Grinding method of steel pipe end spiral weld grinding robot

Abstract

The invention provides a grinding method of a steel pipe end spiral weld grinding robot. A grinding device is carried on a mechanical arm, a contourgraph is used in cooperation to detect and scan a steel pipe, an upper computer is adopted to establish a coordinate system to plan a path, and then the grinding device is controlled to conduct grinding along the path, so that high-precision grinding is achieved, manual secondary grinding is not needed, and the production efficiency is high. When a triangular area of a weld is ground, a piecewise linear fitting method is adopted to grind the triangular area of the weld, so that grinding of the triangular area of the weld is guaranteed under the condition that the steel pipe is not abraded; and the toe point of the weld is found through the upper computer according to a weld scanning processing algorithm based on a difference method, and the distance between the grinding device and the steel pipe is controlled through the toe point of the weld, so that the APISPEC5L standard and the GBT97111-1997 standard regulation are met.

Description

technical field [0001] The invention relates to the technical field of steel pipe processing technology, in particular to a grinding method for a steel pipe end spiral weld grinding robot. Background technique [0002] For spiral welded pipes, both the APISPEC5L standard and the GBT97111-1997 standard clearly stipulate that the internal and external weld reinforcement of the spiral welded pipe should be removed within a length of at least 150mm from the pipe end, and the weld bead after grinding should not be lower than the pipe body and exceed the steel pipe The surface part should be less than 0.5mm, and the weld seam after grinding treatment should be smooth, and the base metal of the steel pipe should not be damaged. [0003] At present, the grinding and processing of steel pipe welds in my country are all automatic grinding equipment through the grinding head equipped with the manipulator, but the grinding accuracy is generally not enough, so the existing technology can...

AI Technical Summary

Problems solved by technology

[0003] At present, the grinding and processing of steel pipe welds in my country are all automatic grinding equipment through the grinding head equipped with the manipulator, but the grinding accuracy is generally not enough, so the existing technology cannot meet the APISPEC5L standard and the GBT97111-1997 standard, resulting in grinding. If the weld bead reinforcement is too high, manual secondary grinding is still required. This grinding method has low production efficiency, high labor intensity, high work cost, difficult to guarantee processing accuracy, and often has problems such as grinding the base metal of the steel pipe.

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