CN108032147A - Spiral inner wall line weld grinding control method and device - Google Patents
Spiral inner wall line weld grinding control method and device Download PDFInfo
- Publication number
- CN108032147A CN108032147A CN201711296769.2A CN201711296769A CN108032147A CN 108032147 A CN108032147 A CN 108032147A CN 201711296769 A CN201711296769 A CN 201711296769A CN 108032147 A CN108032147 A CN 108032147A
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- Prior art keywords
- weld seam
- image
- weld
- speed
- cylinder section
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Classifications
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- 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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- 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
- B24B41/06—Work supports, e.g. adjustable steadies
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The present invention discloses spiral inner wall line weld grinding control method, it is characterized in that：This method comprises the following steps：The image for the weld seam starting point that prestores；In the case of the feed speed of grinding head in the rotary speed and guide rod of cylinder section is matched, polishing welding seams and the image for obtaining weld seam in real time, the image of image and the weld seam starting point to prestore from the weld seam obtains the offset of weld seam, in the case where the offset exceedes threshold value, the online compensation offset.In this way, the precise positioning of weld seam is realized, and then, realize high-precision, the efficient automatically grinding of helix weld seam.
Description
Technical field
The present invention relates to the control method of weld seam automatically grinding equipment, more particularly to spiral inner wall line weld grinding controlling party
Method.
Background technology
The current power industry of demand in to(for) large caliber aluminium alloy is increasing, and the heavy caliber aluminium to complete closes
Gold shell coil is, it is necessary to carry out welding overlap polishing, and manual polishing efficiency is low, bad environments, polishing are of poor quality, and in the market is not
There is satisfactory polishing process unit, therefore design automatically grinding equipment to become inevitable.What wherein spiral inner wall wire bonding was stitched beats
Mill is even more the emphasis of this equipment, and to meet the processing request of this helix tube, control method emphasis proposed in this paper solves two
Aspect content, the first aspect are speeds match, and second aspect is being accurately positioned for weld seam.
The content of the invention
The present invention solves the problems, such as it is that the problem of being accurately positioned of weld seam is realized in the case of helix automatically grinding.
The present invention solve another problem is how realize speeds match the problem of.
To solve the above problems, the present invention provides a kind of spiral inner wall line weld grinding control method, it is characterized in that：The party
Method includes the following steps：The image for the weld seam starting point that prestores；The feeding of grinding head in the rotary speed and guide rod of cylinder section
In the case of speeds match, polishing welding seams and the image for obtaining weld seam in real time, originate from the image of the weld seam with the weld seam to prestore
The image of point obtains the offset of weld seam, in the case where the offset exceedes threshold value, the online compensation offset.
In further scheme, the threshold value is the half of grinding head abrasive band width.
In further scheme, the online compensation offset includes on-line tuning guide rod position so that grinding head
Abrasive band place-centric is overlapping with Weld pipe mill.
In further scheme, the weld seam is helix, its corresponding equation isWherein, a is
The radius of cylinder section, P is the pitch of helix, angular speed when ω is the rotation of cylinder section, the rotary speed and guide rod of the cylinder section
On grinding head feed speed matching be specifically cylinder section rotary speed and the feed speed it is proportional.
In further scheme, the ratio of the feed speed and cylinder section angular velocity of rotation is P/2 π, when cylinder section is with ω angles
Speed have rotated a circle i.e. 360 °, then its corresponding feeding distance is a pitch P.
Invention additionally discloses a kind of spiral inner wall line weld grinding control system, the control system include master system,
Controller and camera, wherein, the controller is connected with master system, receive the control instruction from master system with
The feed speed of grinding head in the rotary speed and guide rod of application cylinder section is so that rotary speed and feed speed matching；Institute
State camera to be connected with master system, obtain the image of weld seam starting point and obtain the image of weld seam in bruting process in real time,
The image for transmitting starting point and the image that obtains in real time are to the master system；Image of the master system from the weld seam
The offset of weld seam is obtained with the image of the weld seam starting point to prestore, in the case where the offset exceedes threshold value, to the control
Device processed sends control instruction with the online compensation offset.
In further scheme, the system also includes rotary encoder, and the rotary speed of the encoder collection tube section, passes
The defeated rotary speed to the master system, the master system compare the speed and guide rod feed speed whether
Match somebody with somebody, in absence of such a match, produce control instruction to the controller to adjust feed speed.
In further scheme, the online compensation offset includes on-line tuning guide rod position so that grinding head
Abrasive band place-centric is overlapping with Weld pipe mill.
In further scheme, which further includes analog module and submissive pressing device, wherein, analog module connects
The master system and submissive pressing device are connected to, the compression from master system is transmitted and instructs to the submissive compression dress
Put, which is based on compression instruction and compresses the cylinder section.
In further scheme, which further includes digital module and alarm valve, which is connected to upper
Machine system and alarm valve, rotary speed of the master system in the case where the offset exceedes threshold value or in cylinder section
Alarm signal is produced in the case of null, the digital quantity mould transmits the alarm signal to alarm valve, which is based on should
Alarm signal is alarmed.
Compared with prior art, the present invention has at least the following advantages：
1st, in bruting process, the image of weld seam is detected by camera, at the beginning of comparing image and the weld seam to prestore of weld seam
The beginning image of position obtains offset, in the case where offset exceedes threshold value, online compensation offset, in this way,
Realize the precise positioning of weld seam, and then, realize high-precision, the efficient automatically grinding of helix weld seam.
2nd, it is proportional by the rotary speed of cylinder section and the feed speed of guide rod, reach speeds match, further
Realize high-precision, the efficient automatically grinding of helix weld seam.
If the 3, had skidded in bruting process, master system transmits to analog module and compresses instruction, this is submissive
Pressing device is based on compression instruction and compresses the cylinder section, solves the problems, such as that cylinder section is skidded.
4th, since rotary encoder monitors the rotary speed of cylinder section in real time, the speed of transmission cylinder section to master system.On
Whether position machine systematic comparison speed and the feed speed of guide rod match, and in absence of such a match, produce control instruction and give
The controller is to adjust feed speed.In this way, solve the problems, such as that cylinder section is not rotated according to specified speed, into one
Step realizes the high accuracy of weld seam and efficient automatically grinding.
Brief description of the drawings
Fig. 1 is the structure diagram of spiral inner wall weld grinding control system of the present invention；
Fig. 2 is the action schematic diagram of guide rod and grinding head；
Fig. 3 is a kind of flow chart of embodiment of spiral inner wall weld grinding control method of the present invention.
Embodiment
For technology contents, construction feature, institute's reached purpose and effect that the present invention will be described in detail, below in conjunction with embodiment
And attached drawing is coordinated to be described in detail.
The present invention is directed to technical problem existing in the prior art, there is provided a kind of spiral inner wall line weld grinding control method.
This method is directed to weld excursion, it is possible that cylinder section is not rotated according to specified speed in process, the feelings such as has skidded
Condition proposes solution, realizes high-precision, the efficient automatically grinding of helix weld seam.
The flow chart for spiral inner wall line weld grinding control method that the invention will now be described in detail with reference to the accompanying drawings.
First, in the present embodiment, as shown in Figure 1, spiral inner wall line weld grinding control system includes host computer system
System 1, servo-driver 2, servomotor 3, analog I/O module 4, submissive pressing device 5, analog module 6, alarm valve 7, rotation
Encoder 8, camera 9, controller 10.The servo-driver 2 and master system 1 and servomotor 3 connect, for driving
Servomotor 3 rotates, including active carriage drive, Feed servo system device, polishing head driver, corresponding, described to watch
Taking motor 3 includes active tray motor, feeding motor and grinding head motor.The analog I/O module 4 connects alarm valve 7 and described
Master system 1, controls for the alarm of equipment, prompting, movement of cylinder etc..The analog module 6 is connected to described soft
Along pressing device 5 and master system 1, for controlling submissive pressing device 5.
The master system 1 shows 3 motion state of current servo motor, the pressure state of submissive pressing device 5, alarm
The speed state that 7 state of valve, rotary encoder 8 are fed back, further includes state for the weld seam that camera 9 is monitored etc.；On described
Position machine system 1 also transmits control command to all controllable, that is, servomotors 3, submissive pressing device 5 etc..
The controller 10 is the key control unit of polishing system, can be in practical operation digital control system unit or
Motion control card, also or PLC etc. can serve as key control unit.The controller 10 receives and comes from master system 1
Control command, and convert thereof into the signal that servo-drive 2, analog I/O module 4, analog module 6 etc. can directly receive
Pattern；The controller 10 is also by the motion conditions of identification servomotor 3,7 situation of alarm valve, 5 situation of submissive pressing device, rotation
Turn 8 feedback of encoder etc., and be transmitted to master system 1, master system 1, which reads and shows, feeds back to technical staff.
Refer to Fig. 2 and Fig. 3 and combine Fig. 1, spiral inner wall line polishing control method of the present invention realizes that step is as follows：
The first step：Spiral inner wall line weld grinding control system initialize, confirm master system 1, servo-driver 2,
Servomotor 3, analog I/O module 4, submissive pressing device 5, analog module 6, alarm valve 7, rotary encoder 8 and camera 9
Whether corresponding communication is normal, under normal conditions, performs step 2.
Second step：Leveling is fixed：Cylinder section is hung on the fixed pedestal of equipment and carries out leveling, after leveling, passes through control
Cylinder clamping processed is fixed.Specifically, the master system 1, which produces, compresses instruction, the analog module transmits the compression and refers to
Order to the submissive pressing device 5, submissive pressing device 5 acts power according to compression instruction and compresses the cylinder section A.
3rd step：Starting point of polishing calibration：Start the motor of active bracket so that the starting point of weld seam is located at cylinder section circle
The bottom central point in face, stops the rotation of cylinder section；Start guide rod power set, guide rod 12 advances so that 11 row of grinding head
Proceed to the starting point of weld grinding so that the center line in abrasive band is overlapped with the edge of cylinder section；Specifically, in this step, actively
The motor of bracket has 4, and the master system 1 sends control instruction to 4 servo-drivers.Servo-driver receives control
Control instruction is transmitted after instruction to the motor (Fig. 2 show servomotor) of active bracket, four motors coordinate so that cylinder section A rotations
Turn.When the starting point B of weld seam is located at the bottom central point C of cylinder section rounded face, master system 1 produces control instruction and causes
The motor stalls of active bracket, and then, stop the rotation of cylinder section A.In this case, the control of master system 1 shooting
The starting point B of first 9 pairs of weld seams takes pictures to obtain the image of weld seam starting point, and the image is stored.Cylinder section A stops rotating
Afterwards, master system 1 to guide rod power set send control signal cause guide rod power set driving guide rod advance.Lead
Advance to bar so that being fed to the starting point B of weld grinding positioned at the grinding head for being oriented to boom end so that the sand of grinding head
Coincident with center line Yu cylinder section.
4th step：Start grinding head motor, submissive pressing device 5 commutates, and grinding head 11 is contacted with weld seam B surface, starts
The motor of feed apparatus (i.e. guide rod power set) and active bracket, is moved with matched speed；In this step, host computer
System 1 sends control instruction to servo-driver, and servo controller driving grinding head motor causes grinding head motor to rotate, separately
Outside, master system 1 also sends commutation instruction, the effect that the submissive pressing device is instructed in the commutation to analog module 6
Lower commutation, afterwards, grinding head 11 is contacted with the surface of weld seam B.In the present embodiment, the shape of weld seam L is circular helix,
Corresponding equation is：
Wherein, wherein a is the radius of cylinder, and P is the pitch of helix, and ω is the angular speed of cylinder section.Correspondingly, grinding head
Movement locus be also circular helix.Master system 1 sends rotating control instruction and feeding to servo-driver respectively
Control instruction.Guide rod power set are received feeding instruction control guide rod and are fed with certain speed.The electricity of active bracket
Machine receives rotating control instruction and application cylinder section rotates.Under the control of said instruction, the rotary speed and guide rod of cylinder section
12 feed speed matches, and in the present invention, the matching refers to that the rotary speed of cylinder section and the feed speed are proportional,
More specifically, the feed speed and the ratio of cylinder section angular velocity of rotation are P/2 π, when cylinder section have rotated with ω angular speed
One circle i.e. 360 °, then its corresponding feeding distance is a pitch P.Technical staff, which is appreciated that, is being oriented to bar feed and cylinder section
During rotating, the grinding head positioned at the end of guide rod is polished a motor driving and polishes weld seam.Grinding head electricity
Machine is servo-actuated device driving, it will be understood that drives the control signal of the servo-driver to come from the master system 1.
5th step：Detect the velocity feedback of rotary encoder 8, if match with the speed of motor output, if rotation
Speed is 0, then stops polishing, is excluded abnormal；If rotary speed is less than the speed of setting, the speed of feeding is adjusted, makes feeding
The rotating speed of speeds match, to continue to process；In this step, the rotary speed of the encoder collection tube section, transmission should
Rotary speed is to the master system, and the master system compares the speed and whether the feed speed of guide rod matches,
In absence of such a match, control instruction is produced to the controller to adjust feed speed.More specifically, controller pair
The pulse that rotary encoder 8 is fed back, which is counted and fed back, is shown in master system 1, and umber of pulse can be regarded as positional value,
And the umber of pulse in the unit interval, corresponding is rotating speed.The exception includes the situation that the offset exceedes threshold value
It is lower or inferior in the null situation of rotary speed of cylinder section, in the event of an anomaly, produce alarm signal, the number
Word amount mould transmits the alarm signal to alarm valve, alarm valve is alarmed based on the alarm signal.
6th step：The weld seam picture fed back in detection bruting process, if it is wide to detect that offset exceedes grinding head abrasive band
During the half of degree, then the position fed needs to carry out online compensation according to offset at this time；In this step, camera obtains
The picture of weld seam, transmits the picture of the weld seam to the master system 1.Master system 1 is from the image of the weld seam and prestores
Weld seam starting point image obtain weld seam offset, the offset exceed threshold value in the case of, the online compensation offset
Amount.In a kind of specific embodiment, the threshold value is the half of grinding head abrasive band width.Online compensation offset is included in
Line adjustment guide rod position so that grinding head abrasive band place-centric is overlapping with Weld pipe mill.
7th step：Continue to process after Abnormality remove, until feeding distance reaches setting position, machine.
8th step：Prepare the polishing processing of next section, repeat beginning second step to the 6th step and this tin section is added
Work is polished.
Based on the above method, those skilled in the art are further appreciated that invention additionally discloses a kind of spiral inner wall wire bonding seam
Polishing control system, it is characterized in that：The control system includes master system, controller and camera.The controller and upper
Position machine system connection, receives the control instruction from master system with the polishing in the rotary speed and guide rod of application cylinder section
The feed speed of head is so that rotary speed and feed speed matching.The camera is connected with master system, obtains weld seam
The image of starting point and the image for obtaining weld seam in bruting process in real time, transmit the image of starting point and the image that obtains in real time extremely
The master system.The master system obtains weld seam from the image of the weld seam and the image of the weld seam starting point to prestore
Offset, in the case where the offset exceedes threshold value, control instruction is sent with the online compensation offset to the controller.
In further scheme, the system also includes rotary encoder, and the rotary speed of the encoder collection tube section, transmits the rotation
Speed is to the master system, and the master system compares the speed and whether the feed speed of guide rod matches, not
In the case of matched, control instruction is produced to the controller to adjust feed speed.In further scheme, the online benefit
Repaying the offset includes on-line tuning guide rod position so that grinding head abrasive band place-centric is overlapping with Weld pipe mill.Into one
In step scheme, which further includes analog module and submissive pressing device, wherein, analog module is connected to the host computer
System and submissive pressing device, transmit the compression from master system and instruct to the submissive pressing device, the submissive compression
Device is based on compression instruction and compresses the cylinder section.In further scheme, which further includes digital module and alarm valve,
The digital module is connected to master system and alarm valve, and the master system exceedes the situation of threshold value in the offset
Alarm signal is produced down or in the case of the rotary speed of cylinder section is null, the digital quantity mould transmits the alarm signal extremely
Alarm valve, the alarm valve are alarmed based on the alarm signal.
In conclusion spiral inner wall line weld grinding control method of the present invention and system at least have the following advantages that：
1st, in bruting process, the image of weld seam is detected by camera, at the beginning of comparing image and the weld seam to prestore of weld seam
The beginning image of position obtains offset, in the case where offset exceedes threshold value, online compensation offset, in this way,
Realize the precise positioning of weld seam, and then, realize high-precision, the efficient automatically grinding of helix weld seam.
2nd, it is proportional by the rotary speed of cylinder section and the feed speed of guide rod, reach speeds match, further
Realize high-precision, the efficient automatically grinding of helix weld seam.
If the 3, had skidded in bruting process, master system transmits to analog module and compresses instruction, this is submissive
Pressing device is based on compression instruction and compresses the cylinder section, solves the problems, such as that cylinder section is skidded.
4th, since rotary encoder monitors the rotary speed of cylinder section in real time, the speed of transmission cylinder section to master system.On
Whether position machine systematic comparison speed and the feed speed of guide rod match, and in absence of such a match, produce control instruction and give
The controller is to adjust feed speed.In this way, solve the problems, such as that cylinder section is not rotated according to specified speed, into one
Step realizes the high accuracy of weld seam and efficient automatically grinding.
Claims (10)
1. spiral inner wall line weld grinding control method, it is characterized in that：This method comprises the following steps：
The image for the weld seam starting point that prestores；
In the case of the feed speed of grinding head in the rotary speed and guide rod of cylinder section is matched, polishing welding seams simultaneously obtain in real time
The image of weld seam is obtained, the image of image and the weld seam starting point to prestore from the weld seam obtains the offset of weld seam, in the offset
In the case that amount exceedes threshold value, the online compensation offset.
2. spiral inner wall line weld grinding control method according to claim 1, it is characterized in that：The threshold value is grinding head
The half of abrasive band width.
3. spiral inner wall line weld grinding control method according to claim 1 or 2, it is characterized in that：The online compensation
The offset includes on-line tuning guide rod position so that grinding head abrasive band place-centric is overlapping with Weld pipe mill.
4. spiral inner wall line weld grinding control method according to claim 1, it is characterized in that：The weld seam is spiral
Line, its corresponding equation areWherein, a is the radius of cylinder section, and P is the pitch of helix, and ω is cylinder section
Angular speed during rotation, the feed speed matching of the grinding head in the rotary speed and guide rod of the cylinder section is specifically cylinder section
Rotary speed and the feed speed are proportional.
5. spiral inner wall line weld grinding control method according to claim 4, it is characterized in that：The feed speed and cylinder
The ratio of section angular velocity of rotation is P/2 π, when cylinder section have rotated a circle i.e. 360 ° with ω angular speed, then its corresponding feeding distance
For a pitch P.
6. spiral inner wall line weld grinding control system, it is characterized in that：The control system includes master system, controller and takes the photograph
As head, wherein,
The controller is connected with master system, receives the control instruction from master system with the rotation speed of application cylinder section
The feed speed of grinding head on degree and guide rod is so that rotary speed and feed speed matching；
The camera is connected with master system, is obtained the image of weld seam starting point and is obtained weld seam in bruting process in real time
Image, transmits the image of starting point and the image that obtains in real time is to the master system；
The master system obtains the offset of weld seam from the image of the weld seam and the image of the weld seam starting point to prestore, at this
In the case that offset exceedes threshold value, control instruction is sent with the online compensation offset to the controller.
7. spiral inner wall line weld grinding control system according to claim 6, it is characterized in that：The system also includes rotation
Turn encoder, the rotary speed of the encoder collection tube section, transmits the rotary speed to the master system, the host computer
Whether the systematic comparison speed and the feed speed of guide rod match, and in absence of such a match, produce control instruction to described
Controller is to adjust feed speed.
8. spiral inner wall line weld grinding control system according to claim 6, it is characterized in that：This is inclined for the online compensation
Shifting amount includes on-line tuning guide rod position so that grinding head abrasive band place-centric is overlapping with Weld pipe mill.
9. spiral inner wall line weld grinding control system according to claim 6, it is characterized in that：The system further includes simulation
Module and submissive pressing device are measured, wherein, analog module is connected to the master system and submissive pressing device, and transmission comes
Instructed from the compression of master system to the submissive pressing device, which is based on described in compression instruction compression
Cylinder section.
10. spiral inner wall line weld grinding control system according to claim 6, it is characterized in that：The system further includes number
Word amount module and alarm valve, the digital module are connected to master system and alarm valve, and the master system is described inclined
Alarm signal, the digital quantity are produced in the case that shifting amount exceedes threshold value or in the case of the rotary speed of cylinder section is null
Mould transmits the alarm signal to alarm valve, alarm valve is alarmed based on the alarm signal.
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| CN201711296769.2A CN108032147B (en) | 2017-12-08 | 2017-12-08 | Spiral inner wall line weld grinding control method and device |
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| CN201711296769.2A CN108032147B (en) | 2017-12-08 | 2017-12-08 | Spiral inner wall line weld grinding control method and device |
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| CN108032147B CN108032147B (en) | 2019-10-25 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109702580A (en) * | 2018-12-13 | 2019-05-03 | 上海航天设备制造总厂有限公司 | Large-caliber spiral welding aluminum alloy pipe inside weld and inner wall grinding device and method |
| CN111300194A (en) * | 2020-02-20 | 2020-06-19 | 深圳市智能机器人研究院 | System and method for controlling pipeline polishing robot |
| CN111644942A (en) * | 2020-02-28 | 2020-09-11 | 宝鸡宇喆工业科技有限公司 | Grinding method of automatic grinding robot for straight weld steel pipe end weld |
| CN117961724A (en) * | 2024-04-02 | 2024-05-03 | 山东沃亚森曼机械科技有限公司 | Polishing device and polishing method for inner weld joint of pipe end of spiral pipe |
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| CN109702580A (en) * | 2018-12-13 | 2019-05-03 | 上海航天设备制造总厂有限公司 | Large-caliber spiral welding aluminum alloy pipe inside weld and inner wall grinding device and method |
| CN111300194A (en) * | 2020-02-20 | 2020-06-19 | 深圳市智能机器人研究院 | System and method for controlling pipeline polishing robot |
| CN111644942A (en) * | 2020-02-28 | 2020-09-11 | 宝鸡宇喆工业科技有限公司 | Grinding method of automatic grinding robot for straight weld steel pipe end weld |
| CN117961724A (en) * | 2024-04-02 | 2024-05-03 | 山东沃亚森曼机械科技有限公司 | Polishing device and polishing method for inner weld joint of pipe end of spiral pipe |
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