domestic The weld seam cleaning devices established are all manually propelled walking trolleys, and equipped with a three-degree-of-freedom platform for manual weld seam cleaning. This structure has high labor costs and low cleaning efficiency, which is far from meeting the growing requirements of modern society.

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