Grinding and polishing method of welding seam grinding and polishing robot for spiral steel pipe end

Abstract

Provided is a spiral steel pipe pipe end weld grinding and polishing robot and a grinding method thereof. A two-degree-of-freedom precision grinding actuator equipped with a laser profiler is installed at the multi-degree-of-freedom manipulator's executing end, which simplifies motion control and improves the manipulator's performance. Grinding accuracy overcomes the fact that the quality of the spiral steel pipe end weld bead polished by the multi-degree-of-freedom grinding manipulator in the prior art cannot meet the process index requirements specified in the API Spec5L standard and the GBT97111-1997 standard; the technical problem of manual secondary grinding is still required. The invention can not only be used for grinding the outer weld of the spiral steel pipe, but also suitable for the grinding of the inner weld of the spiral steel pipe, and the grinding will not damage the base metal; the minimum residual height after grinding can be less than or equal to 0.1mm, which is much higher than the API Spec5L standard It meets the requirements of GBT97111-1997 standard; the laser profiler cooperates with a special detection algorithm to achieve high-precision scanning detection with an accuracy of less than 0.05mm; it provides strong technical support for high-precision weld grinding.

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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