Outer welding seam coping device for longitudinal submerged arc welding pipe and robot coping equipment

Abstract

The invention relates to the field of weld joint grinding, in particular to an outer weld joint grinding device for a longitudinal submerged arc welding pipe and robot grinding equipment, and aims to relieve the technical problem that an abrasive belt is prone to excessive grinding in the related technology. The outer welding seam coping device for the longitudinal submerged arc welding pipe comprises a grinding head; the grinding head comprises a triangular fixing frame, a rotating wheel, an abutting wheel, an abrasive belt and a limiting wheel. The number of the rotating wheels is two, and the two rotating wheels and the abutting wheel are all connected with the triangular fixing frame in a pivoted mode and arranged at the corners of the triangular fixing frame respectively so as to be distributed in a triangular mode. The abrasive belt is wound and tensioned on the abutting wheel and the two rotating wheels. The two limiting wheels are arranged on the two sides of the abutting wheel respectively and connected with the triangular fixing frame in a pivoted mode, the rotating axis of each limiting wheel coincides with the rotating axis of the abutting wheel, and meanwhile the diameter of each limiting wheel is larger than that of the abutting wheel. The limiting wheels are arranged on the two sides of the abutting wheel, so that the grinding amount of the abrasive belt is limited, the welding seam strength can be ensured, and meanwhile, pipe body base metal is protected.

Description

Technical Field

[0001] The invention relates to the field of weld grinding, and in particular to an external weld grinding device and a robot grinding equipment for a straight seam submerged arc welded pipe. Background Art

[0002] The outer weld of the LSAW pipe has a certain excess height, which is generally between 0.5mm and 3.5mm. In the process of applying 3PE (three-layer polyethylene anti-corrosion layer) to the steel pipe, in order to avoid the coating thickness at the outer weld being reduced due to the existence of excess height, the outer weld needs to be polished before coating.

[0003] At present, most grinding tools in the industry are two-wheel or three-wheel belt grinders. During the grinding operation, the lifting drive mechanism of the belt grinder drives the grinding head down, so that the belt contacts the outer weld, and the belt grinds the outer weld during the rotation. However, it should be pointed out that during the grinding process, the belt is easy to over-grind, making the excess height too low, making it difficult to ensure the strength of the weld. What's worse, the belt damages the parent material of the pipe body on both sides of the weld, making the steel pipe scrapped. Summary of the invention

[0004] The object of the present invention is to provide an outer weld grinding device and a robot grinding device for a straight seam submerged arc welded pipe, so as to alleviate the technical problem that the abrasive belt is prone to over-grinding in the related art.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0006] In a first aspect, the present invention provides an outer weld grinding device for a straight seam submerged arc welded pipe, comprising: a grinding head;

[0007] The grinding head includes a triangular fixed frame, a rotating wheel, an interference wheel, an abrasive belt and a limiting wheel;

[0008] There are two rotating wheels, and the two rotating wheels and the abutting wheel are all pivotally connected to the triangular fixing frame and are arranged at the corners of the triangular fixing frame to form a triangular distribution;

[0009] The abrasive belt is wound around and tensioned on the abutment wheel and the two rotating wheels;

[0010] The limiting wheels are provided with two, which are respectively arranged on both sides of the abutting wheel and are pivotally connected to the triangular fixing frame. The rotation axis of the limiting wheel coincides with the rotation axis of the abutting wheel. Meanwhile, the diameter of the limiting wheel is larger than the diameter of the abutting wheel.

[0011] Furthermore, the grinding head further comprises an arc-shaped slide rail, the triangular fixing frame is slidably connected to the arc-shaped slide rail, and the arc-shaped slide path is in the same plane as the rotation axis of the abutment wheel and protrudes in a direction away from the abutment wheel;

[0012] The outer weld grinding device for the straight seam submerged arc welded pipe also includes a grinding frame and a lifting drive assembly. The lifting drive assembly is arranged on the grinding frame and is transmission-connected to the arc-shaped slide rail so as to be configured to drive the arc-shaped slide rail to move along the extension direction of its own mid-vertical line under the grinding condition, so that the circumferential surface of the limiting wheel contacts the steel pipe.

[0013] Furthermore, the arc-shaped slide rail is passed through the triangular fixing frame;

[0014] The triangular fixing frame is provided with two groups of pulleys, and the two groups of pulleys are distributed on both sides of the extending direction of the arc-shaped slide rail to clamp the arc-shaped slide rail and roll with the arc-shaped slide rail.

[0015] Furthermore, a fixing plate is provided at one end of the arc-shaped slide rail, and the fixing plate is fixedly connected to the output portion of the lifting drive assembly.

[0016] Furthermore, a limiting member is provided at the other end of the arc-shaped slide rail, and the limiting member is located on the sliding path of the triangular fixing frame.

[0017] Furthermore, two grinding heads are provided, the two grinding heads are spaced apart and configured to grind the same outer weld of the steel pipe under grinding conditions.

[0018] Furthermore, the two grinding heads are symmetrically distributed;

[0019] The outer weld grinding device for the straight seam submerged arc welded pipe also includes a recovery bin, which is arranged between the two grinding heads and is provided with openings respectively used to face the two grinding heads.

[0020] Furthermore, the outer weld grinding device for the straight seam submerged arc welded pipe also includes two visual sensors, which are spaced apart along the travel direction of the grinding heads and are located on both sides of the two grinding heads.

[0021] In summary of the above technical solutions, the technical effects that can be achieved by the outer weld grinding device for a straight seam submerged arc welded pipe provided by the present invention are:

[0022] The external weld grinding device for a straight seam submerged arc welded pipe provided by the present invention comprises: a grinding head; the grinding head comprises a triangular fixed frame, a rotating wheel, a contact wheel, a grinding belt and a limiting wheel; two rotating wheels are provided, the two rotating wheels and the contact wheel are all pivotally connected to the triangular fixed frame, and are separately arranged at the corners of the triangular fixed frame to form a triangular distribution; the grinding belt is wound around and tensioned on the contact wheel and the two rotating wheels; two limiting wheels are provided, which are separately arranged on both sides of the contact wheel and are pivotally connected to the triangular fixed frame, and the rotation axis of the limiting wheel coincides with the rotation axis of the contact wheel, and the diameter of the limiting wheel is larger than the diameter of the contact wheel.

[0023] In the outer weld grinding device for the straight seam submerged arc welded pipe, when the rotating wheel rotates, the abrasive belt is driven to rotate, which can be used to grind the outer weld; two limit wheels are arranged on both sides of the abutment wheel, and the diameter of the limit wheel is larger than the diameter of the abutment wheel, so that the limit wheel protrudes from the abrasive belt. When performing the grinding operation, the two limit wheels are located on both sides of the outer weld. As the abrasive belt is grinding, the limit wheels gradually approach the steel pipe. After the limit wheels move to contact the outer surface of the steel pipe, the abrasive belt is stopped from continuing to grind the outer weld along the radial direction of the steel pipe. In this way, excessive grinding is avoided, and the excess height of the outer weld after grinding is controlled, thereby ensuring the strength of the weld and protecting the mother material of the pipe body.

[0024] In a second aspect, the present invention provides a robot grinding device comprising a track, a robot and the above-mentioned outer weld grinding device for a straight seam submerged arc welded pipe;

[0025] The robot is arranged on the track and can move along the extension direction of the track;

[0026] The outer weld grinding device of the straight seam submerged arc welded pipe is fixed to the sixth axis of the robot.

[0027] Furthermore, the robot grinding device also includes a balancing boom;

[0028] The balancing arm is arranged on the robot, is located above the sixth axis, and is connected to the outer weld grinding device for the straight seam submerged arc welded pipe through a hanging chain.

[0029] The beneficial effects of a robot grinding device provided by the present invention are:

[0030] The robot grinding equipment provided by the present invention includes an external weld grinding device for a straight seam submerged arc welded pipe. Therefore, the technical advantages and effects achieved by the robot grinding equipment also include the technical advantages and effects achieved by the above-mentioned external weld grinding device for a straight seam submerged arc welded pipe, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 and Figure 2 A schematic diagram of the structure of an external weld grinding device for a straight seam submerged arc welded pipe provided by an embodiment of the present invention at different angles;

[0033] Figures 3 to 5 A schematic diagram of the structure of a grinding head provided by an embodiment of the present invention at different angles;

[0034] Figure 6 A schematic diagram of the structure of a grinding head provided by an embodiment of the present invention with some structures removed;

[0035] Figure 7 A schematic structural diagram of one corner of a grinding head provided in an embodiment of the present invention;

[0036] Figures 8 to 10 A schematic diagram of the grinding head provided by an embodiment of the present invention when in use;

[0037] Fig.11 A schematic diagram of a recycling bin provided in an embodiment of the present invention;

[0038] Fig.12 A side view of a robot grinding device provided in an embodiment of the present invention.

[0039] Icons: 100-grinding head; 110-triangular fixing frame; 120-rotating wheel; 130-contact wheel; 140-abrasive belt; 150-limiting wheel; 160-arc slide rail; 170-pulley; 180-fixed plate; 190-limiting piece;

[0040] 200-grinding frame; 300-lifting drive assembly; 400-recycling bin; 500-visual sensor; 600-track;

[0041] 700-Robot; 710-6th axis;

[0042] 800-Balanced boom. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] At present, most grinding tools in the industry are two-wheel or three-wheel belt grinders. During the grinding operation, the lifting drive mechanism of the belt grinder drives the grinding head down, so that the belt contacts the outer weld, and the belt grinds the outer weld during the rotation. However, it should be pointed out that during the grinding process, the belt is easy to over-grind, making the excess height too low, making it difficult to ensure the strength of the weld. What's worse, the belt damages the parent material of the pipe body on both sides of the weld, making the steel pipe scrapped.

[0047] In view of this, the present invention provides an external weld grinding device for a straight seam submerged arc welded pipe, which includes: a grinding head 100; the grinding head 100 includes a triangular fixed frame 110, a rotating wheel 120, a contact wheel 130, an abrasive belt 140 and a limiting wheel 150; two rotating wheels 120 are provided, and the two rotating wheels 120 and the contact wheel 130 are all pivotally connected to the triangular fixed frame 110 and are respectively arranged at the corners of the triangular fixed frame 110 to form a triangular distribution; the abrasive belt 140 is wound around and tensioned on the contact wheel 130 and the two rotating wheels 120; two limiting wheels 150 are provided, which are respectively arranged on both sides of the contact wheel 130 and are pivotally connected to the triangular fixed frame 110, and the rotation axis of the limiting wheel 150 coincides with the rotation axis of the contact wheel 130, and the diameter of the limiting wheel 150 is greater than the diameter of the contact wheel 130.

[0048] In the outer weld grinding device for the straight seam submerged arc welded pipe, reference Figures 1 to 7 When the rotating wheel 120 rotates, the abrasive belt 140 is driven to rotate, which can be used to grind the outer weld. Two limiting wheels 150 are arranged on both sides of the abutting wheel 130, and the diameter of the limiting wheel 150 is larger than the diameter of the abutting wheel 130, so that the limiting wheel 150 protrudes from the abrasive belt 140. During the grinding operation, the two limiting wheels 150 are located on both sides of the outer weld. As the abrasive belt 140 is grinding, the limiting wheels 150 gradually approach the steel pipe. After the limiting wheels 150 move to contact the outer surface of the steel pipe, the abrasive belt 140 is stopped from grinding the outer weld along the radial direction of the steel pipe. In this way, excessive grinding is avoided, and the excess height of the outer weld after grinding is controlled, thereby ensuring the strength of the weld and protecting the mother material of the pipe body.

[0049] It should be noted that the difference between the diameters of the limiting wheel 150 and the abutting wheel 130 determines the excess height of the outer weld after grinding, so the specific size of the limiting wheel 150 can be determined according to actual conditions. In addition, the grinding head 100 also includes a rotary drive, which can be a motor. Of the two rotating wheels 120, one is a driving wheel connected to the output shaft of the motor, and the other is a driven wheel.

[0050] The following combination Figures 1 to 11 The structure and shape of the outer weld grinding device for the straight seam submerged arc welded pipe provided in this embodiment are described in detail:

[0051] Regarding the grinding head 100, specifically:

[0052] In this embodiment, reference Figures 1 to 6 The grinding head 100 also includes an arcuate slide rail 160, the triangular fixing frame 110 is slidably connected to the arcuate slide rail 160, and the arcuate slide path is in the same plane as the rotation axis of the contact wheel 130, and protrudes in the direction away from the contact wheel 130; the external weld grinding device for the straight seam submerged arc welded pipe also includes a grinding frame 200 and a lifting drive assembly 300, the lifting drive assembly 300 is arranged on the grinding frame 200, and is transmission-connected to the arcuate slide rail 160, so as to be configured to drive the arcuate slide rail 160 to move along the extension direction of its own mid-vertical line under the grinding condition, so that the circumference of the limiting wheel 150 contacts the steel pipe.

[0053] Specifically, refer to Figures 3 to 6 The arc-shaped slide rail 160 is passed through the triangular fixing frame 110; the triangular fixing frame 110 is provided with two sets of pulleys 170, which are distributed on both sides of the extending direction of the arc-shaped slide rail 160 to clamp the arc-shaped slide rail 160 and roll with the arc-shaped slide rail 160. Preferably, as Figure 6 As shown, each group includes two pulleys 170, and in the initial state, the left and right pulleys 170 are symmetrically distributed about the perpendicular midline of the arc-shaped slide rail 160. Through the pulleys 170, the triangular fixing frame 110 can slide on the arc-shaped slide rail 160, thereby driving the rotating wheel 120, the abutting wheel 130, the abrasive belt 140, the limiting wheel 150, etc. to deflect.

[0054] refer to Figure 5 A fixing plate 180 is provided at one end of the arc-shaped slide rail 160. Figure 1 and Figure 2 As shown, the lifting drive assembly 300 can use a linear motor, the body of the linear motor is set on the grinding frame 200, and the output slider of the linear motor is fixedly connected to the fixed plate 180. With this design, when the linear motor is started, the output slider drives the entire grinding head 100 to move up and down through the arc slide rail 160. Figure 4 A limit piece 190 is provided at the other end of the arc-shaped slide rail 160, and the limit piece 190 is located on the sliding path of the triangular fixing frame 110; here, the limit piece 190 includes a fixed block and a limit rod, the fixed block is fixed to the arc-shaped slide rail 160, and the limit rod is connected to the fixed block. In this design, the triangular fixing frame 110 is limited between the limit rod and the fixing plate 180, thereby preventing the triangular fixing frame 110 from being separated from the arc-shaped slide rail 160 during the sliding process.

[0055] When performing grinding operations, refer to Figure 8 At this time, the heights of the two weld toes of the outer weld are the same, and the heights of the left and right limit wheels 150 are also the same. After grinding, the line connecting the two weld toes is parallel to the grinding surface; refer to Fig. 9 and Fig.10 In the process of manufacturing steel pipes, due to poor forming quality or joint quality, misalignment defects occur, resulting in different heights of the two weld toes of the outer weld after jointing. Fig. 9 For example, of the two weld toes, the left one is higher than the right one. When this happens, the limiting wheel 150 on the left side contacts the outer surface of the steel pipe, and the limiting wheel 150 on the right side is suspended. Then, driven by the lifting drive assembly 300, the arc-shaped slide rail 160 transmits a vertical downward pressure to the triangular fixing frame 110. In this way, the triangular fixing frame 110 is unevenly stressed, and thus swings to the right, while driving the limiting wheel 150 to deflect, so that the limiting wheel 150 on the right side also contacts the outer surface of the steel pipe. At this time, the sanding belt 140 deflects synchronously, thereby ensuring that the grinding surface formed during grinding is parallel to the connecting line of the two weld toes. Fig.10 For example, of the two weld toes, the left one is lower than the right one. When this happens, the limiting wheel 150 on the right side contacts the outer surface of the steel pipe, and the limiting wheel 150 on the left side is suspended. Then, driven by the lifting drive assembly 300, the arc-shaped slide rail 160 transmits a vertical downward pressure to the triangular fixing frame 110. In this way, the triangular fixing frame 110 is unevenly stressed, and thus swings to the left, while driving the limiting wheel 150 to deflect, so that the limiting wheel 150 on the left side also contacts the outer surface of the steel pipe. At this time, the sanding belt 140 deflects synchronously, thereby ensuring that the grinding surface formed during grinding is also parallel to the connecting line of the two weld toes.

[0056] By adopting the above design, the grinding head 100 has a follow-up function, that is, the grinding angle can change accordingly with the change of the misalignment amount, thereby ensuring that the grinding surface after grinding is parallel to the line connecting the two weld toes, avoiding excessive grinding deviation angles, protecting the parent material at higher positions, and facilitating the later coating operation of the steel pipe.

[0057] For further reference, Figure 1 and Figure 2 There are two grinding heads 100, which are spaced apart and configured to grind the same outer weld of the steel pipe under the grinding condition.

[0058] Continue to refer Figure 1 and Figure 2The two grinding heads 100 are respectively connected to the corresponding lifting drive assembly 300, and the two lifting drive assemblies 300 respectively control the lifting of the two grinding heads 100. During operation, the two grinding heads 100 grind the outer weld seam simultaneously one after the other, and the grinding amount is the sum of the grinding amounts of the two grinding heads 100. For example, if each grinding head 100 has a grinding amount of 0.5-1.0 mm, the outer weld seam grinding device has a grinding amount of 1.0-2.0 mm, thereby achieving efficient grinding.

[0059] Further, Figure 1 For example, the outer weld grinding device for the straight seam submerged arc welded pipe further includes two visual sensors 500, which are spaced apart along the travel direction of the grinding head 100 and are located on both sides of the two grinding heads 100. Here, one of the visual sensors 500 is used to detect the outer weld position, and the other is used to detect the outer weld excess height.

[0060] For further reference, Figure 1 , Figure 2 and Fig.11 , the two grinding heads 100 are symmetrically distributed; the outer weld grinding device for the straight seam submerged arc welded pipe also includes a recovery bin 400, the recovery bin 400 is arranged between the two grinding heads 100, and is provided with openings respectively for being opposite to the two grinding heads 100.

[0061] Specifically, Figure 1 For example, during the grinding operation, the sanding belt 140 on the left of the two grinding heads 100 rotates counterclockwise, and the sanding belt 140 on the right rotates clockwise, and the spatter flying along the grinding tangent is collected in the copper recovery bin 400. Here, the copper recovery bin 400 can dissipate the heat generated by grinding in time, and at the same time, different thermal contraction coefficients ensure that the grinding spatter does not stick to the inner wall of the recovery bin 400; in addition, the recovery bin 400 is designed with a pneumatic discharge bin door, which can automatically unload after being full. The recovery bin 400 is also connected to the dust collector through a pipeline to recover the grinding smoke except the spatter to the dust collector.

[0062] The working process of the outer weld grinding device for the straight seam submerged arc welded pipe provided in this embodiment is as follows:

[0063] The steel pipe is placed on the rotating roller and rotates under the drive of the rotating roller. The robot 700 carries the device and moves to the top of the steel pipe and turns on the visual sensor 500. After the front visual sensor 500 detects the outer weld, it sends a signal to stop the rotating roller. At the same time, the grinding head 100 moves along the axial direction of the steel pipe. After the visual sensor 500 detects the pipe end, the robot 700 drives the grinding head 100 to continue to move along the axial direction of the steel pipe from the pipe end. When the front group of grinding heads 100 arrives at the grinding station, the corresponding lifting drive assembly 300 drives the grinding head 100 to move along the axial direction of the steel pipe. 00 is lowered, and the rotary drive starts working, and the sanding belt 140 is in operation; when the latter group of grinding heads 100 arrives at the grinding station, the corresponding lifting drive assembly 300 drives the grinding head 100 to be lowered, and the rotary drive starts working, and the sanding belt 140 is in operation; at this time, the grinding spatter of the front and rear grinding heads 100 is collected by the middle recovery bin 400, and the front visual sensor 500 detects the weld position and transmits the corresponding data to the robot 700 to correct the grinding trajectory, and the rear visual sensor 500 detects the weld residual height and records it. After the grinding is completed, the robot 700 returns to the origin, and the recovery bin 400 unloads the collected grinding spatter. It should be added here that with regard to the control aspect, it can be regarded as a prior art and will not be described in detail here.

[0064] The present invention also provides a robot grinding device, referring to Fig.12 The robot grinding equipment includes a track 600, a robot 700 and the above-mentioned outer weld grinding device for a straight seam submerged arc welded pipe; the robot 700 is arranged on the track 600 and can move along the extension direction of the track 600; the outer weld grinding device for a straight seam submerged arc welded pipe is fixed to the sixth axis 710 of the robot 700.

[0065] Specifically, the robot 700 moves along the track 600, that is, drives the grinding head 100 to move forward, so that the sanding belt 140 grinds the outer weld along the axial direction of the steel pipe. Furthermore, the robot 700 can drive the grinding head 100 to move in a direction perpendicular to the axis of the steel pipe through the sixth axis 710, so that the sanding belt 140 moves on a horizontal plane, thereby avoiding the sanding belt 140 from being scrapped or broken due to being worn at the same place all the time (the appearance of the weld is "convex", and for the 30-45mm wide sanding belt 140, the middle part has a large amount of wear), thereby improving the utilization rate and service life of the sanding belt 140.

[0066] For further reference, Fig.12 The robot grinding device further includes a balancing arm 800; the balancing arm 800 is disposed on the robot 700, above the sixth axis 710, and connected to the external weld grinding device for the longitudinal submerged arc welded pipe through a hanging chain. Here, the balancing arm 800 can share the load-bearing weight of the sixth axis 710 to ensure the effectiveness of the connection between the sixth axis 710 and the external weld grinding device.

[0067] In addition, since the robot grinding equipment includes an external weld grinding device for straight seam submerged arc welded pipes, the technical advantages and effects achieved by the robot grinding equipment also include the technical advantages and effects achieved by the above-mentioned external weld grinding device for straight seam submerged arc welded pipes, which will not be repeated here.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An external weld grinding device for a straight seam submerged arc welded pipe, characterized in that: include: Grinding head (100); The grinding head (100) comprises a triangular fixing frame (110), a rotating wheel (120), an abutting wheel (130), an abrasive belt (140) and a limiting wheel (150); There are two rotating wheels (120), and the two rotating wheels (120) and the abutting wheel (130) are all pivotally connected to the triangular fixing frame (110) and are arranged at the corners of the triangular fixing frame (110) to form a triangular distribution; The abrasive belt (140) is wound around and tensioned on the abutting wheel (130) and the two rotating wheels (120); Two limiting wheels (150) are provided, which are arranged on both sides of the abutting wheel (130) and are pivotally connected to the triangular fixing frame (110). The rotation axis of the limiting wheel (150) coincides with the rotation axis of the abutting wheel (130). Meanwhile, the diameter of the limiting wheel (150) is greater than the diameter of the abutting wheel (130).

2. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 1, characterized in that: The grinding head (100) further comprises an arc-shaped slide rail (160), the triangular fixing frame (110) is slidably connected to the arc-shaped slide rail (160), and the arc-shaped slide path is in the same plane as the rotation axis of the abutment wheel (130) and protrudes in a direction away from the abutment wheel (130); The outer weld grinding device for the straight seam submerged arc welded pipe also includes a grinding frame (200) and a lifting drive assembly (300). The lifting drive assembly (300) is arranged on the grinding frame (200) and is transmission-connected to the arc-shaped slide rail (160) so as to be configured to drive the arc-shaped slide rail (160) to move along the extension direction of its own mid-vertical line under the grinding condition, so that the circumference of the limiting wheel (150) contacts the steel pipe.

3. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 2, characterized in that: The arc-shaped slide rail (160) is disposed through the triangular fixing frame (110); The triangular fixing frame (110) is provided with two groups of pulleys (170), which are distributed on both sides of the extending direction of the arc-shaped slide rail (160) to clamp the arc-shaped slide rail (160) and roll with the arc-shaped slide rail (160).

4. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 3, characterized in that: A fixing plate (180) is provided at one end of the arc-shaped slide rail (160), and the fixing plate (180) is fixedly connected to the output portion of the lifting drive assembly (300).

5. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 4, characterized in that: The other end of the arc-shaped slide rail (160) is provided with a limiting member (190), and the limiting member (190) is located on the sliding path of the triangular fixing frame (110).

6. The outer weld grinding device for a straight seam submerged arc welded pipe according to any one of claims 1 to 5, characterized in that: Two grinding heads (100) are provided, and the two grinding heads (100) are spaced apart and configured to grind the same outer weld of the steel pipe under grinding conditions.

7. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 6, characterized in that: The two grinding heads (100) are symmetrically distributed; The outer weld grinding device for the straight seam submerged arc welded pipe further comprises a recovery bin (400), wherein the recovery bin (400) is arranged between the two grinding heads (100) and is provided with openings respectively used to face the two grinding heads (100).

8. The outer weld grinding device for a straight seam submerged arc welded pipe according to claim 7, characterized in that: The outer weld grinding device for the straight seam submerged arc welded pipe further comprises two visual sensors (500), wherein the two visual sensors (500) are spaced apart along the travel direction of the grinding heads (100) and are located on both sides of the two grinding heads (100).

9. A robot grinding device, characterized in that: It comprises a track (600), a robot (700) and an external weld grinding device for a straight seam submerged arc welded pipe as claimed in any one of claims 1 to 8; The robot (700) is arranged on the track (600) and can move along the extension direction of the track (600); The outer weld grinding device for the straight seam submerged arc welded pipe is fixed to the sixth axis (710) of the robot (700).

10. The robot grinding device according to claim 9, characterized in that: The robot (700) grinding device further comprises a balancing boom (800); The balancing arm (800) is arranged on the robot (700) above the sixth axis (710) and is connected to the outer weld grinding device for the straight seam submerged arc welded pipe via a suspension chain.

Images