External weld grinding device for straight seam submerged arc welded pipe and robot grinding equipment

Abstract

The present application relates to the field of weld polishing, especially to a straight seam submerged arc welded pipe outer weld polishing device and robot polishing equipment, aiming at alleviating the technical problem of excessive polishing of sand belt in the related art. The straight seam submerged arc welded pipe outer weld polishing device comprises a polishing head; the polishing head comprises a triangular fixing frame, rotating wheels, a contact wheel, a sand belt and a limiting wheel; the two rotating wheels are provided with two, and the two rotating wheels and the contact wheel are all pivoted with the triangular fixing frame and are separately arranged at the corner of the triangular fixing frame to be triangularly distributed; the sand belt is wound and tensioned on the contact wheel and the two rotating wheels; the limiting wheel is provided with two and is separately arranged on both sides of the contact wheel and is pivoted with the triangular fixing frame, and the rotating axis of the limiting wheel coincides with the rotating axis of the contact wheel, and the diameter of the limiting wheel is greater than the diameter of the contact wheel. The present application realizes the limitation of the sand belt polishing amount by arranging the limiting wheel on both sides of the contact wheel, can ensure the weld strength, and also realizes the protection of the pipe body base material.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of weld polishing, in particular to an outer weld polishing device for straight seam submerged arc welded pipe and a robot polishing equipment. BACKGROUND

[0002] The outer weld of the straight seam submerged arc welded pipe has a certain excess height, which is generally between 0.5mm-3.5mm. During the 3PE (three-layer polyethylene anticorrosion coating) outer coating process of the steel pipe, in order to avoid the coating thickness thinning at the outer weld due to the existence of the excess height, the outer weld needs to be polished before coating.

[0003] At present, most of the polishing tools in the industry are two or three wheel abrasive belt polishing machines. During the polishing operation, the lifting drive mechanism of the abrasive belt polishing machine drives the polishing head to descend, so that the abrasive belt contacts the outer weld. The abrasive belt realizes the polishing of the outer weld in the rotating process. However, it should be pointed out that during the polishing process, the abrasive belt is easy to be polished excessively, which makes the excess height too low, so it is difficult to ensure the strength of the weld, and more seriously, the abrasive belt injures the base metal of the pipe body on both sides of the weld, which makes the steel pipe scrap. SUMMARY

[0004] The purpose of the present application is to provide an outer weld polishing device for straight seam submerged arc welded pipe and a robot polishing equipment to alleviate the technical problem that the abrasive belt is easy to be polished excessively in the related technology.

[0005] In order to solve the above technical problems, the technical scheme provided by the present application is as follows:

[0006] In a first aspect, the present application provides an outer weld polishing device for straight seam submerged arc welded pipe, which comprises a polishing head.

[0007] The polishing head comprises a triangular fixed frame, a rotating wheel, a contact wheel, an abrasive belt and a limiting wheel.

[0008] The rotating wheel is provided with two, and the two rotating wheels and the contact wheel are all pivoted with the triangular fixed frame and are separately arranged at the corner of the triangular fixed frame to form a triangular distribution.

[0009] The abrasive belt is wound and tensioned on the contact wheel and the two rotating wheels.

[0010] The limiting wheel is provided with two and is separately arranged on both sides of the contact wheel and is pivoted with the triangular fixed frame, and the rotating axis of the limiting wheel coincides with the rotating axis of the contact wheel, and the diameter of the limiting wheel is greater than the diameter of the contact wheel.

[0011] Further, the polishing head further comprises an arc-shaped sliding rail, the triangular fixed frame is slidingly connected with the arc-shaped sliding rail, and the arc-shaped sliding path is in the same plane as the rotating axis of the contact wheel and protrudes away from the contact wheel.

[0012] The outer weld joint grinding device for the straight seam submerged-arc welded pipe further comprises a grinding frame and a lifting driving assembly, the lifting driving assembly is arranged on the grinding frame and is in transmission connection with the arc-shaped sliding rail, so that the arc-shaped sliding rail is driven to move along the direction in which the median line of the arc-shaped sliding rail extends in the grinding condition, and the circumferential surface of the limiting wheel is in contact with the steel pipe.

[0013] Further, the arc-shaped sliding rail is arranged in the triangular fixing frame.

[0014] Two groups of pulleys are arranged on the triangular fixing frame, and the two groups of pulleys are arranged on the two sides of the extending direction of the arc-shaped sliding rail to clamp the arc-shaped sliding rail and roll with the arc-shaped sliding rail.

[0015] Further, one end of the arc-shaped sliding rail is provided with a fixing plate, and the fixing plate is fixedly connected with the output part of the lifting driving assembly.

[0016] Further, the other end of the arc-shaped sliding rail is provided with a limiting piece, and the limiting piece is in the sliding path of the triangular fixing frame.

[0017] Further, two grinding heads are arranged, and the two grinding heads are arranged at intervals and are configured to grind the same outer weld joint of the steel pipe in the grinding condition.

[0018] Further, the two grinding heads are symmetrically arranged.

[0019] The outer weld joint grinding device for the straight seam submerged-arc welded pipe further comprises a recovery bin, the recovery bin is arranged between the two grinding heads and is provided with openings corresponding to the two grinding heads.

[0020] Further, the outer weld joint grinding device for the straight seam submerged-arc welded pipe further comprises two visual sensors, the two visual sensors are arranged at intervals along the advancing direction of the grinding head and are arranged on the two sides of the two grinding heads.

[0021] The outer weld joint grinding device for the straight seam submerged-arc welded pipe provided by the above technical scheme can achieve the following technical effects:

[0022] The outer weld joint grinding device for the straight seam submerged-arc welded pipe comprises a grinding head, the grinding head comprises a triangular fixing frame, rotating wheels, a contact wheel, a sand belt and a limiting wheel, two rotating wheels are arranged, the two rotating wheels, the contact wheel and the triangular fixing frame are pivotally connected, and the two rotating wheels and the contact wheel are arranged at the corners of the triangular fixing frame to be triangularly distributed, the sand belt is wound and tensioned on the contact wheel and the two rotating wheels, two limiting wheels are arranged on the two sides of the contact wheel and are pivotally connected with the triangular fixing frame, the rotating axis of the limiting wheel coincides with the rotating axis of the contact wheel, and the diameter of the limiting wheel is greater than the diameter of the contact wheel.

[0023] In the outer weld grinding device for straight seam submerged-arc welded pipe, the rotating wheel drives the abrasive belt to rotate when rotating, which can be used for grinding the outer weld; the two limiting wheels are arranged on the two sides of the abutting wheel, and the diameter of the limiting wheel is larger than that of the abutting wheel, so that the limiting wheel protrudes from the abrasive belt. When the grinding operation is performed, the two limiting wheels are located on the two sides of the outer weld, and the limiting wheels gradually approach the steel pipe along with the grinding of the abrasive belt. When the limiting wheels move to contact the outer surface of the steel pipe, the abrasive belt is prevented from continuously grinding the outer weld along the radial direction of the steel pipe. In this way, the over-grinding is avoided, the height of the outer weld after grinding is controlled, the strength of the weld is ensured, and the base material of the pipe body is protected.

[0024] In a second aspect, the present application provides a robot grinding equipment, which comprises a track, a robot and the outer weld grinding device for straight seam submerged-arc welded pipe described above.

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

[0026] The outer weld grinding device for straight seam submerged-arc welded pipe is fixed to the 6th axis of the robot.

[0027] Further, the robot grinding equipment further comprises a balance boom.

[0028] The balance boom is arranged on the robot, above the 6th axis, and is connected with the outer weld grinding device for straight seam submerged-arc welded pipe through a lifting chain.

[0029] The robot grinding equipment provided by the present application has the following beneficial effects:

[0030] The robot grinding equipment provided by the present application comprises the outer weld grinding device for straight seam submerged-arc welded pipe, and thus the technical advantages and effects achieved by the robot grinding equipment also include the technical advantages and effects achieved by the outer weld grinding device for straight seam submerged-arc welded pipe, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0032] Figure 1 and Figure 2 The structure schematic diagrams of the outer weld grinding device for straight seam submerged-arc welded pipe provided by the embodiments of the present application at different angles are shown in the following figures.

[0033] Figures 3 to 5 Structure schematic diagram of the polishing head provided by the embodiment of the present application at different angles;

[0034] Figure 6 Structure schematic diagram of the polishing head provided by the embodiment of the present application after removing part of the structure;

[0035] Figure 7 Structure schematic diagram of one of the angles of the polishing head provided by the embodiment of the present application;

[0036] Figures 8 to 10 Schematic diagram of the application of the polishing head provided by the embodiment of the present application;

[0037] Figure 11 Schematic diagram of the recycling bin provided by the embodiment of the present application;

[0038] Figure 12 Side view of the robot grinding equipment provided by the embodiment of the present application.

[0039] Icon: 100-polishing head; 110-triangle fixing frame; 120-rotating wheel; 130-impeding wheel; 140-sand belt; 150-limiting wheel; 160-arc-shaped sliding rail; 170-pulley; 180-fixing plate; 190-limiting piece;

[0040] 200-polishing frame; 300-lifting driving assembly; 400-recycling bin; 500-vision sensor; 600-track;

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

[0042] 800-balanceable cantilever. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0045] Some embodiments of the present application will be described in detail with reference to the drawings. The following examples and features in the examples can be combined with each other in the case of no conflict.

[0046] At present, most of the grinding tools in the industry are two or three wheel abrasive belt grinding machines. When performing grinding operation, the lifting driving mechanism of the abrasive belt grinding machine drives the grinding head to descend, so that the abrasive belt contacts the external weld. The abrasive belt realizes the grinding of the external weld in the process of rotation. However, it is pointed out that in the grinding process, the abrasive belt is easy to grind excessively, so that the excess height is too low, thereby it is difficult to ensure the strength of the weld, and more seriously, the abrasive belt injures the base metal of the pipe body on both sides of the weld, so that the steel pipe is scrapped.

[0047] Therefore, the present application provides an external weld grinding device for straight seam submerged arc welded pipe, which comprises a grinding head 100. The grinding head 100 comprises a triangular fixed frame 110, a rotating wheel 120, a contact wheel 130, an abrasive belt 140 and a limiting wheel 150. The rotating wheel 120 is provided with two, and the two rotating wheels 120 and the contact wheel 130 are all pivoted with the triangular fixed frame 110 and are separately arranged at the corner of the triangular fixed frame 110 to form a triangular distribution. The abrasive belt 140 is wound and tensioned on the contact wheel 130 and the two rotating wheels 120. The limiting wheel 150 is provided with two and is separately arranged on both sides of the contact wheel 130 and is pivoted with the triangular fixed frame 110. The rotating axis of the limiting wheel 150 coincides with the rotating axis of the contact wheel 130, and the diameter of the limiting wheel 150 is greater than that of the contact wheel 130.

[0048] In the external weld grinding device for straight seam submerged arc welded pipe, referring to Figures 1 to 7 When the rotating wheel 120 rotates, it drives the abrasive belt 140 to rotate, which can be used for grinding the external weld. The two limiting wheels 150 are separately arranged on both sides of the contact wheel 130, and the diameter of the limiting wheel 150 is greater than that of the contact wheel 130. In this way, the limiting wheel 150 protrudes from the abrasive belt 140. When performing grinding operation, the two limiting wheels 150 are located on both sides of the external weld. With the grinding of the abrasive belt 140, the limiting wheel 150 gradually approaches the steel pipe. After the limiting wheel 150 moves to contact the outer surface of the steel pipe, it prevents the abrasive belt 140 from continuing to grind the external weld along the radial direction of the steel pipe. In this way, the excessive grinding is avoided, the height of the external weld after grinding is controlled, and the strength of the weld is ensured. At the same time, the base metal of the pipe body is also protected.

[0049] It should be noted that the difference between the diameters of the limiting wheel 150 and the contact wheel 130 determines the height of the external weld after grinding, so the specific size of the limiting wheel 150 can be determined according to the actual situation. In addition, the grinding head 100 further comprises a rotary driver, which can be a motor. Among the two rotating wheels 120, one is a driving wheel connected with the output shaft of the motor, and the other is a driven wheel.

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

[0051] Regarding the grinding head 100, specifically:

[0052] In the embodiment, referring to Figures 1 to 6 , the grinding head 100 further includes an arc-shaped sliding rail 160, the triangular fixed frame 110 is slidingly connected with the arc-shaped sliding rail 160, and the arc-shaped sliding path is in the same plane as the rotation axis of the abutting wheel 130 and protrudes away from the abutting wheel 130; the outer weld grinding device for straight seam submerged arc welded pipe further includes a grinding machine frame 200 and a lifting driving assembly 300, the lifting driving assembly 300 is arranged on the grinding machine frame 200 and is drivingly connected with the arc-shaped sliding rail 160, so as to be configured to drive the arc-shaped sliding rail 160 to move along the direction of the median line of the arc-shaped sliding rail 160 in the grinding condition, so that the peripheral surface of the limiting wheel 150 is in contact with the steel pipe.

[0053] Specifically, referring to Figures 3 to 6 , the arc-shaped sliding rail 160 is arranged through the triangular fixed frame 110; the triangular fixed frame 110 is provided with two groups of pulleys 170, and the two groups of pulleys 170 are distributed on the two sides of the extension direction of the arc-shaped sliding rail 160 to clamp the arc-shaped sliding rail 160 and rollingly cooperate with the arc-shaped sliding rail 160. More preferably, as shown in Figure 6 , each group includes two pulleys 170, and in the initial state, the left and right pulleys 170 are symmetrically distributed about the median line of the arc-shaped sliding rail 160. Through the pulleys 170, the triangular fixed frame 110 can slide on the arc-shaped sliding rail 160, thereby driving the rotating wheel 120, the abutting wheel 130, the abrasive belt 140, the limiting wheel 150, etc. to deflect.

[0054] Referring to Figure 5 , one end of the arc-shaped sliding rail 160 is provided with a fixed plate 180, in combination with Figure 1 and Figure 2 , the lifting driving assembly 300 can adopt a linear motor, the body of the linear motor is arranged on the grinding machine frame 200, and the output slide block of the linear motor is fixedly connected with the fixed plate 180. In this way, when the linear motor is started, the output slide block drives the entire grinding head 100 to move up and down through the arc-shaped sliding rail 160. Referring to Figure 4 , the other end of the arc-shaped sliding rail 160 is provided with a limiting piece 190, and the limiting piece 190 is in the sliding path of the triangular fixed frame 110; here, the limiting piece 190 includes a fixed block and a limiting rod, the fixed block is fixed to the arc-shaped sliding rail 160, and the limiting rod is connected with the fixed block. In this way, the triangular fixed frame 110 is limited between the limiting rod and the fixed plate 180, thereby preventing the triangular fixed frame 110 from being separated from the arc-shaped sliding rail 160 during sliding.

[0055] When performing grinding operations, refer to Figure 8 At this point, the two weld toes of the outer weld are at the same height, and the two limit wheels on the left and right are also at the same height (150). After grinding, the line connecting the two weld toes is parallel to the grinding surface; (Reference) Figure 9 and Figure 10 During the manufacturing process of steel pipes, poor forming quality or poor joint quality resulted in misalignment defects, causing the two weld toes of the outer weld to be at different heights after jointing. Figure 9 For example, in a case where the left weld toe is higher than the right, the left limiting wheel 150 contacts the outer surface of the steel pipe, while the right limiting wheel 150 is suspended. Then, driven by the lifting drive assembly 300, the arc-shaped slide rail 160 transmits downward pressure to the triangular fixing frame 110. This uneven force causes the triangular fixing frame 110 to swing to the right, simultaneously causing the limiting wheel 150 to deflect, making the right limiting wheel 150 also contact the outer surface of the steel pipe. At this time, the sanding belt 140 deflects synchronously, ensuring that the grinding surface formed during grinding is parallel to the line connecting the two weld toes. Figure 10 For example, in the case of two weld toes, the left one is lower than the right one. When this happens, the right limit wheel 150 contacts the outer surface of the steel pipe, while the left limit wheel 150 is suspended in the air. Then, under the drive of the lifting drive assembly 300, the arc-shaped slide rail 160 transmits a vertically downward pressure to the triangular fixing frame 110. As a result, the triangular fixing frame 110 is subjected to uneven force, which causes it to swing to the left. At the same time, it drives the limit wheel 150 to deflect, so that the left limit wheel 150 also contacts the outer surface of the steel pipe. At this time, the sanding belt 140 deflects synchronously, thus ensuring that the grinding surface formed during grinding is parallel to the line connecting the two weld toes.

[0056] The above design enables the grinding head 100 to have a follow-up function, that is, the grinding angle can change accordingly with the change of the misalignment, thereby ensuring that the ground surface after grinding is parallel to the line connecting the two weld toes, avoiding excessive grinding deviation angle, protecting the base material at higher positions, and facilitating subsequent coating operations on the steel pipe.

[0057] Further reference Figure 1 and Figure 2 Two grinding heads 100 are provided, which are distributed at intervals and configured to grind the same outer weld of the steel pipe under the grinding condition.

[0058] Continue to refer to Figure 1 and Figure 2, two polishing heads 100 are connected with corresponding lifting drive assemblies 300 respectively, and the two lifting drive assemblies 300 control the lifting of the two polishing heads 100 respectively. In work, the two polishing heads 100 polish the external weld simultaneously in front and back, and the polishing amount is the sum of the polishing amounts of the two polishing heads 100. For example, if each polishing head 100 has a polishing amount of 0.5-1.0 mm, the external weld polishing device has a polishing amount of 1.0-2.0 mm, thereby realizing efficient grinding.

[0059] Further, for example, Figure 1 , the external weld polishing device for straight seam submerged arc welded pipe further comprises two visual sensors 500, which are distributed at intervals along the travel direction of the polishing head 100 and are located on both sides of the two polishing heads 100. Herein, one of the visual sensors 500 is used to detect the position of the external weld, and the other is used to detect the external weld crown.

[0060] Further, referring to Figure 1 、 Figure 2 and Figure 11 , the two polishing heads 100 are symmetrically distributed; the external weld polishing device for straight seam submerged arc welded pipe further comprises a recovery bin 400, which is arranged between the two polishing heads 100 and is provided with openings respectively opposite to the two polishing heads 100.

[0061] Specifically, for example, Figure 1 , in the polishing operation, the sand belt 140 on the left side of the two polishing heads 100 rotates counterclockwise, and the sand belt 140 on the right side rotates clockwise, and the splashes flying along the grinding tangent are collected into the copper recovery bin 400. Herein, the copper recovery bin 400 can dissipate the heat generated by grinding in time, and different thermal shrinkage coefficients ensure that the grinding splashes do not stick to the inner wall of the recovery bin 400; in addition, the recovery bin 400 is designed with a pneumatic discharge door, which can automatically unload after being full, and the recovery bin 400 is connected with a dust collector through a pipeline to recover the grinding dust except the splashes to the dust collector.

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

[0063] The steel pipe is placed on the rotating roller, and rotates under the driving of the rotating roller. The robot 700 is moved to above the steel pipe by carrying the device, and the visual sensor 500 is opened. After the visual sensor 500 detects the outer weld, the rotating roller is stopped by sending a signal, and the grinding head 100 advances along the axis of the steel pipe, and the robot 700 drives the grinding head 100 to continue moving along the axis of the steel pipe from the pipe end after the visual sensor 500 detects the pipe end. When the previous group of grinding heads 100 reaches the grinding position, the corresponding lifting driving assembly 300 drives the grinding head 100 to descend, and the rotary driver starts to work, and the abrasive belt 140 works. When the next group of grinding heads 100 reaches the grinding position, the corresponding lifting driving assembly 300 drives the grinding head 100 to descend, and the rotary driver starts to work, and the abrasive belt 140 works. At this time, the grinding spatter of the front and rear grinding heads 100 is collected by the middle recovery bin 400, the visual sensor 500 at the front end detects the weld position and transmits the corresponding data to the robot 700 to correct the grinding track, and the visual sensor 500 at the rear end detects the weld excess height and records. After the grinding is finished, the robot 700 returns to the original point, and the recovery bin 400 unloads the collected grinding spatter. It needs to be supplemented here that the control aspect can be regarded as prior art, and will not be described in detail here.

[0064] The application also provides a robot grinding equipment, referring to Figure 12 The robot grinding equipment comprises a track 600, a robot 700 and the outer weld grinding device for the straight seam submerged arc welded pipe.

[0065] Specifically, the robot 700 drives the grinding head 100 to advance by moving along the track 600, so that the abrasive belt 140 grinds the outer weld along the axis of the steel pipe. Furthermore, the robot 700 can drive the grinding head 100 to move along the direction perpendicular to the axis of the steel pipe through the sixth axis 710, so that the abrasive belt 140 moves in the horizontal plane, thereby avoiding the situation that the abrasive belt 140 is scrapped or broken due to always grinding the same place (the appearance of the weld is "convex", and the middle part of the 30-45mm wide abrasive belt 140 is greatly worn), and improving the utilization rate and service life of the abrasive belt 140.

[0066] Further referring to Figure 12 The robot grinding equipment further comprises a balance boom 800; the balance boom 800 is arranged on the robot 700 and above the sixth axis 710, and is connected with the outer weld grinding device for the straight seam submerged arc welded pipe through a lifting chain. Here, the balance boom 800 can share the load bearing weight of the sixth axis 710, so as to ensure the effectiveness of the connection between the sixth axis 710 and the outer weld grinding device.

[0067] In addition, since the robot grinding equipment comprises the outer weld grinding device for the straight seam submerged arc welded pipe, the technical advantages and effects achieved by the robot grinding equipment also include the technical advantages and effects achieved by the outer weld grinding device for the straight seam submerged arc welded pipe, which will not be described here.

[0068] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An outer weld beveling device for a straight seam submerged arc welded pipe, characterized by, The polishing head (100) comprises a triangular fixing frame (110), a rotating wheel (120), a contact wheel (130), a sand belt (140) and a limiting wheel (150). The rotating wheel (120) is provided with two, and the two rotating wheels (120) and the contact wheel (130) are all pivoted with the triangular fixing frame (110) and are separately arranged at the corner of the triangular fixing frame (110) to be triangularly distributed. The sand belt (140) is wound and tensioned on the contact wheel (130) and the two rotating wheels (120). The limiting wheel (150) is provided with two, is separately arranged on the two sides of the contact wheel (130) and is pivoted with the triangular fixing frame (110), and the rotating axis of the limiting wheel (150) coincides with the rotating axis of the contact wheel (130), and the diameter of the limiting wheel (150) is greater than the diameter of the contact wheel (130). The polishing head (100) further comprises an arc-shaped sliding rail (160), the triangular fixing frame (110) is slidingly connected with the arc-shaped sliding rail (160), and the arc-shaped sliding path is in the same plane as the rotating axis of the contact wheel (130) and protrudes away from the contact wheel (130). The outer weld grinding device for the straight seam submerged arc welded pipe further comprises a polishing frame (200) and a lifting driving assembly (300), the lifting driving assembly (300) is arranged on the polishing frame (200) and is drivingly connected with the arc-shaped sliding rail (160) to be configured to drive the arc-shaped sliding rail (160) to move along the direction of the median line of the arc-shaped sliding rail (160) in the grinding condition, so that the peripheral surface of the limiting wheel (150) is in contact with the steel pipe. The arc-shaped sliding rail (160) is arranged in the triangular fixing frame (110). Two groups of pulleys (170) are arranged on the triangular fixing frame (110), and the two groups of pulleys (170) are arranged on the two sides of the extending direction of the arc-shaped sliding rail (160) to clamp the arc-shaped sliding rail (160) and rollingly cooperate with the arc-shaped sliding rail (160).

2. The outer weld scarfing apparatus for a straight seam submerged arc weld pipe according to claim 1, characterized by, One end of the arc-shaped sliding rail (160) is provided with a fixed plate (180), and the fixed plate (180) is fixedly connected with the output part of the lifting driving assembly (300). The other end of the arc-shaped sliding rail (160) is provided with a limiting piece (190), and the limiting piece (190) is on the sliding path of the triangular fixing frame (110).

3. The outer weld scarfing apparatus for a straight seam submerged arc weld pipe according to claim 2, characterized by, The polishing head (100) is provided with two, and the two polishing heads (100) are spaced apart and are configured to grind the same outer weld of the steel pipe in the grinding condition.

4. The outer weld scarfing apparatus for a straight seam submerged arc weld pipe according to claim 3, characterized by, The two polishing heads (100) are symmetrically distributed.

5. The outer weld scarfing apparatus for a straight seam submerged arc weld pipe according to any one of claims 1 to 4, characterized by The outer weld grinding device for the straight seam submerged arc welded pipe further comprises a recovery bin (400), the recovery bin (400) is arranged between the two polishing heads (100) and is provided with openings respectively corresponding to the two polishing heads (100).

6. The outer weld beveling apparatus for a straight seam submerged arc weld pipe as defined in claim 5 wherein, ​ ​ 7. The outer weld beveling apparatus for a straight seam submerged arc weld pipe as defined in claim 6 wherein, The outer weld joint grinding device for straight seam submerged-arc welded pipe further comprises two visual sensors (500) which are spaced apart along the traveling direction of the grinding head (100) and are located on both sides of the two grinding heads (100).

8. A robotic sharpening apparatus, characterized by, The outer weld joint grinding device for straight seam submerged-arc welded pipe is arranged on the robot (700) and can move along the extension direction of the track (600). The outer weld joint grinding device for straight seam submerged-arc welded pipe is fixed to the 6th axis (710) of the robot (700). The robot (700) grinding equipment further comprises a balanced boom (800).

9. The robotic sharpening apparatus of claim 8, wherein, The balanced boom (800) is arranged on the robot (700) and is located above the 6th axis (710) and is connected with the outer weld joint grinding device for straight seam submerged-arc welded pipe through a lifting chain. ​

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