CN106965051A - End of spirial welded pipe intelligence polishing device - Google Patents
End of spirial welded pipe intelligence polishing device Download PDFInfo
- Publication number
- CN106965051A CN106965051A CN201710313229.4A CN201710313229A CN106965051A CN 106965051 A CN106965051 A CN 106965051A CN 201710313229 A CN201710313229 A CN 201710313229A CN 106965051 A CN106965051 A CN 106965051A
- Authority
- CN
- China
- Prior art keywords
- grinding
- wheel
- grinding head
- welded pipe
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/002—Grinding heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
本发明属于机械设备技术领域，具体涉及一种螺旋焊管管端智能修磨设备。包括操作台、工业机器人、检测设备及安装在工业机器人末端的修磨头。修磨头有三种结构，根据实际工况进行选择。检测设备是二维激光传感器，安装于机器人的磨头上，或安装于两自由度移动设备上。通过二维激光传感器测量焊管管端焊缝的空间位置及几何形状，焊缝的修模量以及机器人末端的运动轨迹通过二维激光传感器测量的数据进行计算及优化而得出。磨头的位置、姿态及部分磨头修磨量的调整依靠六轴工业机器人进行。本发明结构设计合理，操作便捷，过程完全自动化，克服了传统作业方式中的缺点。
The invention belongs to the technical field of mechanical equipment, and in particular relates to an intelligent grinding equipment for spiral welded pipe ends. Including operating table, industrial robot, testing equipment and grinding head installed at the end of industrial robot. There are three structures of the grinding head, which can be selected according to the actual working conditions. The detection equipment is a two-dimensional laser sensor, installed on the grinding head of the robot, or installed on a two-degree-of-freedom mobile device. The spatial position and geometric shape of the weld seam at the end of the welded pipe are measured by a two-dimensional laser sensor, and the modulus of the weld seam and the trajectory of the robot end are calculated and optimized through the data measured by the two-dimensional laser sensor. The position and attitude of the grinding head and the adjustment of part of the grinding amount of the grinding head are carried out by six-axis industrial robots. The invention has reasonable structural design, convenient operation and fully automatic process, which overcomes the shortcomings in the traditional operation mode.
Description
技术领域technical field
本发明属于机械设备技术领域，具体涉及一种螺旋焊管管端智能修磨设备。The invention belongs to the technical field of mechanical equipment, and in particular relates to an intelligent grinding equipment for spiral welded pipe ends.
背景技术Background technique
焊接钢管也称焊管，是用钢板或钢带经过卷曲成型后焊接制成的钢管。焊接钢管按焊缝的形式分为直缝焊管和螺旋焊管。螺旋焊管的适应性较直缝焊管高，能用较窄的材料生产管径较大的焊管，还可用同样宽度的材料生产管径不同的焊管。Welded steel pipe, also known as welded pipe, is a steel pipe made of steel plate or steel strip after crimping and welding. Welded steel pipes are divided into straight seam welded pipes and spiral welded pipes according to the form of the weld seam. The adaptability of the spiral welded pipe is higher than that of the straight seam welded pipe. It can use narrower materials to produce welded pipes with larger diameters, and can also use the same width of materials to produce welded pipes with different diameters.
在焊管的生产过程中，为了保证钢管的后序工序加工质量和现场管端环焊接的需要，必须对螺旋焊管管端进行修磨，去除焊缝余高。In the production process of the welded pipe, in order to ensure the processing quality of the subsequent process of the steel pipe and the needs of on-site pipe end ring welding, the pipe end of the spiral welded pipe must be ground to remove the weld reinforcement.
最初，螺旋焊管管端焊缝是靠工人使用角磨机来进行修磨。经过技术更新后，管端焊缝的修磨是工人依靠专用修磨设备及角磨机进行半自动操作。同时，在修磨过程中还需依赖工人的熟练程度及工作经验。因而，管端焊缝的修磨过程自动化程度、工作效率及修磨精度都较低。Initially, the end welds of spiral welded pipes were ground by workers using angle grinders. After the technical update, the grinding of the pipe end weld is a semi-automatic operation by workers relying on special grinding equipment and angle grinders. At the same time, it also needs to rely on the proficiency and work experience of the workers in the grinding process. Therefore, the degree of automation, work efficiency and grinding precision of the grinding process of the pipe end weld are relatively low.
发明内容Contents of the invention
针对现有技术中存在的问题，本发明的目的在于设计一种螺旋焊管管端智能修磨设备，该修磨设备利用机器人技术解决自动化程度低及工作效率低的问题，利用高精度激光传感器来解决修磨精度低的问题。Aiming at the problems existing in the prior art, the object of the present invention is to design an intelligent grinding equipment for spiral welded pipe ends. The grinding equipment uses robot technology to solve the problems of low automation and low work efficiency, and uses high-precision laser sensors to Solve the problem of low grinding precision.
所述的一种螺旋焊管管端智能修磨设备，其特征在于包括操作台、工业机器人、检测设备及安装在工业机器人末端的修磨头。所述的操作台包括触摸屏及键盘。所述的工业机器人为六轴工业机器人。所述的修磨头有三种结构，根据实际工况进行选择。所述的检测设备是二维激光传感器，安装于机器人的磨头上，或安装于独立移动设备上。The intelligent grinding equipment for spiral welded pipe ends is characterized in that it includes an operating table, an industrial robot, testing equipment and a grinding head installed at the end of the industrial robot. The operating console includes a touch screen and a keyboard. The industrial robot is a six-axis industrial robot. The grinding head has three structures, which are selected according to actual working conditions. The detection device is a two-dimensional laser sensor, which is installed on the grinding head of the robot, or on an independent mobile device.
所述的操作台的功能是控制修磨设备及实时获取加工信息。The function of the operation console is to control the grinding equipment and obtain processing information in real time.
所述的修磨头结构其一包括磨头安装座、砂带轮单元、砂带轮单元进给装置、限位轮装置及二维激光传感器。所述的磨头安装座用于安装对称布置的砂带轮单元、砂带轮单员进给装置、限位轮装置及焊缝检测装置。所述的砂带轮单元包括被动轮、主动轮、砂带、驱动伺服电机、保护罩及磨头进给组件。所述的砂带轮单元进给装置由气动驱动。所述的限位轮装置包括限位轮、限位轮电机、限位轮支撑及二维激光传感器。One of the structures of the grinding head includes a grinding head mounting seat, a grinding wheel unit, a feeding device for the grinding wheel unit, a limit wheel device and a two-dimensional laser sensor. The grinding head installation seat is used for installing symmetrically arranged abrasive wheel units, single-member feeding devices for abrasive wheels, limit wheel devices and weld seam detection devices. The abrasive belt wheel unit includes a driven wheel, a driving wheel, an abrasive belt, a driving servo motor, a protective cover and a grinding head feeding assembly. The feeding device of the grinding wheel unit is driven by pneumatics. The limiting wheel device includes a limiting wheel, a limiting wheel motor, a limiting wheel support and a two-dimensional laser sensor.
所述的磨头其一在工作前，可利用安装在自身上的二维激光传感器进行测量。所述的砂带轮单元被由气动或液压驱动的砂带轮进给装置带动，使砂带轮单元中的被动轮紧贴在焊缝上。所述的限位轮电机可以调整限位轮的转动方向，使其与焊缝的螺旋角方向平行。所述的限位轮装置保修磨时，不伤及母材。One of the grinding heads can be measured by a two-dimensional laser sensor installed on itself before working. The abrasive wheel unit is driven by a pneumatically or hydraulically driven abrasive wheel feeding device, so that the driven wheel in the abrasive wheel unit is closely attached to the weld seam. The limit wheel motor can adjust the rotation direction of the limit wheel so that it is parallel to the direction of the helix angle of the welding seam. The said limiting wheel device guarantees that the parent material will not be damaged during grinding.
所述的磨头结构其二包括安装座、砂带轮单元、限位轮装置及二维激光传感器。所述的砂带轮单元及限位轮装置与磨头结构其一中的相同。所述的安装座将其他部件连接于机器人末端。The second structure of the grinding head includes a mounting base, an abrasive belt wheel unit, a limit wheel device and a two-dimensional laser sensor. The abrasive belt wheel unit and the limiting wheel device are the same as those in the grinding head structure. The mounting base connects other components to the end of the robot.
所述的砂带轮单元由机器人带动，使砂带轮单元中的被动轮紧贴在焊缝上。所述的限位轮电机可以调整限位轮的转动方向，使其与焊缝的螺旋角方向平行。所述的限位轮装置保修磨时，不伤及母材。The abrasive belt wheel unit is driven by the robot, so that the passive wheel in the abrasive belt wheel unit is closely attached to the weld seam. The limit wheel motor can adjust the rotation direction of the limit wheel so that it is parallel to the direction of the helix angle of the welding seam. The said limiting wheel device guarantees that the parent material will not be damaged during grinding.
所述的磨头结构其三包括传动及动力切换装置、伺服电机、磨片、支撑轮及圆柱铣刀。所述的传动及动力切换装置上装有伺服电机、磨片、支撑轮及圆柱铣刀，且传动及动力切换装置安装于机器人末端。所述的支撑轮有四个，都可以进行弹性伸缩，在修磨时都与焊管臂接触，提高工作时的刚度。The third structure of the grinding head includes a transmission and power switching device, a servo motor, a grinding disc, a support wheel and a cylindrical milling cutter. The transmission and power switching device is equipped with a servo motor, grinding disc, support wheel and cylindrical milling cutter, and the transmission and power switching device is installed at the end of the robot. There are four supporting wheels, all of which can be stretched elastically, and are all in contact with the welded pipe arm during grinding, so as to improve the rigidity during work.
所述的磨头结构其三，在工作时，先利用圆柱铣刀将焊缝去除，然后，利用传动及动力切换装置，将动力切换到磨片上，利用磨片对焊缝铣削面进行光整。The third structure of the grinding head is that when working, first use the cylindrical milling cutter to remove the weld seam, then use the transmission and power switching device to switch the power to the grinding plate, and use the grinding plate to smooth the milling surface of the weld seam .
所述的一种螺旋焊管管端智能修磨设备，其特征在于通过二维激光传感器测量焊管管端焊缝的空间位置及几何形状，即：通过机器人或独立移动设备带动，利用扇形面检测激光对焊缝进行扫描。The above-mentioned intelligent grinding equipment for spiral welded pipe ends is characterized in that the spatial position and geometric shape of the weld seam at the end of the welded pipe are measured by a two-dimensional laser sensor, that is, driven by a robot or an independent mobile device, and the fan-shaped surface is used to detect the laser Scan the weld seam.
所述的一种螺旋焊管管端智能修磨设备，其特征在于通过选取不同的磨头结构，可实现对焊管焊缝的单面修磨或内外焊缝同时修磨。The intelligent grinding equipment for the pipe end of the spiral welded pipe is characterized in that by selecting different grinding head structures, it can realize single-side grinding of the weld seam of the butt-welded pipe or simultaneous grinding of the inner and outer weld seams.
所述的一种螺旋焊管管端智能修磨设备，其特征在于磨头的位置及姿态调整依靠六轴工业机器人进行。The intelligent grinding equipment for spiral welded pipe ends described above is characterized in that the adjustment of the position and attitude of the grinding head is performed by a six-axis industrial robot.
所述的一种螺旋焊管管端智能修磨设备，其特征在于焊缝的修磨量以及机器人末端的运动轨迹通过二维激光传感器测量的数据进行计算及优化而得出。The intelligent grinding equipment for spiral welded pipe ends is characterized in that the grinding amount of the weld seam and the motion trajectory of the robot end are calculated and optimized through the data measured by the two-dimensional laser sensor.
本发明结构设计合理，操作便捷，过程完全自动化，克服了传统作业方式中的缺点。The invention has reasonable structural design, convenient operation and fully automatic process, which overcomes the shortcomings in the traditional operation mode.
附图说明Description of drawings
图1为本发明总体布局示意图；Fig. 1 is a schematic diagram of the overall layout of the present invention;
图2为磨头结构其一示意图；Fig. 2 is one schematic diagram of grinding head structure;
图3为磨头结构其二示意图；Fig. 3 is the second schematic diagram of the grinding head structure;
图4为磨头结构其三示意图；Fig. 4 is its three schematic diagrams of grinding head structure;
图5为测量设备示意图。Figure 5 is a schematic diagram of the measuring equipment.
具体实施方式detailed description
参照图1-5，本发明提供了一种螺旋焊管管端智能修磨设备，其特征在于，包括操作台1、工业机器人4、检测设备6及安装在工业机器人末端的修磨头5。该设备通过检测设备6检测焊管焊缝的空间位置及几何形状。然后，以此计算出机器人4末端的空间轨迹及修磨头5的进给量，最后，机器人4带动修磨头5对焊管焊缝进行自动修磨。Referring to Figures 1-5, the present invention provides a spiral welded pipe end intelligent grinding equipment, which is characterized in that it includes an operating table 1, an industrial robot 4, a testing device 6 and a grinding head 5 installed at the end of the industrial robot. The equipment detects the spatial position and geometric shape of the weld seam of the welded pipe through the detection device 6 . Then, the spatial trajectory of the end of the robot 4 and the feed rate of the grinding head 5 are calculated based on this, and finally, the robot 4 drives the grinding head 5 to automatically grind the weld seam of the welded pipe.
操作台1上的触摸屏3可实时反馈加工信息，键盘2及触摸屏3可进行输入对设备进行控制。The touch screen 3 on the console 1 can feed back processing information in real time, and the keyboard 2 and touch screen 3 can input and control the equipment.
该方案中，检测设备6中的竖直直线运动单元35固定安装在测量支架34上，水平直线运动单元36安装在竖直直线运动单元35的滑座上。竖直直线运动单元35及水平直线运动单元36进行直线运动，将下二维激光传感器38定位到焊管8的距地最远点的上方的合适位置，使得下二维激光传感器38发出的扇面激光可以完全覆盖待修磨焊缝。接着，辊道9启动，带动焊管8旋转，直至焊缝7的外面进入扇面检测激光的范围内。然后，水平直线运动单元36沿着焊管8的轴线方向运动，使下二维激光传感器38将焊缝7的全部待修磨段的外面进行空间位置及几何形状进行扫描。最后，竖直直线运动单元35及水平直线运动单元36进行运动，将上激光传感器37深入焊管8内部，水平直线运动单元36再进行沿着焊管8轴线方向的直线运动，使上激光传感器37对焊缝7的内面进行扫描。扫描完成后，竖直直线运动单元35及水平直线运动单元36再进行运动，为修磨让出工作空间。In this solution, the vertical linear motion unit 35 in the detection device 6 is fixedly installed on the measurement bracket 34 , and the horizontal linear motion unit 36 is installed on the sliding seat of the vertical linear motion unit 35 . The vertical linear motion unit 35 and the horizontal linear motion unit 36 perform linear motion to position the lower two-dimensional laser sensor 38 at a suitable position above the farthest point of the welded pipe 8, so that the fan-shaped laser light emitted by the lower two-dimensional laser sensor 38 Can completely cover the weld seam to be ground. Then, the roller table 9 starts to drive the welded pipe 8 to rotate until the outside of the weld seam 7 enters the range of the sector detection laser. Then, the horizontal linear motion unit 36 moves along the axial direction of the welded pipe 8, so that the lower two-dimensional laser sensor 38 scans the spatial position and geometric shape of the outer surfaces of all sections of the weld seam 7 to be ground. Finally, the vertical linear motion unit 35 and the horizontal linear motion unit 36 move, and the upper laser sensor 37 is penetrated into the inside of the welded pipe 8, and the horizontal linear motion unit 36 then performs a linear motion along the axial direction of the welded pipe 8, so that the upper laser sensor 37 pairs The inner face of the weld 7 is scanned. After the scanning is completed, the vertical linear motion unit 35 and the horizontal linear motion unit 36 move again to make room for grinding.
所述的修磨头结构为图4中的结构，在检测设备6检测出焊缝的空间位置及几何形状，然后计算出机器人4的末端运动轨迹及焊缝7的修磨量。伺服电机32带动圆柱铣刀31，机器人4带动磨头，按照焊缝的轨迹及修磨量对焊缝7的内外面进行修磨。修磨完成后，圆柱铣刀31停转，传动及动力切换装置29将动力切换，使得磨片33开始转动，对修磨后的内外焊缝进行光整。在修磨时，四个可沿着圆柱铣刀31的径向切削力方向弹性伸缩的支撑轮30与焊管8的内(外)臂接触，提高磨削时的结构刚度。The structure of the grinding head is the structure in FIG. 4 . The spatial position and geometric shape of the weld seam are detected by the detection device 6 , and then the trajectory of the end of the robot 4 and the grinding amount of the weld seam 7 are calculated. The servo motor 32 drives the cylindrical milling cutter 31, and the robot 4 drives the grinding head to grind the inside and outside of the weld 7 according to the track of the weld and the amount of grinding. After the grinding was completed, the cylindrical milling cutter 31 stopped, and the transmission and power switching device 29 switched the power, so that the grinding disc 33 started to rotate, and the inner and outer welds after the grinding were smoothed. During grinding, four support wheels 30 elastically stretchable along the radial cutting force direction of cylindrical milling cutter 31 contact with the inner (outer) arm of welded pipe 8 to improve the structural rigidity during grinding.
在另一可选方案中，所述的修磨头结构为图3中的结构，在检测设备6检测出焊缝的空间位置及几何形状，然后计算出机器人4的末端运动轨迹及焊缝7的修磨量。伺服电机21带动主动轮23，主动轮23带动砂带26，砂带26同时带动被动轮27。磨头通过安装座20安装在机器人4末端。机器人4带动磨头，按照焊缝的轨迹及修磨量对焊缝7的内外面进行修磨。在修磨时，安装在电机安装座25上的伺服电机24，将限位轮28的转动方向调整到与焊缝螺旋角的方向平行。限位轮28限制被动轮27的修磨量，使其不会伤及母材。防护罩22起保护主动轮23的作用。In another alternative, the structure of the grinding head is the structure in Fig. 3, the spatial position and geometric shape of the weld seam are detected in the detection device 6, and then the end motion track of the robot 4 and the weld seam 7 are calculated. grinding amount. Servo motor 21 drives driving wheel 23, and driving wheel 23 drives abrasive belt 26, and abrasive belt 26 drives passive wheel 27 simultaneously. The grinding head is installed at the end of the robot 4 through the mounting seat 20 . The robot 4 drives the grinding head to grind the inner and outer surfaces of the weld 7 according to the track of the weld and the amount of grinding. When grinding, the servo motor 24 installed on the motor mount 25 adjusts the rotation direction of the limit wheel 28 to be parallel to the direction of the helix angle of the welding seam. Limiting wheel 28 limits the grinding amount of passive wheel 27, makes it can not injure parent material. Protective cover 22 plays the effect of protection driving wheel 23.
在又一可选方案中，所述的修磨头结构为图2中的结构，检测设备6可不参与焊缝7空间位置及几何形状的检测。由安装在磨头上的两个对称布置的二维激光传感器14检测。检测过程与检测设备6的基本相同。机器人4现将磨头定位到焊管8的待检测位置，上下对称布置的二维激光传感器14的扇面检测激光分别同时照射到焊管8的待修磨位置的内外管壁上。辊道9启动，焊管8开始旋转，直至焊缝7被二维激光传感器14检测到进入待修磨区。然后，机器人4带动磨头也即两个二维激光传感器14对焊缝7进行空间位置及几何形状进行扫描。In yet another optional solution, the structure of the grinding head is the structure shown in FIG. 2 , and the detection device 6 may not participate in the detection of the spatial position and geometric shape of the weld 7 . It is detected by two symmetrically arranged two-dimensional laser sensors 14 installed on the grinding head. The detection process is basically the same as that of the detection device 6 . The robot 4 now positions the grinding head to the position to be detected of the welded pipe 8, and the sector detection lasers of the two-dimensional laser sensors 14 arranged symmetrically up and down respectively irradiate the inner and outer walls of the welded pipe 8 at the position to be ground. The roller table 9 starts, and the welded pipe 8 starts to rotate until the weld seam 7 is detected by the two-dimensional laser sensor 14 and enters the area to be ground. Then, the robot 4 drives the grinding head, that is, two two-dimensional laser sensors 14 to scan the spatial position and geometric shape of the weld 7 .
检测出焊缝的空间位置及几何形状后计算出机器人4的末端运动轨迹及焊缝7的修磨量。在磨头安装座上对称布置的两个伺服电机11分别带动对称布置的两个主动轮19，主动轮19带动两条同样的砂带17，砂带17同时带动对称布置的被动轮18。磨头通过安装座9安装在机器人4末端。机器人4带动磨头，按照焊缝的轨迹及修磨量，同时对焊缝7的内外面进行修磨。在修磨时，砂轮单元进给装置10是气动或液压驱动，将磨头的被动带轮18紧压在焊缝7上，保证焊缝被修磨。安装在电机安装座15上的伺服电机13，在修磨时，将限位轮16的转动方向调整到与焊缝螺旋角的方向平行。限位轮16限制被动轮18的修磨量，使其不会伤及母材。防护罩12起保护主动轮19的作用。After detecting the spatial position and geometric shape of the weld seam, the end motion trajectory of the robot 4 and the grinding amount of the weld seam 7 are calculated. Two servomotors 11 symmetrically arranged on the grinding head mounting base drive two symmetrically arranged drive wheels 19 respectively, and the driving wheels 19 drive two identical abrasive belts 17, and the abrasive belts 17 drive symmetrically arranged driven wheels 18 at the same time. Grinding head is installed on robot 4 end by mount 9. The robot 4 drives the grinding head, and simultaneously grinds the inner and outer surfaces of the weld 7 according to the trajectory of the weld and the amount of grinding. During grinding, the feeding device 10 of the grinding wheel unit is driven by pneumatic or hydraulic pressure, and the driven pulley 18 of the grinding head is pressed against the weld seam 7 to ensure that the weld seam is ground. The servo motor 13 installed on the motor mount 15 adjusts the rotation direction of the limit wheel 16 to be parallel to the direction of the weld seam helix angle during grinding. Limiting wheel 16 limits the grinding amount of driven wheel 18, makes it can not injure parent material. Protective cover 12 plays the effect of protection driving wheel 19.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313229.4A CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313229.4A CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965051A true CN106965051A (en) | 2017-07-21 |
Family
ID=59331993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710313229.4A Pending CN106965051A (en) | 2017-05-05 | 2017-05-05 | End of spirial welded pipe intelligence polishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106965051A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253368A (en) * | 2019-06-14 | 2019-09-20 | 长安大学 | An electromagnet adsorption self-propelled steel pipe welding seam internal and external training equipment |
| CN110355660A (en) * | 2019-08-14 | 2019-10-22 | 宝鸡石油钢管有限责任公司 | A kind of pipe end inner and outer welding automatic polishing device for spiral welded pipe production line |
| CN110355652A (en) * | 2019-07-18 | 2019-10-22 | 十堰天凯模具制造有限公司 | A kind of dedicated die repair machine of high-precision laser positioning mold mandril |
| CN111283488A (en) * | 2020-03-30 | 2020-06-16 | 沈阳机床成套设备有限责任公司 | Grinding device and roller press |
| CN111347329A (en) * | 2020-02-28 | 2020-06-30 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111730447A (en) * | 2020-07-21 | 2020-10-02 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN111774987A (en) * | 2020-07-14 | 2020-10-16 | 江苏卓钇智能数控装备有限公司 | Multi-deformation casting grinding processing equipment and grinding method thereof |
| CN112122667A (en) * | 2020-09-22 | 2020-12-25 | 上海金自天正信息技术有限公司 | Steel pipe polishing device, intelligent steel pipe polishing equipment, intelligent steel pipe polishing system and intelligent steel pipe polishing method |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN112318320A (en) * | 2020-10-22 | 2021-02-05 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system and method based on 3D vision camera |
| CN112388474A (en) * | 2020-10-22 | 2021-02-23 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system and method based on 2D vision camera |
| CN113059408A (en) * | 2021-03-31 | 2021-07-02 | 浦江奈德丽工业设计有限公司 | Milling cutter machining device and using method thereof |
| CN113941919A (en) * | 2021-10-12 | 2022-01-18 | 慧诚自动化技术(宁波)有限公司 | Data processing and control method for automatic steel pipe weld joint polishing system |
| CN116765826A (en) * | 2023-07-24 | 2023-09-19 | 宁波齐云新材料技术有限公司 | Friction stir welding equipment with positioning platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008139116A1 (en) * | 2007-04-12 | 2008-11-20 | Saipem S.A. | Method for providing an underwater duct comprising hammering the assembly welds inside the duct |
| CN101829936A (en) * | 2010-04-07 | 2010-09-15 | 宝鸡石油钢管有限责任公司 | Welding seam grinding machine |
| CN201664864U (en) * | 2009-12-11 | 2010-12-08 | 河北华油钢管设计研究院有限公司 | Outer welded joint milling machine of straight welded pipe |
| CN202278462U (en) * | 2011-10-08 | 2012-06-20 | 鑫源泰钢管集团有限公司 | Welding seam grinding device in steel pipe |
| CN105643387A (en) * | 2016-03-31 | 2016-06-08 | 浙江天管久立特材有限公司 | Composite tube end surfacing layer weld joint polishing equipment |
| CN205465540U (en) * | 2016-01-27 | 2016-08-17 | 中国石油天然气集团公司 | Welding seam grinding control system |
-
2017
- 2017-05-05 CN CN201710313229.4A patent/CN106965051A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008139116A1 (en) * | 2007-04-12 | 2008-11-20 | Saipem S.A. | Method for providing an underwater duct comprising hammering the assembly welds inside the duct |
| CN201664864U (en) * | 2009-12-11 | 2010-12-08 | 河北华油钢管设计研究院有限公司 | Outer welded joint milling machine of straight welded pipe |
| CN101829936A (en) * | 2010-04-07 | 2010-09-15 | 宝鸡石油钢管有限责任公司 | Welding seam grinding machine |
| CN202278462U (en) * | 2011-10-08 | 2012-06-20 | 鑫源泰钢管集团有限公司 | Welding seam grinding device in steel pipe |
| CN205465540U (en) * | 2016-01-27 | 2016-08-17 | 中国石油天然气集团公司 | Welding seam grinding control system |
| CN105643387A (en) * | 2016-03-31 | 2016-06-08 | 浙江天管久立特材有限公司 | Composite tube end surfacing layer weld joint polishing equipment |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253368B (en) * | 2019-06-14 | 2024-02-13 | 长安大学 | Electromagnet adsorption self-propelled steel pipe welding seam internal and external repair equipment |
| CN110253368A (en) * | 2019-06-14 | 2019-09-20 | 长安大学 | An electromagnet adsorption self-propelled steel pipe welding seam internal and external training equipment |
| CN110355652A (en) * | 2019-07-18 | 2019-10-22 | 十堰天凯模具制造有限公司 | A kind of dedicated die repair machine of high-precision laser positioning mold mandril |
| CN110355660B (en) * | 2019-08-14 | 2024-11-08 | 中国石油天然气集团有限公司 | An automatic grinding device for inner and outer welds of pipe ends used in spiral welded pipe production lines |
| CN110355660A (en) * | 2019-08-14 | 2019-10-22 | 宝鸡石油钢管有限责任公司 | A kind of pipe end inner and outer welding automatic polishing device for spiral welded pipe production line |
| CN111347329A (en) * | 2020-02-28 | 2020-06-30 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111347329B (en) * | 2020-02-28 | 2021-07-13 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111283488A (en) * | 2020-03-30 | 2020-06-16 | 沈阳机床成套设备有限责任公司 | Grinding device and roller press |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN111438585B (en) * | 2020-04-03 | 2021-08-13 | 智慧工场创新科技(东台)有限公司 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111774987A (en) * | 2020-07-14 | 2020-10-16 | 江苏卓钇智能数控装备有限公司 | Multi-deformation casting grinding processing equipment and grinding method thereof |
| CN111730447B (en) * | 2020-07-21 | 2020-11-20 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN111730447A (en) * | 2020-07-21 | 2020-10-02 | 豪德博尔(山东)智能装备有限公司 | Polishing and cleaning device for weld joints of spiral welded pipes |
| CN112122667A (en) * | 2020-09-22 | 2020-12-25 | 上海金自天正信息技术有限公司 | Steel pipe polishing device, intelligent steel pipe polishing equipment, intelligent steel pipe polishing system and intelligent steel pipe polishing method |
| CN112296446A (en) * | 2020-09-28 | 2021-02-02 | 太原科技大学 | Bar chamfering robot system and method |
| CN112223292A (en) * | 2020-10-21 | 2021-01-15 | 湖南科技大学 | Online grinding system of structural member welding seam intelligent grinding and polishing robot |
| CN112388474A (en) * | 2020-10-22 | 2021-02-23 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system and method based on 2D vision camera |
| CN112318320A (en) * | 2020-10-22 | 2021-02-05 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system and method based on 3D vision camera |
| CN113059408A (en) * | 2021-03-31 | 2021-07-02 | 浦江奈德丽工业设计有限公司 | Milling cutter machining device and using method thereof |
| CN113059408B (en) * | 2021-03-31 | 2023-01-10 | 株洲耀辉光机电研究开发有限公司 | Milling cutter machining device and using method thereof |
| CN113941919A (en) * | 2021-10-12 | 2022-01-18 | 慧诚自动化技术(宁波)有限公司 | Data processing and control method for automatic steel pipe weld joint polishing system |
| CN116765826A (en) * | 2023-07-24 | 2023-09-19 | 宁波齐云新材料技术有限公司 | Friction stir welding equipment with positioning platform |
| CN116765826B (en) * | 2023-07-24 | 2025-05-06 | 宁波齐云新材料技术有限公司 | Friction stir welding equipment with positioning platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106965051A (en) | End of spirial welded pipe intelligence polishing device | |
| CN110355660B (en) | An automatic grinding device for inner and outer welds of pipe ends used in spiral welded pipe production lines | |
| CN204524503U (en) | A kind of Novel girth welding device controlled based on weld seam Intelligent Measurement | |
| CN105562973B (en) | A kind of laser identification axle robot space curve welding system of weld seam 8 and method | |
| CN101474733B (en) | Method for welding shipping container top reinforcing plate and welding robot | |
| CN205393782U (en) | 8 robot space curve welding system of laser discernment welding seam | |
| CN104384734B (en) | Weld joint tracking and ultrasonic impact system after full automatic welding | |
| KR20140141332A (en) | Automatic welding device of circumference and flange | |
| CN113909766B (en) | A kind of intersecting line welding seam welding equipment and method | |
| CN102922147B (en) | Constant-speed scanning positioning type post-welding seam tracking and residual stress removal system | |
| CN1012849B (en) | The scanister of product ultrasound examination | |
| CN103008967B (en) | Reproducing and processing system based on laser fusion covering | |
| CN110253368A (en) | An electromagnet adsorption self-propelled steel pipe welding seam internal and external training equipment | |
| KR20200020049A (en) | Automatic welding system for branch pipe in thick main pipe | |
| CN210139262U (en) | Electromagnet adsorption type steel pipe straight weld grinding equipment | |
| CN106041379B (en) | Automatic cutting and welding device for intersecting pieces | |
| CN104801916A (en) | Automatic rotating welding device for pipeline | |
| CN112114042B (en) | Scanning device for ultrasonic detection of ring-rolled pieces | |
| CN104708220A (en) | Pipeline all-position operation machine and control method thereof | |
| JP2015030000A (en) | Polishing system and spot welding system | |
| CN108161664B (en) | Laser scanning polishing system and method | |
| CN105033525A (en) | Welding machine tool | |
| CN111644944B (en) | Pipeline double-grinding-head full-weld grinding equipment and method | |
| CN204234993U (en) | With weldering ultrasonic impact intelligent robot TT&C system | |
| WO2010078851A1 (en) | Digital-control combination-welding device for steel tube |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170721 |
|
| WD01 | Invention patent application deemed withdrawn after publication |