埋弧焊管管端焊缝磨削机器人设计与应用

Design and Application of Pipe End Weld Grinding Robot for Submerged Arc Welded Pipe

针对埋弧焊管管端焊缝磨削机占用工位、操作人员多、焊缝磨削质量不易保证等问题,提出了一种管端焊缝磨削机器人的技术方案。通过对焊缝形貌特征数据进行分析,设计了机器人磨削运动轨迹,并进行了工业测试。结果表明,直缝埋弧焊管采用直线磨削运动轨迹和圆弧修磨运动轨迹相结合的方法;螺旋埋弧焊缝采用螺旋磨削运动轨迹的方法。应用实践表明,设计的磨削机器人在焊管生产线上的应用满足使用要求。

Aiming at the problems of the occupied position and the number of operators and the grinding quality of the submerged arc welded pipe end grinding machine,a technical scheme of the pipe end weld grinding robot is proposed.Through the analysis of the weld profile data,the robot grinding motion trajectory was designed and industrial test was carried out.The results show that the straight seam submerged arc welded pipe adopts the method of combining linear grinding and arc grinding motion track,while the spiral submerged arc welded pipe adopts the method of spiral grinding motion track.The application of the designed grinding robot in the welded pipe production line meets the requirements for use.