Internal Weld-Polishing Pipe Robot

• Led the Team Work
• Proposed the overall scheme and major technical parameters of the robot
• Designed and manufactured the weld-polishing function module
• Designed and fabricated the pneumatic system of the robot
• Tested the control circuit

-Award: First Prize of Mechanical Design Competition, ZJU, May. 2015

-Patent: Submerged type pipeline welding joint polishing robot based on modular design (CN 106514662 A)

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.

Technics Involved:

Focus of Future Work：

• Visual Localization
• Quality Control