Coping and polishing method of spiral steel pipe end welding seam coping and polishing robot

Abstract

The invention provides a spiral steel pipe end welding seam coping and polishing robot and a coping and polishing method thereof. A two-degree of freedom fine grinding actuator provided with a laser contourgraph is mounted at the actuating end of multi-degree of freedom manipulator; the polishing precision of the manipulator is improved while simplifying motion control; and the technical problem in the prior art that the quality of the welding bead of a spiral steel pipe end after being polished by the multi-degree of freedom manipulator cannot meet the process index requirements stipulated inAPISpec5L Standard and GBT97111-1997 Standard and the welding bead still needs manual secondary coping is solved. The spiral steel pipe end welding seam coping and polishing robot can be used for polishing the external welding seam of the spiral steel pipe, is also suitable for polishing the internal welding seam of the spiral steel pipe and the parent material is not damaged through coping; after coping, the minimum residual height is less than 0.1mm and is far higher than the requirements of APISpec5L Standard and GBT97111-1997 Standard; the laser contourgraph is cooperated with the specialdetecting algorithm to realize high-precision scanning detection with the precision less than 0.05 mm; and the spiral steel pipe end welding seam coping and polishing robot provides powerful technical support for high-precision welding seam coping.

Description

technical field [0001] The invention belongs to the technical field of grinding and polishing technology for operation transportation, and in particular relates to a grinding and polishing method for a welding seam grinding and polishing robot at the end of a spiral steel pipe. Background technique [0002] Spiral steel pipe is a pipe made of strip steel coil as raw material and rolled by spiral welding process. For the spiral steel pipe, in order to meet the welding quality of the next step of the steel pipe butt girth welding of the spiral steel pipe end, the API Spec5L standard and the GBT97111-1997 standard both clearly stipulate: Take the weld seam of the spiral steel pipe end with a diameter of 508mm as an example: First, The weld reinforcement within the range of at least 150mm from the pipe end of the spiral welded pipe should be removed, that is, the length of the axial grinding depth of the spiral steel pipe end is required; secondly, the weld bead after grinding s...

AI Technical Summary

Problems solved by technology

[0007] The technical problem solved by the present invention is to provide a spiral steel pipe end welding seam grinding and polishing robot and its grinding and polishing method, which are installed on the execution end of the multi-degree-of-freedom manipulator and adopt two degrees of freedom with higher grinding ratio abrasive belt grinding The fine grinding actuator improves the grinding accuracy of the manipulator by simplifying the motion control, and overcomes the process that the quality of the weld bead at the end of the spiral steel pipe after grinding by the multi-degree-of-freedom grinding manipulator cannot meet the requirements of the API Spec5L standard and the GBT97111-1997 standard. Index requirements; technical problems that still require manual secondary grinding

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