Straight welded steel pipe end weld automatic grinding robot

Abstract

Provided is an automatic grinding robot for the weld seam at the end of a straight seam steel pipe. By installing a Z-direction straight weld seam grinding platform using abrasive belt grinding on the execution end of the multi-degree-of-freedom manipulator, the abrasive belt is used to move the straight weld seam of the steel pipe for multiple concentric circles according to the planned arc trajectory perpendicular to the straight weld seam. At the same time, multi-pass fine grinding is carried out on the straight weld seam of the pipe end. On the one hand, the high-efficiency grinding method in which the abrasive belt is in contact with the straight weld seam line is used to improve the grinding efficiency and reduce the grinding cost; on the other hand, the Z-direction straight weld seam grinding platform is used The precise adjustment function of the grinding height simplifies the movement control of the manipulator and at the same time realizes the automatic identification, high precision, high reliability, efficient and fast automatic grinding for the straight weld seam of the steel pipe.

Description

technical field [0001] The invention belongs to the technical field of operation transportation grinding and polishing technology, and in particular relates to an automatic grinding robot for welding seams of straight welded steel pipe ends. Background technique [0002] Straight welded seam steel pipe is a pipe with an axial straight weld seam formed by one-time bending of a steel plate. In order to meet the welding quality of the next step of the steel pipe butt girth welding of the straight welded steel pipe end, it is necessary to perform a straight weld grinding operation with a certain axial depth on the weld seam of the straight welded steel pipe end, so as to satisfy the uniform radial stress distribution of the steel pipe to the greatest extent. The demand for durable use. Both the API Spec5L standard and the GBT97111-1997 standard clearly stipulate that the grinding of the pipe end of the steel pipe should meet the following requirements: the weld grinding should ...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the publication number CN109483369A discloses a robot grinding system with three-dimensional vision and its control method, and the publication number CN109483369A discloses a robot grinding system with three-dimensional vision and its control method: the above two technologies The schemes all adopt pneumatic grinding technology; although they have certain advantages in flexible output; however, affected by the compressibility of gas, the gas in the pneumatic actuator is easily fluctuated by changes in the external environment temperature, resulting in poor stability of the natural frequency of the pneumatic system. Resulting in unsatisfactory final grinding linearity output

Not only that, the performance of the system is not stable due to the serious creeping effect of the cylinder friction of the pneumatic actuator at low speed, so the reliability of high-precision grinding is restricted

Therefore, it cannot meet the needs of high-precision and high-reliability automatic grinding without damaging the base material.

[0004] In addition, the publication number is CN109483369A, which discloses a robot grinding system with three-dimensional vision and its control method. Since the multi-degree-of-freedom manipulator is used to directly carry the grinding wheel for grinding, due to the limitation of the accuracy of the trajectory planning of the robot arm, and the elastic deformation of the trajectory sensors of each joint Make the joints generate additional rotation angle increments, and the displacement generated by the rotation angle increments will be amplified by the arm length of each execution unit of the multi-degree-of-freedom manipulator. Therefore, the precision of the multi-degree-of-freedom manipulator directly carrying the grinding head is limited and cannot be completely replaced. Technical requirements that can be achieved by manual grinding

[0005] Furthermore, a flexible grinding automatic compensation system disclosed by the publication number CN208117512U realizes the multi-degree-of-freedom manipulator executive end axial automatic compensation function; however, grinding wheels are used for grinding; Low, high grinding wheel replacement cost, unsatisfactory machine power utilization

In this regard, under the existing technology, there is a lack of straight weld grinding for straight welded steel pipe ends. Abrasive belt grinding is used to simplify the movement control of the multi-degree-of-freedom manipulator, while improving the grinding accuracy and reducing the grinding cost to achieve straight welded steel pipes. Automatic identification and high-precision grinding of end welds, the following improvement technical solutions are proposed

Images