CN111390710A - Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe - Google Patents

Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe Download PDF

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Publication number
CN111390710A
CN111390710A CN202010129460.XA CN202010129460A CN111390710A CN 111390710 A CN111390710 A CN 111390710A CN 202010129460 A CN202010129460 A CN 202010129460A CN 111390710 A CN111390710 A CN 111390710A
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CN
China
Prior art keywords
grinding
steel pipe
weld
wheel
freedom
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Granted
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CN202010129460.XA
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Chinese (zh)
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CN111390710B (en
Inventor
原小红
张瑾宇
朱雅光
刘成坤
何旭
向志强
刘杨洋
李红军
王向阳
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Baoji Yuzhe Industrial Technology Co ltd
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Baoji Yuzhe Industrial Technology Co ltd
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Priority to CN202010129460.XA priority Critical patent/CN111390710B/en
Publication of CN111390710A publication Critical patent/CN111390710A/en
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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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/002—Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
    • 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
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/02—Machines or devices using grinding or polishing belts; Accessories therefor for grinding rotationally symmetrical surfaces
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
    • 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
    • B24B41/02—Frames; Beds; Carriages
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

The invention provides a grinding method of an automatic grinding robot for spiral weld joints at the ends of spiral steel pipes, which adopts a two-degree-of-freedom fine grinding actuating mechanism provided with a laser profiler at an actuating end of a multi-degree-of-freedom manipulator, improves the grinding precision of the manipulator while simplifying motion control, overcomes the technical problems that the quality of weld joints at the ends of the spiral steel pipes ground by the multi-degree-of-freedom grinding manipulator in the prior art cannot meet the process index requirements specified by API Spec 5L standard and GBT 97111-1997 standard, and still needs manual secondary grinding.

Description

Grinding method of automatic grinding robot for spiral weld at end of spiral steel pipe
Technical Field
The invention belongs to the technical field of operation, transportation, grinding and polishing processes, and particularly relates to a grinding method of an automatic grinding robot for spiral weld joints at pipe ends of spiral steel pipes.
Background
According to the spiral steel pipe, in order to meet the welding quality of the next steel pipe butt-joint and girth welding of the spiral steel pipe end, the API Spec 5L standard and the GBT 97111-1997 standard are both specified specifically, for example, the welding seam of the spiral steel pipe end with the diameter of 508mm is polished, firstly, the weld reinforcement within the length range of at least 150mm from the pipe end of the spiral welded pipe is removed, namely, the axial grinding depth of the pipe end of the spiral steel pipe is required, secondly, the welding bead after grinding treatment cannot be lower than the outer circumferential surface of the pipe body base metal, namely, the grinding weld reinforcement cannot damage the base metal, and moreover, the residual height of the welding bead exceeding the surface of the steel pipe after grinding treatment is less than 0.5mm, so that the durable use requirement of uniform radial stress distribution of the steel pipe is met to the maximum.
However, in the prior art, in the market, the grinding precision of the equipment which directly carries the grinding head by means of the manipulator to complete automatic grinding is generally insufficient, so that the welding bead residual height after grinding is too high, the welding bead residual height still needs to be manually secondarily ground or the base metal of the welded pipe is damaged, and the steel pipe is scrapped, namely, the fully automatic grinding precision and technical index requirements which are in accordance with the specification of the API Spec 5L standard and the GBT 97111-1997 standard cannot be realized.
Take a robot polishing system with three-dimensional vision disclosed in publication No. CN109483369A and a control method thereof, and a robot polishing system with three-dimensional vision disclosed in publication No. CN109483369A and a control method thereof as examples: the two technical schemes both adopt a pneumatic polishing technology; although there are certain advantages in flexible output; however, due to the compressibility of the gas, the gas in the pneumatic actuator is easily fluctuated by the change of the external environment temperature, so that the stability of the natural frequency of the pneumatic system is poor, and the final polishing linearity output is not ideal. Moreover, the system performance is not stable due to the serious crawling influence of the low-speed operation of the friction force of the air cylinder of the pneumatic actuating mechanism, so that the reliability of high-precision grinding is restricted. Therefore, the requirements of high-precision and reliable automatic polishing of the weld joint at the end of the spiral steel pipe with the inner weld bead within 0.5mm height after high-precision smooth polishing without damaging the base metal can not be met.
In addition, the robot polishing system with three-dimensional vision disclosed in publication No. CN109483369A and the control method thereof are characterized in that a multi-degree-of-freedom manipulator is adopted to directly carry a grinding wheel for polishing, due to the precision limitation of the manipulator motion trajectory planning and the additional corner increment generated by the joint due to the elastic deformation of each joint trajectory sensor, the displacement generated by the corner increment will be amplified by the arm length of each execution unit of the multi-degree-of-freedom manipulator, so that the precision of polishing by directly carrying a grinding head by the multi-degree-of-freedom manipulator is limited, and the technical requirements that can be met by manual polishing cannot be completely replaced. Thirdly, grinding by using a grinding wheel; the grinding wheel and the welding line of the steel pipe are polished in point contact, the grinding efficiency is low, the replacement cost of the grinding wheel is high, and the power utilization rate of a machine tool is not ideal. In view of this, the following improvement is proposed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a grinding method of an automatic grinding robot for spiral weld joints at the ends of spiral steel pipes, wherein a two-degree-of-freedom finish grinding executing mechanism with higher grinding ratio for grinding by using an abrasive belt is arranged at an executing end of a multi-degree-of-freedom manipulator, the grinding precision of the manipulator is improved by simplifying motion control, and the technical problem that the quality of weld joints at the ends of spiral steel pipes ground by the multi-degree-of-freedom grinding manipulator in the prior art cannot meet the process index requirements specified by API Spec 5L standard and GBT 97111-1997 standard and still needs manual secondary grinding is solved.
The technical scheme adopted by the invention is as follows: the grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe is characterized by comprising the following steps of:
s001, determining the position of the steel pipe, namely automatically grinding the welding line at the end of the spiral steel pipe, which comprises an upper computer, a P L C, a motion control card, a manipulator (1), a non-contact laser contourgraph and a two-degree-of-freedom grinding platform carrying a grinding mechanism to vertically move along the axial direction and the normal space, inputting the diameter of the steel pipe into the upper computer of the automatic grinding robot at the end of the spiral steel pipe, controlling the manipulator by the upper computer, fixing the carried two-degree-of-freedom grinding platform by an execution end of the manipulator to move from a zero position to an initial position, and scanning by the laser contourgraph to determine the position of the detected steel;
step S002, planning a trajectory: the manipulator determines the translational motion of the detected position of the steel pipe according to the scanning of the laser profiler, calculates the circle center of the steel pipe and the highest point of the steel pipe according to the diameter of the steel pipe, records the coordinate information of a specific point by an upper computer and establishes a coordinate system of the steel pipe to be polished, so that the circular arc track of the manipulator concentrically moves around the outer circumferential surface of the steel pipe to be polished is planned.
Step S003, pipe end searching: after the manipulator carries the two-degree-of-freedom grinding platform and translates to a position right above the 12 th point of the highest point of the steel pipe, the manipulator translates along the axial direction of the steel pipe to search and position the end of the steel pipe;
step S004, identifying the pipe end: an X-axis horizontal speed reducing motor in the two-degree-of-freedom grinding platform drives an axial mechanism to drive a grinding mechanism to translate to a grinding section distance which is a certain distance away from the axial depth of a pipe end;
s005, scanning a starting point, namely controlling the rotation of the steel pipe by P L C, searching a welding seam by a laser profiler, and determining a welding seam grinding starting point;
step S006, weld joint tracking scanning and tracking scanning end: according to the scanning result of the laser contourgraph, the grinding mechanism in the two-degree-of-freedom grinding platform drives the axial mechanism to drive the grinding mechanism to move horizontally by an X-axis horizontal speed reducing motor in the two-degree-of-freedom grinding platform, and the two-degree-of-freedom grinding platform is matched with a manipulator to move according to a planned circular arc track; the two-degree-of-freedom grinding platform positions and tracks the weld according to a laser profiler weld detection tracking visual algorithm, records weld characteristic point information and weld surplus height and toe point information, scans to generate a weld 3D image, and finishes tracking and scanning until the two-degree-of-freedom grinding platform detects and tracks the weld to a pipe end weld end point;
step S007, finishing weld grinding and grinding: the manipulator and the two-degree-of-freedom grinding platform return to the initial point of the welding seam through the axial mechanism, a grinding head of the grinding mechanism is started and moves to the initial point of the welding seam, the manipulator moves according to the planned circular arc track, the axial mechanism of the two-degree-of-freedom grinding platform moves at a matched speed, and a Z-axis vertical speed reduction motor in the two-degree-of-freedom grinding platform drives the normal mechanism to drive the grinding head of the grinding mechanism to feed to the surface of the welding seam to carry out welding seam grinding operation;
step S008, secondary grinding operation: and after the first grinding is finished, stopping the grinding head of the grinding mechanism, scanning by a laser profiler to detect the extra height of the welding line, and carrying out secondary grinding operation if the extra height of the welding line is more than 0.5 mm.
In the above technical solution, to further improve the accuracy of scanning and trajectory planning: the laser profiler weld joint detection tracking visual algorithm in the automatic spiral steel pipe end weld joint grinding robot in the step S006 includes: the method comprises the steps of firstly, filtering acquired laser profilometer data; and (3) algorithm II: fitting the filtered data and solving the square sum of the residual errors of the filtered data; and (3) algorithm III: if the sum of the squares of the residual errors is smaller than the welding seam identification threshold value, the welding seam does not exist in the area; if the sum of the squares of the residual errors is larger than the welding seam identification threshold value, the welding seam exists in the area; and (4) algorithm four: if the welding seam exists, averaging the data collected in the area where the welding seam is located to divide the welding seam area; and (5) algorithm five: after the welding seam area is divided, the welding seam characteristic point area and the welding seam turning point area are obtained; and (6) algorithm six: judging straight lines in the turning point area to determine characteristic points and left and right toe points of the welding line; and (3) an algorithm is seven: and (4) calculating the weld reinforcement according to the straight line judgment of the weld turning point region, the characteristic points and the left and right toe points of the weld, and ending the algorithm.
In the above technical solution, further: step S006 is that the upper computer acquires the position difference between the laser contourgraph and the polishing working point of the polishing mechanism; the two-degree-of-freedom grinding platform controls the X-axis horizontal speed reducing motor to drive the axial mechanism to drive the grinding mechanism to axially and horizontally move, so that the grinding mechanism moves to the initial position when the laser contourgraph scans a weld joint, and the upper computer controls the X-axis horizontal speed reducing motor to move to complete position compensation.
In the above technical solution, further: for compact, miniaturized, stable, lightweight design grinding mechanism to make things convenient for the change of abrasive band: the grinding mechanism in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is provided with a driving wheel, a grinding wheel and an adjusting wheel which are distributed in a triangular shape, and the driving wheel, the grinding wheel and the adjusting wheel are externally wrapped with tensioning installation abrasive belts; the polishing wheel is driven by a Z-direction three-axis cylinder to realize linear tensioning displacement adjustment of the polishing wheel in the Z-axis direction; the adjusting wheel pushes one end of an adjusting wheel shaft to rotate around a hinge point at the other end of the adjusting wheel shaft by rotating a hand wheel so as to prevent the abrasive belt wrapped on the adjusting wheel from deflecting; and the adjusting mechanism of the adjusting wheel consists of a hand wheel, a bolt, a nut, a joint bearing, an adjusting wheel shaft, a ball bearing I, a retainer ring for a bearing hole, a cylindrical pin, an adjusting wheel frame and an adjusting wheel.
In the above technical solution, further: for the installation and the change of conveniently polishing wheel: the grinding mechanism in the automatic grinding robot for the welding seams at the pipe ends of the spiral steel pipes is provided with a driving wheel, a grinding wheel and an adjusting wheel which are distributed in a triangular shape; and the driving wheel, the grinding wheel and the adjusting wheel are wrapped outside the tensioning installation abrasive belt; the grinding wheel is provided with an inverted U-shaped upper mounting frame; the top end of the upper mounting frame is fixedly connected with an execution end of a Z-direction triaxial cylinder which is vertically and downwards mounted; a lower mounting frame used for clamping and fixedly mounting the polishing wheel shaft up and down is arranged opposite to the upper mounting frame up and down; the opposite clamping ends of the upper mounting frame and the lower mounting frame are respectively provided with a wheel axle groove matched with the grinding wheel axle in size; shaft bodies at two ends of the polishing wheel shaft are horizontally and fixedly installed in a clamping manner by using two lower fastening bolts respectively in upper and lower wheel shaft grooves of the upper and lower mounting frames; the middle part of the polishing wheel shaft body is coaxially and rotatably supported and provided with a polishing wheel through a ball bearing II; a rubber layer is arranged on the outer circumference of the grinding wheel body; and the shaft end of the ball bearing II is matched with the retainer ring for the mounting hole and the shaft end cover.
In the above technical solution, preferably: in order to guarantee the polishing precision: the axial mechanism and the normal mechanism in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe respectively form a rotation and linear displacement conversion mechanism by a guide rail, a guide rail slide block, a screw rod and a screw rod slide block.
According to the technical scheme, the axial and normal displacement mechanism of the two-degree-of-freedom grinding platform is designed for reliability, stability, light weight, compactness and miniaturization, the two-degree-of-freedom grinding platform in the spiral steel pipe end welding seam automatic grinding robot is provided with a rack with a hollow frame structure, the bottom end of the inner side of an axial horizontal rack body of the rack is matched with two groups of horizontal guide rail sliders through two groups of horizontal guide rails which are parallel to each other in a sliding mode, the two groups of horizontal guide rail sliders are fixedly connected with two front and rear inverted L type horizontal slider connecting plates in a front-rear axial symmetry mode respectively, the front and rear inverted L type horizontal slider connecting plates are fixedly connected with a front vertical mounting side plate and a rear vertical mounting side plate of a grinding mechanism respectively, a pair of vertical slide rails and a pair of vertical guide rail sliders are vertically and symmetrically mounted on the inner side plates of the front and rear vertical mounting side plates respectively in a sliding mode, one side of one vertical guide rail slider is fixedly connected with a vertical lead screw slider, the vertical lead screw slider is rotatably matched with a vertical lead screw slider, the vertical lead screw slider is rotatably supported and mounted on the inner side of the mounting side plate through a vertical lead screw mounting base plate, the vertical lead screw mounting base plate fixedly connected with a vertical lead screw mounting base plate, the vertical lead screw mounting side of the grinding mechanism, the vertical lead screw mounting side of the vertical lead screw mounting side plate is connected with a vertical lead screw mounting side plate, the vertical lead screw mounting side of the vertical lead screw mounting.
In the above technical solution, further: the frame of the two-degree-of-freedom grinding platform is designed for light weight and beautification: the frame in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is made of high-strength aluminum alloy; the frame comprises a left frame and a right frame with hollow structures, a supporting frame fixedly connected between the left frame and the right frame and used for front and back horizontal supporting, and a sealing cover shell for packaging the left frame, the right frame and the top of the supporting frame; wherein the outer side of the supporting frame is coated with a layer of aluminum alloy skin; a manipulator connecting seat with a hollowed-out right-angled triangular structure is fixedly arranged on the horizontal left side of the rack; the manipulator connecting seat is used for horizontally installing the two-degree-of-freedom grinding platform at the execution tail end of the manipulator.
In the above technical solution, further: in order to ensure the accuracy, stability and reliability of accurate grinding: an axial mechanism of a two-degree-of-freedom grinding platform in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is fixedly provided with a left limit proximity switch, a zero point proximity switch and a right limit proximity switch by taking a rack as a carrier; the front vertical installation side plate and the rear vertical installation side plate of the normal mechanism are used as carriers to fixedly install an upper limit proximity switch, a zero point proximity switch and a lower limit proximity switch.
In the above technical solution, preferably: to ensure the reliability of the visual data acquisition: the laser contourgraph in the automatic grinding robot for the welding line at the end of the spiral steel pipe is fixedly connected with the driving wheel, the grinding wheel and the supporting structure of the grinding wheel positioned at the bottommost end in the grinding mechanism in triangular distribution, and the supporting structure is connected into a whole.
Compared with the prior art, the grinding method of the automatic grinding robot for the spiral weld at the pipe end of the spiral steel pipe is designed, the two-degree-of-freedom finish grinding executing mechanism adopting abrasive belt grinding is installed at the executing end of the multi-degree-of-freedom manipulator, the grinding precision of the manipulator is improved while the motion control of the manipulator is simplified, the technical problem that the quality of weld beads at the pipe end of the spiral steel pipe ground by the multi-degree-of-freedom grinding manipulator in the prior art cannot meet the process index requirements specified by API Spec 5L standard and GBT 97111-1997 standard is solved, the manual secondary grinding is still needed, the abrasive belt ground by the abrasive belt has a tensioning adjusting function and an abrasive belt deviation rectifying function, the abrasive belt is easy and convenient to replace and maintain, and the requirements of high precision, high efficiency, high reliability and automatic identification for automatic.
Compared with the prior art, the invention can realize the following effects:
1. the method can save the subsequent manual fine grinding and polishing steps on the basis of machine grinding, realize the high-precision full-automatic polishing and use of the welding seam of the spiral steel pipe, ensure that the surface of the polished welding seam does not damage the parent metal, ensure that the residual height after polishing is less than or equal to 0.1mm and is higher than the API Spec 5L standard and the GBT 97111-1997 standard requirements, and ensure that the polished surface is smooth and flat without damaging the parent metal of the steel pipe;
2. according to the scheme, the laser profiler 5 cooperates with a special detection algorithm, and compared with the detection equipment sold in the market, the highest precision of the detection equipment is 0.1mm, the detection with the precision of less than 0.05mm (measured value) is realized; powerful detection technical support is provided for high-precision weld grinding; moreover, the real-time control of the manipulator is guided by the laser profiler 5 in real time, so that the real-time track can be continuously corrected, and the tracking precision is improved as much as possible, thereby providing reliable guarantee for further improving the grinding precision of the welding seam; high-precision two-degree-of-freedom grinding platform 4: the allowable value of the axial control error of the grinding platform where the grinding head is located is less than 0.05mm, the allowable value of the normal control error is less than 0.01mm, and the allowable value is far higher than the precision requirement of the residual height of the welding seam, so that the realization of the grinding of the welding seam with high precision and high quality is ensured;
3. the scheme adopts abrasive belt grinding to replace grinding wheel grinding and grinding ratio to be improved by 4-10 times, and has high production efficiency, low replacement cost and high machine tool power utilization rate;
4. according to the scheme, the triangular grinding mechanism 3 adopts pneumatic vertical tensioning to adjust the height of the grinding wheel; a hand wheel is adopted to adjust an abrasive belt of an adjusting wheel to prevent the abrasive belt from deviating; the structure is compact, and the transmission is stable; the abrasive belt is easy and convenient to replace;
5. according to the scheme, the adjusting wheel is pushed by the hand wheel 331 to rotate around a hinge point of the cylindrical pin 338 at the other end of the adjusting wheel shaft 332 by rotating the hand wheel 331; the abrasive belt 34 is prevented from deviating; the structure is simple, the adjustment is convenient, and the device is economical and practical;
6. according to the scheme, the grinding wheel is clamped and horizontally and fixedly mounted by upper and lower mounting frames (3201 and 3203), and grinding wheel shaft assemblies including a check ring 3207 for a hole and a ball bearing II 3206 of a shaft end cover 3208 are convenient and convenient to disassemble, replace and mount; the maintenance is convenient; the structure is stable and reliable;
7. the transmission of the two-degree-of-freedom grinding platform 4 is precise, stable and reliable; the guide support structure of the double-sliding-rail sliding block is cooperated to act together; the requirements of the two-degree-of-freedom grinding platform on the adjustment of the axial and normal displacement mechanisms for accurate, stable and reliable grinding displacement can be met;
8. the aluminum alloy frame 41 is adopted in the scheme, so that the structure is compact; the light weight, reliability and stability of the manipulator execution end are realized; the appearance is beautiful, and the support is stable and reliable; the universality of the two-degree-of-freedom grinding platform 4 and the integrated installation of the execution end of the multi-degree-of-freedom manipulator is ideal; mounting of a carrying grinding head through a horizontal extension part of the frame 41; the polishing and using requirements of the external spiral weld joint can be met; the inner spiral welding line can extend into the opening of the steel pipe to realize polishing of the inner spiral welding line;
9. the axial and normal displacement mechanisms of the scheme cooperate with zero point, left and right, upper and lower proximity switches to provide reliable guarantee for high-precision finish grinding, and the residual height of a welded seam after grinding can be controlled within 0-0.5mm which is far higher than the requirements of API Spec 5L standard and GBT 97111-1997 standard;
10. the scheme does not need complex cloud computing, and has the advantages of high precision, high strength, intelligent detection, real-time feedback, high response speed and the like;
11. according to the scheme, the laser contourgraph 5 is fixed at the bottom of the grinding mechanism 3; and reliable guarantee is provided for the accuracy and timeliness of data acquisition.
Drawings
FIG. 1 is a view showing a state of the automatic grinding robot for the weld of the end of the spiral steel pipe;
FIG. 2 is a perspective view of the two-degree-of-freedom grinding table of FIG. 1;
FIG. 3 is a left side view of the two-degree-of-freedom grinding platform of FIG. 2 with the robot connecting seat removed;
FIG. 4 is a perspective view of the internal structure of the two-degree-of-freedom grinding platform of FIG. 2;
FIG. 5 is a perspective view of the two-degree-of-freedom grinding table of FIG. 4;
FIG. 6 is a front perspective view of the sharpening mechanism;
FIG. 7 is a rear perspective view of the sharpening mechanism;
FIG. 8 is a back front view of the sharpening mechanism;
FIG. 9 is a top perspective view of the sharpening mechanism;
FIG. 10 is an adjustment schematic of a hand wheel adjustment mechanism of the adjustment wheel;
FIG. 11 is a front view of a hand wheel adjustment mechanism of the adjustment wheel;
FIG. 12 is a perspective view of a hand wheel adjustment mechanism of the adjustment wheel;
FIG. 13 is a schematic diagram of the cylinder tensioning of the grinding wheel in the sharpening mechanism;
FIG. 14 is a front view of the grinding wheel with the Z-axis cylinder removed;
FIG. 15 is a cross-sectional view of the mounting structure of the grinding wheel of FIG. 14;
FIG. 16 is a perspective view of the grinding wheel of FIG. 14;
FIG. 17 is a perspective view of the two-degree-of-freedom grinding platform axial displacement mechanism after the proximity switch is installed;
FIG. 18 is a front view of the two-degree-of-freedom grinding platform normal displacement mechanism after installation of proximity switches;
FIG. 19 is a process flow chart of the automatic grinding robot grinding method for the weld at the pipe end of the spiral steel pipe of the present invention;
FIG. 20 is a main control interface diagram of an upper computer of the automatic grinding robot for the weld joint at the pipe end of the spiral steel pipe;
FIG. 21 is a program interface diagram of a scanning part of the laser profiler of the automatic grinding robot for the weld at the pipe end of the spiral steel pipe according to the present invention;
FIG. 22 is a program interface diagram of a manipulator control part of the automatic grinding robot for the weld at the pipe end of the spiral steel pipe;
FIG. 23 is a block diagram of an L ABVIEW program of an automatic grinding robot for the weld at the end of the connecting spiral steel pipe;
FIG. 24 is a first flowchart of a servo control section according to the present invention;
FIG. 25 is a second flowchart of a servo control section according to the present invention;
FIG. 26 is a power supply diagram of the present invention using DC24V and DC48V power supplies;
FIG. 27 is an electrical layout of the main power supply circuit of the present invention;
FIG. 28 is an electrical wiring diagram of the encoder, power and brake of the horizontal axial reduction motor of the present invention;
FIG. 29 is a graph of the spatial trajectory of the spiral weld, the manipulator, the laser profiler (machine vision) of the spiral steel tube of the present invention;
FIG. 30 is a graph of the trajectory in three dimensions of the actual weld spiral of the present invention of FIG. 29;
FIG. 31 is a three-dimensional view showing the visual scanning result of the weld joint at the end of the spiral steel pipe according to the present invention;
FIG. 32 is a two-dimensional view showing the visual scanning result of the weld joint at the end of the spiral steel pipe according to the present invention;
FIG. 33 is a main control interface diagram of the automatic grinding robot for the weld at the end of the spiral steel pipe of the invention after scanning by an upper computer;
FIG. 34 is a two-dimensional view of a visual scan result after the weld grinding of the present invention;
FIG. 35 is a perspective view of a two-degree-of-freedom grinding platform mounted on a manipulator of the automatic grinding robot for the weld joint at the end of the spiral steel pipe.
Detailed Description
Specific embodiments of the present invention are described below in conjunction with fig. 1-35. It is to be understood that the following description of the embodiments is merely exemplary and not intended to limit the invention in any way.
The following examples are given to facilitate a better understanding of the invention, but do not limit the invention. The experimental procedures in the following examples are conventional unless otherwise specified. The components and materials used in the following examples are commercially available unless otherwise specified. The control circuit in the following embodiments is implemented in a conventional control manner unless otherwise specified.
In the present invention, without going to the contrary, it is understood that: the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," "disposed," and "provided" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. For example, they may be directly connected to each other or indirectly connected to each other through other intermediate members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe is characterized by comprising the following steps of: (see FIG. 1 in conjunction with FIG. 19) the techniques described herein are also described in various flow diagrams. For ease of discussion, certain operations are described in these flowcharts as different constituent steps performed in a particular order. These implementations are exemplary and not limiting. Certain operations may be grouped together and performed in a single operation, and certain operations may be performed in an order different than employed in the examples described in this disclosure.
S001, determining the position of the steel pipe, namely automatically grinding the weld joint at the end of the spiral steel pipe, which comprises an upper computer, a P L C, a motion control card, a manipulator 1, a non-contact laser contourgraph 5 and a two-degree-of-freedom grinding platform 4 carrying a grinding mechanism 3 to vertically move along the axial direction and the normal space, inputting the diameter of the steel pipe into the upper computer (see figure 20) of the automatic grinding robot at the end of the spiral steel pipe, controlling the manipulator 1 by the upper computer, moving the two-degree-of-freedom grinding platform 4 fixedly carried by an execution end of the manipulator 1 to the initial position from the zero position, and scanning by the laser contourgraph 5 to determine the position of the detected steel;
it should be noted that the upper computer is used for issuing and controlling control instructions of the mechanical arm 1 and each mechanism on the two-degree-of-freedom grinding platform 4, the upper computer is used for developing a friendly graphical user interface (shown in fig. 20) by using L ABVIEW, so that various instruments and equipment can be controlled in real time, various information can be displayed comprehensively, and real-time conditions can be mastered by an operator conveniently.
Step S002, planning a trajectory: the manipulator 1 determines the translational motion of the detected position of the steel pipe according to the scanning of the laser profiler 5, calculates the center of the steel pipe and the highest point of the steel pipe according to the diameter of the steel pipe, records coordinate information of specific points by an upper computer and establishes a coordinate system of the steel pipe to be polished, so that the circular arc track of the manipulator 1 concentrically moves around the outer circumferential surface of the steel pipe to be polished is planned;
step S003, pipe end searching: after the manipulator 1 carries the two-degree-of-freedom grinding platform 4 and translates to a position right above the 12-point highest point of the steel pipe under the guidance of the laser profiler 5, the manipulator 1 translates along the axial direction of the steel pipe to search and position the end of the steel pipe;
step S004, identifying the pipe end: an X-axis horizontal speed reducing motor 6 in the two-degree-of-freedom grinding platform 4 drives an axial mechanism 7 to drive a grinding mechanism 3 to translate to a grinding section distance which is as deep as 180mm from the axial depth of a pipe end; specifically, after the pipe end is found, the height position of a concentric circle is fixed above a point 12 away from the steel pipe through an upper computer control mechanical arm 1 and a two-degree-of-freedom grinding platform 4; the upper computer controls the mechanical arm 1 to drive the two-degree-of-freedom grinding platform 4 to translate 180mm towards the inner side of the steel pipe, wherein 180mm is larger than the left-right linear distance of the spiral angle of the grinding mechanism 3;
the method comprises the following steps of S005, scanning a starting point, controlling a Y-shaped roller for lifting the steel pipe to rotate by a P L C (see figure 1), finding a welding seam by a laser profiler 5 while rotating, determining a welding seam polishing starting point, controlling a roller motor for lifting the steel pipe to stop rotating by the P L C after the laser profiler 5 finds the welding seam, wherein the roller motor lifts the steel pipe by a Y-shaped roller lifting mechanism, actively rotates a driving roller fixedly connected with a power output shaft of the roller motor (the position is referred to as a roller speed reduction motor) in the Y-shaped roller, and controls the roller motor to stop stirring the steel pipe to rotate by the driving roller through the friction force between a driving roller wheel body made of rubber and the outer circumferential side wall of the steel pipe;
step S006, weld joint tracking scanning and tracking scanning end: according to the scanning result of the laser contourgraph 5, the polishing mechanism 3 in the two-degree-of-freedom grinding platform 4 drives the axial mechanism 7 to drive the polishing mechanism 3 to move horizontally by an X-axis horizontal speed reducing motor 6 in the two-degree-of-freedom grinding platform 4, and the two-degree-of-freedom grinding platform 4 and the mechanical arm 1 do concentric circular motion around the central axis of the spiral steel pipe as the center of a circle according to a planned circular arc track (see fig. 29); the two-degree-of-freedom grinding platform 4 positions and tracks the weld according to a weld detection and tracking visual algorithm of the laser profiler 5, and records weld characteristic point information and weld reinforcement and toe point information: specifically, the upper computer controls the mechanical arm 1 to drive the two-degree-of-freedom grinding platform 4 to move concentrically relative to the center line of the steel pipe in the direction of 12 points of the steel pipe; taking a point at any position on the spiral steel pipe through data collected and fed back by the laser profiler 5, and obtaining the coordinate of the point in a robot coordinate system; taking a point at any position, acquiring the coordinate of the point in a robot coordinate system, feeding data back to an upper computer through the coordinates of the two points and the known outer diameter of the spiral steel pipe, calculating the coordinate of the center point of the steel pipe circle by using a mathematical algorithm, and defining the point as a specific user coordinate system origin, wherein the three directions of the coordinate system are still the same as the directions of the robot coordinate system; generating a 3D image of the weld by software (see fig. 31); because the manipulator 1 moves in an arc shape concentric with the steel pipe, and simultaneously records the characteristic points of the welding seam (as shown in figure 32) according to the scanning data of the laser profiler 5; the axial horizontal speed reducing motor of the two-degree-of-freedom grinding platform 4 is guided and controlled by the characteristic information obtained by calculation, so that the laser profiler 5 carried by the two-degree-of-freedom grinding platform 4 moves in the horizontal direction, the laser profiler 5 is always kept right above the weld joint, the weld joint is continuously tracked and scanned, the whole scanning of the weld joint is completed, and the tracking and scanning are finished until the two-degree-of-freedom grinding platform 4 detects and tracks the weld joint to the end point of the weld joint at the pipe end.
Furthermore, the following steps are carried out: in the step S006, the upper computer obtains a position difference between the polishing working points of the laser profiler 5 and the polishing mechanism 3; the two-degree-of-freedom grinding platform 4 controls the X-axis horizontal speed reducing motor 6 to drive the axial mechanism 7 to drive the grinding mechanism 3 to move axially and horizontally, so that the grinding mechanism 3 moves to the initial position when the laser contourgraph 5 scans a weld joint, and the upper computer controls the X-axis horizontal speed reducing motor 6 to move to complete position compensation.
Step S007, finishing weld grinding and grinding: the mechanical arm 1 and the two-degree-of-freedom grinding platform 4 return to the initial point of the welding seam through the axial mechanism 7, the grinding head of the grinding mechanism 3 is started and moves to the initial point of the welding seam, the mechanical arm 1 moves according to a planned circular arc track, the axial mechanism 7 of the two-degree-of-freedom grinding platform 4 moves at a matched speed, and the Z-axis vertical speed reducing motor 8 in the two-degree-of-freedom grinding platform 4 drives the normal mechanism 9 to drive the grinding head of the grinding mechanism 3 to feed to the surface of the welding seam to carry out welding seam grinding;
it should be noted that: in the step, the upper computer controls the X-axis horizontal speed reducing motor 6 to move along the track when the welding seam is scanned, and simultaneously controls the Z-axis vertical speed reducing motor 8 to drive the normal mechanism 9 to drive the grinding head of the grinding mechanism 3 to automatically adjust the grinding height according to the welding seam height information obtained by scanning (as shown in figures 31 and 32); under the coordinated motion of the horizontal motor, the vertical motor and the manipulator, the whole two-degree-of-freedom grinding platform carries the grinding head of the grinding mechanism 3, and the welding line is ground under the driving of the grinding head motor, so that the requirement of high-precision grinding is met. Has the advantages that: the two-degree-of-freedom grinding platform 4 can self-adaptively search for the spiral weld seam through the coordinated work of machine vision, a horizontal motor and a vertical motor without knowing the spiral angle of the weld seam, so that the grinding precision is improved while the control is simplified. Moreover, the grinding mechanism 3 is a triangular abrasive belt and is provided with a Z-direction three-axis cylinder for tensioning, and the Z-direction three-axis cylinder not only provides convenience for replacing the abrasive belt, but also facilitates tensioning after replacing the abrasive belt; meanwhile, the Z-direction three-axis cylinder can also realize flexible grinding of the grinding mechanism 3; the polishing precision is high, the surface quality is good, and the parent metal is not damaged. Specifically, during flexible grinding, the Z-direction triaxial cylinder can be provided with a pressure sensor. The working principle of the flexible grinding is based on the prior art, and is not limited herein.
Step S008, secondary grinding operation: and after the first grinding is finished, stopping the grinding head of the grinding mechanism 3, scanning by the laser profiler 5 to detect the extra height of the welding line, and carrying out secondary grinding operation if the extra height of the welding line is more than 0.5 mm.
In the above embodiment, to further improve the accuracy of scanning and trajectory planning: the laser profiler 5 welding seam detection tracking visual algorithm in the automatic grinding robot for the welding seam at the end of the spiral steel pipe comprises the following steps: the method comprises the steps of firstly, filtering acquired laser profilometer data; and (3) algorithm II: fitting the filtered data and solving the square sum of the residual errors of the filtered data; and (3) algorithm III: if the sum of the squares of the residual errors is smaller than the welding seam identification threshold value, the welding seam does not exist in the area; if the sum of the squares of the residual errors is larger than the welding seam identification threshold value, the welding seam exists in the area; and (4) algorithm four: if the welding seam exists, averaging the data collected in the area where the welding seam is located to divide the welding seam area; and (5) algorithm five: after the welding seam area is divided, the welding seam characteristic point area and the welding seam turning point area are obtained; and (6) algorithm six: judging straight lines in the turning point area to determine characteristic points and left and right toe points of the welding line; and (3) an algorithm is seven: and (4) calculating the weld reinforcement according to the straight line judgment of the weld turning point region, the characteristic points and the left and right toe points of the weld, and ending the algorithm.
In the above embodiment, the grinding mechanism is designed for compactness, miniaturization, stability and light weight, and the abrasive belt is convenient to replace: the grinding mechanism 3 (shown in fig. 6, 7, 8 and 9) in the automatic grinding robot for the pipe end weld of the spiral steel pipe is provided with a driving wheel 31, a grinding wheel 32 and an adjusting wheel 33 which are distributed in a triangular shape, and the driving wheel 31, the grinding wheel 32 and the adjusting wheel 33 are wrapped with a tensioning installation abrasive belt 34; the grinding wheel 32 is driven by a Z-direction three-axis cylinder 321 to realize the linear tensioning displacement adjustment of the grinding wheel 32 in the Z-axis direction; the adjusting wheel 33 pushes one end of the adjusting wheel shaft 332 to rotate around the hinge point at the other end of the adjusting wheel shaft 332 by rotating the hand wheel 331 so as to prevent the abrasive belt 34 wrapped on the adjusting wheel 33 from deflecting (as shown in fig. 10); the adjusting mechanism of the adjusting wheel 33 consists of a hand wheel 331, a bolt 334, a nut 335, a knuckle bearing 336, an adjusting wheel shaft 332, a ball bearing I337, a retainer ring 333 for a bearing hole, a cylindrical pin 338, an adjusting wheel frame 339 and an adjusting wheel 332; one end of the adjusting wheel shaft 332 is hinged and rotatably connected with an adjusting wheel frame 339 through a cylindrical pin 338, and the other end of the adjusting wheel shaft 332 is connected with the output end of a joint bearing 336; the input end of the joint bearing 336 is connected with a screw pair of a feed screw nut consisting of a nut 335, a bolt 334 and a hand wheel 331.
When in use: the adjusting wheel (as shown in fig. 10) is pushed by the hand wheel 331 to rotate around the hinge point of the cylindrical pin 338 at the other end of the adjusting wheel shaft 332 by rotating the hand wheel 331; the highest point of the adjusting wheel mounted on the adjusting wheel shaft 332 through the bearing rotating support is coincided with the center of the abrasive belt, so that the abrasive belt 34 wrapped on the adjusting wheel 33 is prevented from deviating; the hand wheel 331 is limited and fixed relative to the top end of the adjusting wheel frame 339 and can only rotate; the bolt 334 screwed with the hand wheel 331 and the nut 335 vertically displaces relative to the adjusting wheel frame 339, and drives the right end of the adjusting wheel shaft 332 to swing upwards or downwards around the cylindrical pin 338 at the left end of the adjusting wheel shaft 332 through the knuckle bearing 336 fixedly connected with the bottom end of the bolt 334, so that the abrasive belt 34 wrapped on the adjusting wheel 33 is prevented from deviating; simple structure, convenient adjustment, economy and practicality.
When in use: the grinding of the abrasive belt 34 is adopted to replace grinding wheel grinding, and compared with grinding wheel grinding, the grinding ratio of the abrasive belt 34 is 4-10 times of that of the grinding wheel, so that the abrasive belt 34 has the advantages of high productivity, low replacement cost and high machine tool power utilization rate. The abrasive belt grinding wheel set of the grinding mechanism 3 consists of a grinding wheel with pneumatic tension adjusting function, a driving wheel driven by a motor to rotate and an adjusting wheel with deviation rectifying adjusting function which are distributed in a triangular manner; the structure is compact, and the transmission is stable; when the abrasive belt is replaced, the abrasive belt is easily disassembled by retracting a piston rod of the Z-direction three-axis cylinder; the abrasive belt is easy and convenient to replace.
In the above embodiment, to facilitate the installation and replacement of the grinding wheel 32: the grinding mechanism 3 in the automatic grinding robot for the welding seams at the pipe ends of the spiral steel pipes is provided with a driving wheel 31, a grinding wheel 32 and an adjusting wheel 33 which are distributed in a triangular shape; and the driving wheel 31, the grinding wheel 32 and the adjusting wheel 33 are wrapped with a tension installation abrasive belt 34; (see fig. 14, 15, 16) the grinding wheel 32 has an inverted U-shaped upper mounting frame 3201; the top end of the upper mounting rack 3201 is fixedly connected with the execution end of the Z-direction triaxial cylinder 321 which is vertically and downwards mounted; a lower mounting rack 3203 for clamping and fixedly mounting the grinding wheel shaft 3202 up and down is arranged opposite to the upper mounting rack 3201 up and down; the opposite clamping ends of the upper mounting frame 3201 and the lower mounting frame 3203 are respectively provided with an axle groove 3204 matched with the grinding axle 3202 in size; shafts at two ends of the grinding wheel shaft 3202 are clamped, clamped and horizontally and fixedly installed in upper and lower wheel shaft grooves 3204 of upper and lower mounting frames 3201 and 3203 by two lower fastening bolts 3205 respectively; the middle part of the grinding wheel shaft 3202 is coaxially and rotatably supported and provided with a grinding wheel 32 through a ball bearing II 3206; the grinding wheel 32 is provided with a rubber layer on the outer circumference; and the shaft end of the ball bearing II 3206 is matched with a retainer ring 3207 for a mounting hole and a shaft end cover 3208. Namely, the sanding wheel tensions the sanding belt 34 through the Z-direction three-axis cylinder 321; when the abrasive belt is replaced, the abrasive belt is easily disassembled by retracting a piston rod of the Z-direction three-axis cylinder; the abrasive belt is easy and convenient to replace.
When in use: (see fig. 15) the grinding wheel adopts an upper wheel shaft groove 3204 and a lower wheel shaft groove 3204 of an upper mounting frame 3201 and a lower mounting frame 3203 to clamp up and down and horizontally and fixedly mount a grinding wheel shaft 3202 by using an upward lower fastening bolt 3205; a grinding wheel 32 is coaxially and rotatably supported and mounted on the grinding wheel shaft 3202 through a ball bearing II 3206; the polishing wheel is firmly installed; the wheel body supporting structure is stable and reliable; the grinding wheel, the grinding wheel shaft assembly comprising the ball bearing II 3206, the hole retainer ring 3207 and the shaft end cover 3208 can be conveniently and quickly assembled, disassembled and installed; the maintenance is convenient; the structure is stable and reliable.
Preferably: in order to guarantee the polishing precision: the axial mechanism 7 and the normal mechanism 9 in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe respectively form a rotation and linear displacement conversion mechanism by a guide rail, a guide rail slide block, a screw rod and a screw rod slide block. Furthermore, as described later: the two-degree-of-freedom grinding platform 4 adopts screw pair transmission of a screw rod nut, and the transmission is precise, stable and reliable; the support device can cooperate with the reliable support of the parallel double-slide rail and double-slide block; the accurate, stable and reliable polishing displacement of the two-degree-of-freedom grinding platform 4 can be met.
In the embodiment, an axial and normal displacement mechanism of a two-degree-of-freedom grinding platform is designed for reliability, stability, light weight, compactness and miniaturization, a two-degree-of-freedom grinding platform 4 in an automatic grinding robot for pipe end welding seams of spiral steel pipes is provided with a rack 41 with a hollowed frame structure made of aluminum alloy, the bottom end of the inner side of an axial horizontal rack body of the rack 41 is matched with two groups of horizontal guide rail sliders 43 (shown in figures 4 and 5) in a sliding mode through two groups of horizontal guide rails 42 which are parallel to each other in a front-back direction, two groups of horizontal guide rail sliders 43 are fixedly connected with two front-back L-type horizontal slider connecting plates 44 in a front-back direction, the front-back L-type horizontal slider connecting plates 44 are fixedly connected with the front-back vertical installation side plates 301 of a grinding mechanism 3 in a sliding mode, a pair of vertical sliding rails 302 (shown in figure 8) are vertically parallel to the inner side plates of the front-back-side vertical installation side plate of the front-back L-mounting mechanism 3, the front-back vertical installation side-down horizontal slider mounting side installation side plate 301 is fixedly connected with a vertical installation side plate 301 of a vertical installation side installation plate of a vertical guide rail mechanism, a vertical guide rail mounting mechanism 309 is connected with a pair of a vertical sliding mechanism 309 which is connected with a vertical sliding rail mounting mechanism 309 which is connected with a vertical sliding mechanism, a vertical sliding rail mounting mechanism 309 which is connected with a vertical sliding rail mounting mechanism, a vertical sliding rail mounting base plate of a vertical sliding rail mounting base plate, a vertical sliding rail mounting base plate.
The grinding mechanism has the advantages that the axial mechanism and the normal mechanism respectively adopt double-sliding-rail sliding blocks, the double-sliding-rail sliding blocks provide linear guide on one hand and play a role in bearing on the other hand, the X-axis horizontal speed reducing motor 6 drives the horizontal screw rod 46 to rotate, the horizontal screw rod sliding block 45 converts the rotation motion into left-right linear motion, and the front vertical installation side plate 301 and the rear vertical installation side plate 301 are connected with the horizontal screw rod sliding block 45 through the front vertical installation side plate and the rear vertical installation side plate 301 so as to drive the whole triangular grinding head grinding mechanism 3 to horizontally move, wherein the front vertical installation side plate and the rear vertical installation side plate 301 are respectively fixed on the front horizontal guide rail sliding block 43 and the rear horizontal guide rail sliding block sliding.
Briefly, in use: the two parallel high-precision guide rails are respectively installed in the horizontal direction and the vertical direction, a high-precision lead screw is used in a matched mode, the motion straightness accuracy of the linear displacement mechanism driven by the vertical speed reducing motor and the horizontal speed reducing motor is good, the precision of a motor transmission system is greatly improved, and the high-precision requirement of polishing welding seams is met.
In the above embodiment, the frame of the two-degree-of-freedom grinding platform is designed for light weight and aesthetic appearance: a rack 41 in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is made of aluminum alloy; the frame 41 includes a left frame 411 and a right frame 411 (as shown in fig. 5 and fig. 4) with a hollow structure, a supporting frame 412 fixedly connected between the left frame 411 and the right frame 411 for front-back horizontal supporting, and a cover casing 413 for enclosing the top of the left frame 411, the top of the supporting frame 412 and the right frame 411; wherein the outer side of the supporting frame 412 is covered with a layer of aluminum alloy skin 4131 (as shown in fig. 1 and 2); a manipulator connecting seat 414 (shown in fig. 4 and 5) with a hollow right-angled triangle structure is fixedly installed on the horizontal left side of the rack 41; the robot connecting base 414 is used to horizontally mount the two-degree-of-freedom grinding table 4 at the end of the robot 1 (see fig. 1). The hollow design is carried out on the structural part and the bearing part, so that the structural weight is greatly reduced, and the lightweight of the system is facilitated.
Therefore, the aluminum alloy frame 41 is adopted to support the installation of the two-degree-of-freedom grinding platform 4; the structure is compact, the appearance is attractive, and the support is stable and reliable; the horizontal fixed support installation of the two-degree-of-freedom grinding platform 4 at the tail end of the multi-degree-of-freedom manipulator is light, compact, stable and reliable in structure; the universality of the integrated installation of the execution end of the multi-degree-of-freedom manipulator is ideal.
In the above embodiment, for the accuracy, stability, the reliability of guaranteeing accurate grinding: an axial mechanism 7 of a two-degree-of-freedom grinding platform 4 in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is fixedly provided with a left limit proximity switch 71, a zero point proximity switch 72 and a right limit proximity switch 73 by taking a rack 41 as a carrier; the normal mechanism 9 is fixedly provided with an upper limit proximity switch 91, a zero point proximity switch 92 and a lower limit proximity switch 93 by front and rear vertical installation side plates 301.
When the grinding machine is used, the two-degree-of-freedom grinding platform 4 cooperates with the zero-point proximity switch and the left and right or upper and lower proximity switches to jointly act, reliable guarantee is provided for the multi-degree-of-freedom manipulator to execute high-precision positioning and precision grinding of the two-degree-of-freedom grinding platform 4 at the tail end aiming at the spiral weld joint at the end of the spiral steel pipe, the residual height of the weld joint after grinding can be controlled within +0-0.5mm and is far higher than the API Spec 5L standard and the GBT 97111-1997 standard requirements.
In the above embodiment, preferably, in order to ensure the reliability of the visual data acquisition, the laser profiler 5 in the automatic grinding robot for the pipe end weld of the spiral steel pipe and the driving wheel 31, the grinding wheel 32 and the grinding wheel 32 at the bottommost end of the adjusting wheel 33 which are distributed in a triangular shape are fixedly connected into a whole, specifically, (as shown in fig. 9) the laser profiler 5 is fixedly connected with the upper mounting frame 3201 of the grinding wheel 32 of the grinding mechanism 3 or the outer side wall of the cylinder body of the Z-direction three-axis cylinder 321 of the grinding wheel 32 through the profiler mounting frame 501 with an L type structure into a whole, the scanning end of the laser profiler 5 is positioned below the outer side of the grinding mechanism 3 and always moves synchronously with the horizontal and vertical displacements of the grinding mechanism 3, when the automatic grinding robot is used, the laser profiler 5 is fixedly connected with the supporting structure of the grinding wheel 32 at the bottom end of the grinding mechanism 3 and moves along the axial direction and the normal direction of the grinding mechanism 3, and the reliability guarantee is provided for the accuracy and timeliness.
Compared with the prior art, the grinding method of the automatic grinding robot for the spiral weld at the pipe end of the spiral steel pipe is designed, the two-degree-of-freedom accurate grinding executing mechanism is installed at the executing end of the multi-degree-of-freedom manipulator, the grinding precision is improved while the motion control of the manipulator is simplified, the technical problem that the quality of a weld bead at the pipe end of the spiral steel pipe after being ground by the multi-degree-of-freedom grinding manipulator in the prior art cannot meet the process index requirements specified by the API Spec 5L standard and the GBT 97111-1997 standard is solved, and the technical problem of manual secondary grinding is solved.
On the basis, the polishing method adopts a two-degree-of-freedom grinding platform with machine vision which is horizontally arranged at the execution end of the multi-degree-of-freedom manipulator 1. When the grinding precision is improved, the motion control of the mechanical arm is relatively simple. Wherein, the laser profile instrument 5 is an inlet 2D laser profile instrument.
The invention has the advantages that: the two-degree-of-freedom grinding platform adopts a horizontal installation mode at the tail end execution end of the multi-degree-of-freedom manipulator 1, so that the grinding device not only can adapt to the grinding of the outer weld joint of the 508 spiral welded pipe with the outer minimum diameter, but also can realize the grinding of the inner weld joint of the spiral steel pipe: in addition, the whole two-degree-of-freedom grinding platform is designed in a small and light manner; the miniaturization installation is achieved; the grinding of the weld joint in the minimum diameter 508 is satisfied.
And then, the high-strength aluminum alloy structural part is matched with a high-strength firm connecting bolt, so that firm support and reliable horizontal installation of the two-degree-of-freedom grinding platform at the tail end of the manipulator are realized, and the structural stability of the two-degree-of-freedom grinding platform during grinding is ensured.
The two-degree-of-freedom grinding platform is provided with two parallel high-precision guide rails in the horizontal direction and the vertical direction respectively, and a high-precision lead screw is used in a matched manner, so that the precision of a motor transmission system is greatly improved, and the high-precision requirement of a grinding welding line is met.
The two-degree-of-freedom grinding platform frame 41 is designed in a hollow mode on the structural part and the bearing part, so that the structural weight is greatly reduced, and the light weight of the system is facilitated. The whole two-degree-of-freedom grinding platform is installed in a modular design, so that the whole system is more convenient to disassemble, assemble and maintain.
The zero-position proximity switch is additionally arranged at the specific position of the two-degree-of-freedom grinding platform, so that the horizontal and vertical motors have accurate initial positions in movement, and the precision is further guaranteed; the horizontal and vertical moving mechanisms are respectively provided with limit proximity switches for limiting the horizontal and vertical directions, so that the motion of the horizontal and vertical motors is effectively protected, the grinding head provided with the contourgraph cannot impact on the structural frame of the frame 41, and the overall safety of the structure is ensured.
The working principle is as follows: the full-automatic welding seam grinding robot system is characterized in that the overall structure of the full-automatic welding seam grinding robot system is a two-freedom-degree grinding platform which is composed of a manipulator, a feeding mechanism with a grinding head capable of translating along the normal direction and a moving mechanism with an axial translation, the grinding platform is provided with a high-precision laser profiler, a vision detection algorithm which is automatically developed is used for identifying and tracking welding seams and providing data support for motor feeding in the grinding process, and the two-freedom-degree grinding platform is controlled in the fully closed-loop position in the axial direction and the normal direction of. And the tracking of the spiral welding seam is realized by making an arc track through a manipulator, the axial motor tracks the welding seam along the axial motion, and the welding seam allowance is accurately polished by the normal motor according to the recorded welding seam allowance after the scanning is finished, so that the accurate polishing operation of the inner welding seam and the outer welding seam of the spiral welded pipe is completed.
In summary, the following steps: compared with the highest precision of 0.1mm of the detection equipment sold in the market, the laser profilometer 5 provided by the invention is cooperated with a special detection algorithm, so that the detection of the measured value with the precision of less than 0.05mm is realized; powerful detection technical support is provided for high-precision weld grinding; the manipulator 1 is controlled in real time and guided by the laser profiler 5 in real time, so that the real-time track can be continuously corrected, and the tracking precision is improved as much as possible, thereby providing reliable guarantee for further improving the grinding precision of the welding seam; high-precision two-degree-of-freedom grinding platform 4: the allowable value of the axial control error of the grinding platform where the grinding head is located is less than 0.05mm, the allowable value of the normal control error is less than 0.01mm, the requirement of the residual weld height is far higher than the requirement of the weld height, and the realization of high-precision and high-quality weld grinding is ensured.
The technical scheme has the advantages that on the basis of machine grinding, the subsequent manual fine grinding and polishing steps can be omitted, the full-automatic grinding and using of the spiral steel pipe welding line with high precision is realized, the grinding and polishing of the welding line surface is free from damaging a base material, the minimum residual height after grinding can be smaller than or equal to 0.1mm and is higher than the requirements of API Spec 5L standard and GBT 97111-1997 standard, the grinding surface is smooth and flat, the phenomena of damage and base material are avoided, the laser profiler 5 cooperates with a special detection algorithm, the detection precision is smaller than 0.05mm (actual measurement value) compared with the highest precision of detection equipment sold in the market, powerful detection technical support is provided for high precision grinding of grinding belt grinding, the manipulator 5 is guided in real time through the laser profiler 5, the real-time trajectory can be continuously corrected, the tracking precision is improved as much as possible, the grinding precision is further improved, the reliable guarantee is provided for further improvement of grinding precision of a grinding wheel maintenance of a grinding seam is provided, the grinding wheel, the grinding platform with high precision is improved, the axial control error allowance value of <0.05mm, the normal control allowance of the manipulator 5, the normal control error allowance is increased, the zero point of the manipulator, the manipulator is improved, the precision of the grinding wheel, the grinding wheel axis of the grinding wheel, the grinding wheel is improved precision of the grinding wheel, the grinding wheel axis of the grinding wheel, the grinding wheel axis of the grinding wheel, the grinding wheel with high precision of the grinding wheel, the grinding wheel axis of the grinding wheel, the grinding wheel with high precision of the high.
Referring to the drawings of the specification, it is to be noted that, referring to fig. 20, a friendly graphical user interface is developed by using L ABVIEW, so that various instruments and equipment can be controlled in real time, various information can be displayed comprehensively, and real-time conditions can be conveniently mastered by using and operating personnel, fig. 21 is a program interface diagram of a scanning part of a laser profiler for an automatic grinding robot for a pipe end weld of a spiral steel pipe, the diagram is used for a laser profiler for machine vision detection and identification, acquired measured data of machine vision is subjected to mathematical operation according to a plurality of algorithms developed and designed, and is used for pipe end identification, weld tracking, grinding head grinding control and the like, so that reliable data support is provided for planning of an accurate grinding path, fig. 22 is a program interface diagram of a manipulator control part of the automatic grinding robot for a pipe end weld of a spiral steel pipe, a manipulator control part, manipulator control, MOTOCOM32 software is integrated into L ABVIVIVIVIVIEW software, an offline manipulator is used for planning appropriate circular arc tracks and stabilizing movement according to requirements of grinding procedures, and is used for a main control mechanism of an ABDC power supply control mechanism 34, a power supply control mechanism, a power supply mechanism is provided for a grinding head control mechanism 34, a power supply control mechanism, a main power supply control mechanism, a power supply mechanism is provided for a grinding head control mechanism, a grinding machine control mechanism, a grinding head control mechanism, a grinding.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The above-mentioned embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and therefore, all equivalent changes made by the contents of the claims of the present invention should be included in the claims of the present invention.

Claims (10)

1. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe is characterized by comprising the following steps of:
s001, determining the position of the steel pipe, namely, automatically grinding the welding line at the end of the spiral steel pipe, which comprises an upper computer, a P L C, a motion control card, a manipulator (1), a non-contact laser contourgraph (5) and a two-degree-of-freedom grinding platform (4) carrying a grinding mechanism (3) to vertically move along the axial direction and the normal direction space, inputting the diameter of the steel pipe into the upper computer of the automatic grinding robot at the end of the spiral steel pipe, controlling the manipulator (1) by the upper computer, moving the two-degree-of-freedom grinding platform (4) carried by the execution end of the manipulator (1) to the initial position from the zero position, and scanning and determining the position of the detected steel pipe by the laser contourgraph (;
step S002, planning a trajectory: the mechanical arm (1) determines the translational motion of the detected position of the steel pipe according to the scanning of the laser contourgraph (5), the circle center of the steel pipe and the highest point of the steel pipe are obtained according to the diameter calculation of the steel pipe, the coordinate information of a specific point is recorded by an upper computer, and a coordinate system of the steel pipe to be polished is established, so that the circular arc track of the mechanical arm (1) which concentrically moves around the outer circumferential surface of the steel pipe to be polished is planned;
step S003, pipe end searching: after the manipulator (1) carries the two-degree-of-freedom grinding platform (4) to translate to a position right above the 12 highest point of the steel pipe, the manipulator (1) translates along the axial direction of the steel pipe to search and position the end of the steel pipe;
step S004, identifying the pipe end: an X-axis horizontal speed reducing motor (6) in the two-degree-of-freedom grinding platform (4) drives an axial mechanism (7) to drive a grinding mechanism (3) to translate to a grinding section distance which is a certain distance away from the axial depth of a pipe end;
s005, scanning a starting point, namely controlling the rotation of the steel pipe by P L C, searching a welding line by a laser contourgraph (5), and determining a welding line grinding starting point;
step S006, weld joint tracking scanning and tracking scanning end: according to the scanning result of the laser contourgraph (5), the grinding mechanism (3) in the two-degree-of-freedom grinding platform (4) drives the axial mechanism (7) to drive the grinding mechanism (3) to move horizontally by an X-axis horizontal speed reducing motor (6) in the two-degree-of-freedom grinding platform (4), and the two-degree-of-freedom grinding platform (4) is matched with the mechanical arm (1) to move according to a planned circular arc track; the two-degree-of-freedom grinding platform (4) positions and tracks the weld according to a weld detection and tracking visual algorithm of the laser contourgraph (5), records weld characteristic point information and weld surplus height and toe point information, scans to generate a 3D image of the weld, and finishes tracking and scanning until the two-degree-of-freedom grinding platform (4) detects and tracks the weld to the end point of the weld at the pipe end;
step S007, finishing weld grinding and grinding: the mechanical arm (1) and the two-degree-of-freedom grinding platform (4) return to the initial point of the welding seam through the axial mechanism (7), a grinding head of the grinding mechanism (3) is started and moves to the initial point of the welding seam, the mechanical arm (1) moves according to a planned circular arc track, the axial mechanism (7) of the two-degree-of-freedom grinding platform (4) moves at a matched speed, and a Z-axis vertical speed reduction motor (8) in the two-degree-of-freedom grinding platform (4) drives a normal mechanism (9) to drive the grinding head of the grinding mechanism (3) to feed to the surface of the welding seam to carry out the grinding operation of;
and S008, stopping the grinding head of the grinding mechanism (3) after the first grinding is finished, moving the mechanical arm (1) according to the planned circular arc track, scanning by the laser contourgraph (5) to detect the extra height of the welding line, and carrying out secondary grinding operation if the extra height of the welding line is larger than 0.5 mm.
2. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: the laser contourgraph (5) welding seam detection tracking visual algorithm of the automatic grinding robot for the welding seam at the end of the spiral steel pipe in the step S006 comprises the following steps: the method comprises the steps of firstly, filtering acquired laser profilometer data; and (3) algorithm II: fitting the filtered data and solving the square sum of the residual errors of the filtered data; and (3) algorithm III: if the sum of the squares of the residual errors is smaller than the welding seam identification threshold value, the welding seam does not exist in the area; if the sum of the squares of the residual errors is larger than the welding seam identification threshold value, the welding seam exists in the area; and (4) algorithm four: if the welding seam exists, averaging the data collected in the area where the welding seam is located to divide the welding seam area; and (5) algorithm five: after the welding seam area is divided, the welding seam characteristic point area and the welding seam turning point area are obtained; and (6) algorithm six: judging straight lines in the turning point area to determine characteristic points and left and right toe points of the welding line; and (3) an algorithm is seven: and (4) calculating the weld reinforcement according to the straight line judgment of the weld turning point region, the characteristic points and the left and right toe points of the weld, and ending the algorithm.
3. The grinding method of the automatic grinding robot for the spiral weld at the pipe end of the spiral steel pipe according to claim 1 is characterized in that in the step S006, the position difference between the grinding working points of the laser profiler (5) and the grinding mechanism (3) is obtained through P L C, the two-degree-of-freedom grinding platform (4) controls the X-axis horizontal speed reducing motor (6) to drive the axial mechanism (7) to drive the grinding mechanism (3) to axially and horizontally move, the grinding mechanism (3) is moved to the initial position when the laser profiler (5) scans the weld, and the P L C controls the X-axis horizontal speed reducing motor (6) to move to complete position compensation.
4. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: the grinding mechanism (3) of the automatic grinding robot for the welding seams at the pipe ends of the spiral steel pipes is provided with a driving wheel (31), a grinding wheel (32) and an adjusting wheel (33) which are distributed in a triangular shape, and an abrasive belt (34) is arranged outside the driving wheel (31), the grinding wheel (32) and the adjusting wheel (33) in a wrapping and tensioning mode; the polishing wheel (32) is driven by a Z-direction three-axis cylinder (321) to realize linear tensioning displacement adjustment of the polishing wheel (32) in the Z-axis direction; the adjusting wheel (33) pushes one end of the adjusting wheel shaft (332) to rotate around a hinge point at the other end of the adjusting wheel shaft (332) by rotating the hand wheel (331) so as to prevent the abrasive belt (34) wrapped on the adjusting wheel (33) from deflecting; the adjusting mechanism of the adjusting wheel (33) consists of a hand wheel (331), a bolt (334), a nut (335), a joint bearing (336), an adjusting wheel shaft (332), a ball bearing I (337), a retainer ring (333) for a bearing hole, a cylindrical pin (338), an adjusting wheel frame (339) and the adjusting wheel (332); one end of the adjusting wheel shaft (332) is hinged and rotatably connected with the adjusting wheel frame (339) through a cylindrical pin (338), and the other end of the adjusting wheel shaft (332) is connected with the output end of the joint bearing (336); the input end of the joint bearing (336) is connected with a screw pair of a screw nut and a screw nut consisting of a nut (335), a bolt (334) and a hand wheel (331).
5. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: the grinding mechanism (3) in the automatic grinding robot for the welding seams at the pipe ends of the spiral steel pipes is provided with a driving wheel (31), a grinding wheel (32) and an adjusting wheel (33) which are distributed in a triangular shape; and the driving wheel (31), the grinding wheel (32) and the adjusting wheel (33) are wrapped with a tensioning installation abrasive belt (34); the grinding wheel (32) is provided with an upper mounting rack (3201) in an inverted U shape; the top end of the upper mounting frame (3201) is fixedly connected with the execution end of the Z-direction triaxial cylinder (321) which is vertically and downwards mounted; a lower mounting rack (3203) used for clamping and fixedly mounting the grinding wheel shaft (3202) up and down is arranged opposite to the upper mounting rack (3201) up and down; the opposite clamping ends of the upper mounting frame (3201) and the lower mounting frame (3203) are respectively provided with an axle groove (3204) matched with the grinding axle (3202) in size; shafts at two ends of the grinding wheel shaft (3202) are clamped horizontally and fixedly installed in upper and lower opposite clamping modes in upper and lower wheel shaft grooves (3204) of upper and lower mounting frames (3201, 3203) by using two lower fastening bolts (3205) respectively; the middle part of the shaft body of the grinding wheel shaft (3202) is coaxially and rotatably supported and provided with a grinding wheel (32) through a ball bearing II (3206); a rubber layer is arranged on the outer circumference of the wheel body of the grinding wheel (32); and the shaft end of the ball bearing II (3206) is matched with a retainer ring (3207) for a mounting hole and a shaft end cover (3208).
6. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: an axial mechanism (7) and a normal mechanism (9) in the automatic grinding robot for the weld at the end of the spiral steel pipe respectively comprise a guide rail, a guide rail slide block, a screw rod and a screw rod slide block to form a rotation and linear displacement conversion mechanism.
7. The grinding method of the spiral steel pipe end spiral weld automatic grinding robot according to claim 1 is characterized in that a two-degree-of-freedom grinding platform (4) in the spiral steel pipe end weld automatic grinding robot is provided with a rack (41) with a hollowed-out frame structure, the bottom end of the inner side of an axial horizontal rack body of the rack (41) is in sliding fit with two groups of horizontal guide rail sliding blocks (43) through two groups of horizontal guide rails (42) which are parallel to each other in the front-back direction, the front end and the rear end of each group of horizontal guide rail sliding blocks (43) are fixedly connected with two front inverted L type horizontal sliding block connecting plates (44) respectively, the front inverted L type horizontal sliding block connecting plates (44) are fixedly connected with a front vertical installation side plate (301) and a rear vertical installation side plate (301) of a grinding mechanism (3) respectively, the front and the rear inverted L type horizontal sliding block connecting plates are vertically parallel to the inner side plate body of the inner side of the front and the rear vertical installation side plate (301) of the grinding mechanism (309) and are vertically and symmetrically provided with a pair of vertical guide rail sliding blocks (303) which are in sliding fit with a vertical installation slide rail sliding blocks (303) through a vertical installation mechanism, the vertical installation base plate (309) and a vertical installation mechanism, the vertical installation base plate (309) of a vertical installation base plate (309) through a vertical guide screw rod (309) and a vertical installation mechanism, the vertical installation base plate (309) of a vertical guide screw rod (309) and a vertical installation mechanism, the grinding mechanism, the vertical installation base plate (309) is fixedly connected with a vertical installation base plate (309) through a vertical installation base plate (309) of a vertical installation base plate (309) and a vertical installation base plate (309) of a vertical screw rod (309) and a vertical installation base plate, the grinding mechanism, the vertical installation base plate (309) and a vertical installation base plate, the grinding mechanism, the vertical installation base plate (309) and a vertical installation base plate (309) of a vertical installation base plate (309) and a vertical installation base plate of a vertical installation base plate, the vertical installation base plate of a vertical screw rod vertical installation base plate (309) of a vertical screw rod (309) of a vertical installation base plate (vertical installation mechanism.
8. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: a rack (41) in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is made of aluminum alloy; the rack (41) comprises a left frame (411) and a right frame (411) which are of hollow structures, a supporting frame (412) which is fixedly connected with the left frame (411) and the right frame and is used for front and back horizontal supporting, and a sealing cover shell (413) which is used for packaging the top of the left frame (411), the top of the supporting frame (412), and the top of the left frame (411) and the top of the right frame (413); wherein the outer side of the supporting frame (412) is coated with a layer of aluminum alloy skin (4131); a manipulator connecting seat (414) with a hollow right-angled triangle structure is fixedly arranged on the horizontal left side of the rack (41); the manipulator connecting seat (414) is used for horizontally installing the two-degree-of-freedom grinding platform (4) at the execution tail end of the manipulator (1).
9. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: an axial mechanism (7) of a two-degree-of-freedom grinding platform (4) in the automatic grinding robot for the weld at the pipe end of the spiral steel pipe is fixedly provided with a left limit proximity switch (71), a zero point proximity switch (72) and a right limit proximity switch (73) by taking a rack (41) as a carrier; and the normal mechanism (9) is fixedly provided with an upper limit proximity switch (91), a zero point proximity switch (92) and a lower limit proximity switch (93) by using front and rear vertical installation side plates (301) as carriers.
10. The grinding method of the automatic grinding robot for the spiral weld at the end of the spiral steel pipe according to claim 1, which is characterized in that: the laser contourgraph (5) in the automatic grinding robot for the welding line at the pipe end of the spiral steel pipe is fixedly connected with a driving wheel (31), a grinding wheel (32) and a supporting structure of the grinding wheel (32) positioned at the bottommost end in an adjusting wheel (33) which are distributed in a triangular mode in the grinding mechanism (3) into a whole.
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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
CN112476118A (en) * 2020-11-25 2021-03-12 西安环海机器人科技有限公司 Self-propelled four-axis pipeline inner weld joint and surface grinding system
CN113305037A (en) * 2021-06-01 2021-08-27 济南大学 Method for improving radial positioning precision of rim weld seam through turntable deceleration
CN113340203A (en) * 2021-07-07 2021-09-03 哈尔滨理工大学 Laser scanning welding line device and scanning method
CN114193240A (en) * 2021-12-16 2022-03-18 大连理工大学 Shape following machining process method for welding line in shell of special mobile robot

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CN112476118A (en) * 2020-11-25 2021-03-12 西安环海机器人科技有限公司 Self-propelled four-axis pipeline inner weld joint and surface grinding system
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CN113340203B (en) * 2021-07-07 2022-11-11 哈尔滨理工大学 Laser scanning welding line device and scanning method
CN114193240A (en) * 2021-12-16 2022-03-18 大连理工大学 Shape following machining process method for welding line in shell of special mobile robot
CN114193240B (en) * 2021-12-16 2022-10-04 大连理工大学 Shape following machining process method for weld joint in shell of special mobile robot

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