CN115476240A - Straight welded pipe end welding seam system of polishing - Google Patents
Straight welded pipe end welding seam system of polishing Download PDFInfo
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- CN115476240A CN115476240A CN202110597935.2A CN202110597935A CN115476240A CN 115476240 A CN115476240 A CN 115476240A CN 202110597935 A CN202110597935 A CN 202110597935A CN 115476240 A CN115476240 A CN 115476240A
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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
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
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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
- B24B21/18—Accessories
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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
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a grinding system for a weld joint at the end of a straight welded pipe, which comprises a grinding assembly, a grinding assembly and a grinding device, wherein the grinding assembly is used for grinding the weld joint of the straight welded pipe; the motion execution assembly is used for driving the grinding assembly to move; the visual assembly is used for detecting the position, the welding seam position and the welding seam outline of the straight welded pipe; the positioning rotating roller assembly is used for fixing and rotating the straight welded pipe; and the control system receives the detection information of the visual assembly and sends a movement instruction to the movement execution assembly and the polishing assembly according to the detection information of the visual assembly, so that the welding seam polishing is realized. Adopt above-mentioned longitudinal welded pipe end welding seam system of polishing to the longitudinal welded pipe, not only can realize polishing to the full-automatic of longitudinal welded pipe end welding seam, polishing precision, polishing efficiency can show the improvement moreover, realize no humanized intelligent operation completely.
Description
Technical Field
The invention belongs to the field of steel pipe weld grinding, and particularly relates to a straight welded pipe end weld grinding system.
Background
At present, pipelines applied to petroleum and natural gas transportation mainly comprise welded pipes and seamless steel pipes, the welded pipes are low in cost and high in production efficiency compared with the seamless steel pipes, the welded pipes are widely applied to petroleum and natural gas pipeline transportation, the welded pipes are mostly formed through a UOE process, the welded pipes formed through the UOE process can form a straight welding seam with the length equivalent to that of the steel pipes, in order to achieve seamless butt joint, the welding seam at the end part of the steel pipe needs to be polished, the control requirement on the residual height is plus or minus 0.1mm of error, and the smooth transition is required between the edge part of the welding seam and the transition area of a parent metal; at present, a straight welding seam at the end part of a welded pipe is operated in a man-machine cooperation mode, namely, workers are responsible for operating a grinding abrasive belt machine to carry out grinding operation, a manual operation electric angle grinder is used for finishing, and the wall thickness and the weld reinforcement height of the ground welding seam are manually checked; the polishing of the weld at the end of the steel pipe in this way has a great disadvantage:
1. the manual operation belt sander and the electric angle grinder are completely dependent on experience, and the grinding precision is difficult to ensure;
2. the manual polishing efficiency is low, and the speed requirement of a production line is difficult to meet;
3. the manual labor intensity is large, and meanwhile, certain risks exist in manual operation of the belt sander and the electric angle grinder.
In order to meet the requirement of polishing the welding seam at the end of a welded pipe, a plurality of steel pipe welding seam polishing devices are designed in the industry, and Chinese patent CN 202622511U discloses a straight welded pipe welding seam polishing device which comprises a welding seam polishing trolley, a welding seam polisher lifting platform, a welding seam polisher support and a welding seam polisher, wherein the welding seam polisher is fixed on the welding seam polisher support, and the welding seam polisher support is fixed on the welding seam polisher lifting platform; although the technology improves the labor efficiency of workers on a certain degree, reduces the labor intensity and the danger, the technology still needs manual operation with large components, and has the problem that the grinding precision is difficult to ensure. Chinese patent CN 107695838B discloses a belt type stainless steel pipe weld joint polishing device, which comprises a pedestal and a polishing support frame arranged on the pedestal, wherein an accommodating groove is arranged in the end face of the front side of the polishing support frame, a first sliding groove extending forwards and backwards is arranged on the rear side of the inner top wall of the accommodating groove, a guide rod extending forwards and backwards is arranged in the first sliding groove, a threaded hole extending forwards is arranged on the inner wall of the front side of the first sliding groove, a polishing mechanism extending downwards is connected on the guide rod in a sliding fit manner, and an extending section at the bottom of the polishing mechanism extends into the accommodating groove; the polishing tool is fixed, polishing operation is realized by moving the clamped welded pipe, pre-pressure of a welding line and the stroke of the polishing tool and controlling and pressing, the polishing tool is fixed in the mode, a workpiece moves, positioning accuracy and stability are poor for a large-sized steel pipe, and automatic polishing operation of the inner and outer welding lines of the large-caliber welded pipe cannot be realized.
In view of the above circumstances, the industry needs to study a new straight welded pipe end weld polishing system urgently, not only can realize the full-automatic polishing to the straight welded pipe end weld, and polishing precision, polishing efficiency can show to improve moreover, realize the intelligent operation of no humanization completely.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a straight welded pipe end weld grinding system, which can realize full-automatic grinding of the weld of the straight welded pipe end, obviously improve the grinding precision and the grinding efficiency, and realize completely unmanned intelligent operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a grinding system for a weld joint at the pipe end of a straight welded pipe, which comprises
The grinding assembly is used for grinding the welding seam of the straight welded pipe;
the motion execution assembly is used for driving the grinding assembly to move;
the visual assembly is used for detecting the position, the welding seam position and the welding seam outline of the straight welded pipe;
the positioning rotating roller assembly is used for fixing and rotating the straight welded pipe;
and the control system receives the detection information of the visual assembly and sends a movement instruction to the movement execution assembly and the polishing assembly according to the detection information of the visual assembly so as to polish the welding seam.
Preferably, the motion execution assembly comprises a robot walking shaft and a robot mechanical arm arranged on the robot walking shaft.
Preferably, the grinding assembly comprises a connecting sleeve, a tension wheel, a driving wheel, a contact wheel and a grinding belt;
the connecting sleeve is arranged on the robot mechanical arm;
the tension wheel, the driving wheel and the contact wheel are arranged on the connecting sleeve in a triangular mode;
the polishing abrasive belt is arranged on the tensioning wheel, the driving wheel and the contact wheel which are arranged in a triangular mode, and the polishing abrasive belt rotates through the driving wheel to perform rotary polishing.
Preferably, the visual component is rotatably arranged on the connecting sleeve.
Preferably, the control system comprises an upper computer and a robot controller for issuing the motion instruction.
Preferably, the grinding system for the weld of the pipe end of the straight welded pipe further comprises a communication system, and the communication system is used for realizing signal transmission between the control system and the grinding assembly, the movement execution assembly, the vision assembly and the positioning rotating roller assembly.
Preferably, the position of the butt welded pipe includes a pipe end position and a surface position of the butt welded pipe; and/or
The weld seam profile comprises a weld seam three-dimensional profile formed by a plurality of weld seam cross section curves along the length direction of the weld seam.
Preferably, the movement instructions comprise movement instructions for the movement performing assembly, rotation instructions for the positioning rotary roller assembly and sharpening instructions for the sharpening assembly.
Preferably, the polishing instructions comprise a rough polishing instruction and a fine polishing instruction;
the rough grinding instruction is to perform rough grinding by taking the center point of the welding seam as a tangent point and taking the normal direction of the tangent point as a tangent plane;
and the fine grinding instruction respectively takes the welding seam center point and 1/8 positions of two sides of the welding seam center point away from the welding seam edge part as tangent points, and the normal direction along the tangent points is taken as a tangent plane, so that fine grinding is carried out.
Preferably, in the coarse grinding process, the coarse grinding pass is
N＝int{(H-h)/w}；
Wherein N is a rough grinding pass;
h is the original weld reinforcement height detected by the visual assembly, and the unit is mm;
h is the target residual height after coarse grinding, and the unit is mm;
w is single-pass grinding feed amount, and the unit is mm;
in the fine grinding process, the fine grinding depth is
Hfine = H-N w-H;
wherein, H essence is the fine grinding depth, and the unit is mm.
The invention has the beneficial effects that:
the pipe end weld grinding system for the straight welded pipe comprises a control system, a movement execution assembly, a vision assembly, a grinding assembly and a positioning rotating roller assembly, wherein after the control system starts a grinding program, the movement execution assembly drives the grinding assembly and the vision assembly to the straight welded pipe, and after the vision assembly detects the end part and the outer surface of the straight welded pipe, the positioning rotating roller assembly drives the straight welded pipe to rotate until the vision assembly detects a weld; then the polishing component polishes the welding line according to the polishing signal output by the control system; the full-automatic grinding of the weld joint of the end of the butt welded pipe can be realized, the grinding precision and the grinding efficiency can be obviously improved, and completely unmanned intelligent operation is realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a pipe end weld grinding system for a straight welded pipe according to the present invention;
FIG. 2 is a schematic diagram of the construction of the sanding assembly of the present invention;
FIG. 3 is a control schematic diagram of the pipe end weld grinding system for the longitudinal welded pipe of the present invention;
FIG. 4 is a flow chart of the application of the system for grinding the weld of the pipe end of the straight welded pipe;
FIG. 5 is a schematic diagram of coarse grinding of a weld joint according to the present invention;
fig. 6 is a schematic view of a tangent point in a weld bead refining process of the present invention.
Detailed Description
In order to better understand the technical solutions of the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
Referring to fig. 1, the pipe end weld grinding system for a longitudinal welded pipe provided by the invention comprises a grinding assembly 20, a motion execution assembly, a vision assembly 90, a positioning rotating roller assembly 60 and a control system; wherein the grinding assembly 20 is used for grinding the welding seam of the straight welded pipe 30; the motion executing component is used for driving the grinding component 20 to move; the vision assembly 90 is used for detecting the position of the straight welded pipe 30, the weld position and the weld contour; the positioning and rotating roller assembly 60 is used for fixing and rotating the longitudinal welded pipe 30; the control system receives the detection information of the vision assembly 90 and sends motion instructions to the motion execution assembly, the positioning rotating roller assembly 60 and the polishing assembly 20 according to the detection information to polish the welding seam.
Referring to fig. 1, the motion performing assembly includes a robot walking shaft 80 and a robot arm 10 disposed on the robot walking shaft 80.
As shown in fig. 2, the grinding assembly 20 includes a connecting sleeve and flange assembly 24, a tension wheel 23, a driving wheel 22, a contact wheel 26 and a grinding belt 25; wherein the connecting sleeve and flange plate assembly 24 is arranged on the robot mechanical arm 10; the tension wheel 23, the driving wheel 22 and the contact wheel 26 are arranged on the connecting sleeve and the flange plate component 24 in a triangular mode; a sanding belt 25 is provided on the triangularly arranged tensioning wheel 23, the drive wheel 22 and the contact wheel 26, which sanding belt 25 is rotated by the drive wheel 22 for rotary sanding.
Referring to fig. 1 and 4, the vision assembly 90 is rotatably mounted on the connecting sleeve and flange assembly 24 of the grinding assembly 20; wherein the position of the butt welded pipe 30 detected by the vision assembly 90 includes a pipe end position and a surface position of the butt welded pipe 30; in a specific welding seam polishing process, the robot mechanical arm 10 drives the polishing assembly 20 to move to the straight welded pipe 30 from a far distance, when the pipe end position of the straight welded pipe 30 is close, the vision assembly 90 detects the straight welded pipe 30 firstly, the robot mechanical arm 10 is braked emergently, and at the moment, due to inertia, the polishing assembly 20 on the robot mechanical arm 10 can cross the pipe end position of the straight welded pipe 30, so that the pipe end coarse positioning of the straight welded pipe 30 is realized; then the robot mechanical arm 10 moves to the surface of the straight welded pipe 30, after the vision assembly 90 detects the surface position of the straight welded pipe 30, emergency braking is carried out, and the robot mechanical arm 10 stops at a position closer to the surface of the straight welded pipe 30 due to inertia, so that the surface rough positioning of the straight welded pipe 30 is realized; then, the control system carries out fine adjustment according to data detected by the vision assembly 90, the robot mechanical arm 10 moves, and finally the robot mechanical arm moves to a position suitable for detection and away from the surface of the straight welded pipe 30, so that the surface of the straight welded pipe 30 is accurately positioned; then the positioning rotating roller assembly 60 drives the straight welded pipe 30 to rotate, when a weld enters the measuring range of the vision assembly 90, the rotation is stopped, at the moment, the center line of the weld is not located at the center of the measuring range of the vision assembly 90, the rough positioning of the weld is realized, then the robot mechanical arm 10 drags the vision assembly 90 to move towards the middle point of the weld along the circumferential direction of the straight welded pipe 30, and the movement is carried out according to the two-dimensional point cloud data detected by the vision assembly 90 for micro adjustment, so that the weld of the steel pipe is located at the center of the scanning range of the vision assembly 90, and the fine positioning of the weld is realized; and finally, the robot mechanical arm 10 moves towards the pipe end position along the axial direction of the straight welded pipe 30, when the vision assembly 90 cannot detect data, the tail end of the robot mechanical arm 10 moves to the pipe end of the straight welded pipe 30, and at the moment, the control system records the accurate position of the pipe end to realize the accurate positioning of the pipe end.
Referring to fig. 1 and 4, the robot arm 10 drags the vision assembly 90 to move at a constant speed along the length direction of the weld, the vision assembly 90 scans the weld contour at equal time intervals, each scanning is performed to obtain a cross section curve of the weld composed of point cloud data, and a plurality of point cloud curves are combined together to form a three-dimensional shape contour of the whole weld.
As shown in fig. 3, the control system includes an upper computer and a robot controller for issuing a motion instruction; wherein, the upper computer is used for receiving the detection information detected by the vision assembly 90, and the control system sends a motion instruction (for example, a motion instruction of the motion execution assembly approaching the straight welded pipe 30, a rotation instruction of the positioning rotating roller assembly 60 driving the straight welded pipe 30 to rotate, etc.) to the motion execution assembly and the positioning rotating roller assembly 60 through the robot controller according to the position of the straight welded pipe 30 and the welding seam position; the control system plans a target extra height, a polishing pass and a feeding amount (including a single-pass feeding amount, a rough polishing pass and a fine polishing depth in a rough polishing process) according to a welding seam profile (including an original extra height of the welding seam, a welding seam central point and a welding seam edge), and issues a polishing instruction through the robot controller, so that the welding seam polishing is realized.
The straight welded pipe end weld grinding system further comprises a communication system, and the communication system is used for realizing signal transmission between the control system and the grinding assembly 20, the motion execution assembly, the vision assembly 90 and the positioning rotating roller assembly 60.
As shown in fig. 5, the polishing command includes a rough polishing command and a fine polishing command; the rough grinding instruction is to perform rough grinding by taking a welding seam center point A as a tangent point and taking the normal direction of the tangent point A as a tangent plane, wherein 1 represents first pass rough grinding, 2 represents second pass rough grinding, 3 represents third pass rough grinding, and 4 represents target residual height; in the specific rough grinding process, the rough grinding passes are as follows:
N＝int{(H-h)/w}；
wherein N is a rough grinding pass;
h is the original surplus height of the welding seam detected by the vision assembly 90, and the unit is mm;
h is the target residual height after coarse grinding, and the unit is mm;
w is the single-pass grinding feed amount, and the unit is mm;
and (3) as shown in the combined figure 6, the fine grinding instruction respectively takes the positions B and C at the two sides of the welding seam central point A and the welding seam central point A, which are 1/8 away from the welding seam edge part, as tangent points, and the normal directions along the tangent points A, B and C are taken as tangent planes, and fine grinding is carried out. In the specific fine grinding process, the fine grinding depth is as follows:
H extract of Chinese medicinal materials ＝H-N*w-h；
Wherein H Extract of Chinese medicinal materials The unit is mm for fine grinding depth;
h is the original surplus height of the welding seam detected by the vision assembly 90, and the unit is mm;
h is the target residual height after coarse grinding, and the unit is mm;
w is single-pass grinding feed amount, and the unit is mm;
and N is a coarse grinding pass.
With reference to fig. 4, the process of polishing the straight welded pipe 30 by the above straight welded pipe end weld polishing system includes the following steps: positioning welded pipe and weld joint → detecting and roundness fitting of weld joint contour → coarse grinding of weld joint → fine grinding of weld joint → judgment of weld joint quality.
(1) Positioning a welded pipe and a welding seam: the robot mechanical arm 10 drives the grinding assembly 20 to move to the straight welded pipe 30 from a far place, when the pipe end position of the straight welded pipe 30 is close, the vision assembly 90 detects the straight welded pipe 30 firstly, the robot mechanical arm 10 is braked emergently, and at the moment, the grinding assembly 20 on the inertia robot mechanical arm 10 can cross the pipe end position of the straight welded pipe 30, so that the pipe end rough positioning of the straight welded pipe 30 is realized; then the robot mechanical arm 10 moves to the surface of the straight welded pipe 30, after the visual assembly 90 detects the surface position of the straight welded pipe 30, emergency braking is carried out, and similarly, due to inertia, the robot mechanical arm 10 stops at a position closer to the surface of the straight welded pipe 30, so that the surface rough positioning of the straight welded pipe 30 is realized; then, the control system carries out fine adjustment according to data detected by the vision assembly 90, the robot mechanical arm 10 moves, and finally the robot mechanical arm moves to a position suitable for detection and away from the surface of the straight welded pipe 30, so that the surface of the straight welded pipe 30 is accurately positioned; then the positioning rotating roller assembly 60 drives the straight welded pipe 30 to rotate, when a welding seam enters the measuring range of the vision assembly 90, the rotation is stopped, at the moment, the center line of the welding seam is not located in the center of the measuring range of the vision assembly 90, the rough positioning of the welding seam is realized, then the robot mechanical arm 10 drags the vision assembly 90 to move towards the middle point of the welding seam along the circumferential direction of the steel pipe, the movement is carried out according to two-dimensional point cloud data detected by the vision assembly 90, the micro adjustment is carried out, the welding seam of the steel pipe is located in the center of the scanning range of the vision assembly 90, and the fine positioning of the welding seam is realized; (ii) a And finally, the robot mechanical arm 10 moves towards the pipe end position at a constant speed along the axial direction (the length direction of the welding line) of the straight welded pipe 30, in the process, the vision assembly 90 detects whether a workpiece exists in a visual field range, when the workpiece cannot be detected in the visual field range, the tail end of the robot mechanical arm 10 moves to the pipe end of the straight welded pipe 30, and at the moment, the control system records the accurate position of the pipe end to realize the accurate positioning of the pipe end.
(2) Detecting the contour of the welding line and fitting the roundness: in the process of positioning a welded pipe and a welding seam, the robot mechanical arm 10 moves towards the position of a pipe end at a constant speed along the axial direction (the length direction of the welding seam) of the straight welded pipe 30, in the process, the vision assembly 90 scans the contour of the welding seam at equal time intervals, a welding seam cross section curve consisting of point cloud data is obtained every time the welding seam is scanned, the curve consists of a group of point cloud data, the measurement width is greater than the width of the welding seam, namely the straight welded pipe 30 matrix and the welding seam are included, and the roundness of the straight welded pipe 30 matrix can be fitted and the position of the central axis of the circle center can be found out by utilizing the group of data for the rough grinding and the accurate grinding reference of the welding seam;
in the process that the robot arm 10 moves at a constant speed, the vision assemblies 90 scan at equal intervals, and finally a plurality of groups of welding seam three-dimensional contours formed by welding seam cross section curves along the length direction of welding seams are obtained, namely the welding seam contours;
(3) Coarse grinding of welding seams: the rough grinding of the outer welding seam mainly aims at removing welding seam residual materials with large cutting amount; during rough grinding, the center point of the welding seam is taken as a tangent point, and the residual material is cut off along the normal direction of the tangent point. In the process of welding line contour detection and roundness fitting, setting a target residual height H after grinding and a single-pass grinding feeding amount w in the coarse grinding process according to the detected original residual height H of the welding line, wherein the pass N = int { (H-H)/w } of the coarse grinding;
(4) And (3) fine grinding of welding lines: after rough grinding is finished, the residual height h of the center of the welding line Surplus H-N × w; in the fine grinding stage, on one hand, the residual materials are cut off, and on the other hand, smooth transition between the edge of a welding seam and a base material is ensured; the fine sanding datum thus has three points: the first point is the center point of the welding seam, and the cutting surface of the first point is along the normal direction of the first point; the second point and the third point are the positions 1/8 of the two sides of the central point of the welding seam away from the edge part of the welding seam, and the cutting surfaces are respectivelyAlong the normal direction of the second point and the third point; wherein the depth of ablation H Surplus H-N w-H; because the cutting amount of the welding seam residual material in the fine grinding stage is not large, the three points can be finished in one pass.
(5) And (6) judging the quality of the welding seam.
The invention is further described with reference to the following concrete examples; the grinding process of the following embodiment adopts the above introduced grinding system for the weld seam at the pipe end of the straight welded pipe;
example 1
The weld of the pipe end of the straight welded pipe is polished in the embodiment: the travelling bogie is placed the longitudinal welded pipe on location revolving roller subassembly, inductive switch senses the longitudinal welded pipe then notifies the host computer, start the flow of polishing, robot arm carries on polishing subassembly and visual component and progressively moves to the longitudinal welded pipe by far away, find longitudinal welded pipe tip and longitudinal welded pipe surface, polishing subassembly and visual component stop at a certain position motionless apart from the longitudinal welded pipe surface, location revolving roller subassembly drives the longitudinal welded pipe rotation, when the visual component discovery welding seam, then notify location revolving roller subassembly through the host computer and stop rotatoryly, realize the location of longitudinal welded pipe welding seam. And then carrying out weld seam contour detection and roundness fitting, finding the position of the circle center and the contour size of the weld seam, planning a polishing track and carrying out rough polishing according to a preset program, and carrying out secondary fine polishing after the rough polishing is finished so as to realize the polishing process and quality judgment of the weld seam.
Example 2
In this embodiment, the inner weld of the pipe end in the length range of 0-300mm is polished:
when the butt welded pipe inner weld was polished, need stretch into the butt welded pipe inside with the subassembly of polishing, when polishing the subassembly structure design, need consider the butt welded pipe diameter scope, guarantee that the subassembly of polishing can stretch into the butt welded pipe, and can stretch into the inside 300mm of pipe end.
The travelling bogie places the longitudinal welded pipe on the positioning rotary roller assembly, the upper computer is informed when the induction switch senses the longitudinal welded pipe, the polishing process is started, the robot mechanical arm carries the polishing assembly and the vision assembly to gradually move to the longitudinal welded pipe from a far place, the end part of the longitudinal welded pipe and the outer surface of the longitudinal welded pipe are found, the weld contour detection and the roundness fitting of the longitudinal welded pipe are carried out, the position of a circle center is further obtained, the polishing assembly and the vision assembly move along the length direction of the longitudinal welded pipe to be withdrawn from the outer part of the pipe end, the polishing assembly and the vision assembly move to the center line of the circle center again, the polishing assembly moves to the inner wall along the axial direction of the longitudinal welded pipe again, and then the polishing assembly gradually moves to the inner wall along the radial direction and stops at a certain distance without moving (such as the position of 7 o' clock). The positioning rotating roller assembly drives the longitudinal welded pipe to rotate, when the visual assembly finds a weld, the upper computer informs the positioning rotating roller assembly to stop rotating, positioning of the inner weld of the longitudinal welded pipe is achieved, then the visual assembly starts a weld contour detection program to detect the contour of the inner weld, according to the preset program, a polishing track is planned and coarse polishing is implemented, after the coarse polishing is finished, secondary fine polishing is carried out, and the polishing process and the quality judgment of the inner weld are achieved.
Example 3
In the embodiment, the inner and outer welding seams of the pipe end of the straight welded pipe with the length range of 0-300mm are ground: because inside, outer welding seam all will polish, consequently need stretch into the butt weld intraduct with the subassembly of polishing, during the subassembly structure design of polishing, need consider the butt weld pipe diameter scope, will guarantee that the subassembly of polishing can stretch into the butt weld pipe, and can stretch into the inside 300mm of pipe end.
Polishing of outer welding seams: the travelling bogie is placed the longitudinal welded pipe on location revolving roller subassembly, inductive switch senses the longitudinal welded pipe and then notifies the host computer, start the flow of polishing, robot arm carries on polishing subassembly and visual component by a distance progressively to the longitudinal welded pipe, find longitudinal welded pipe tip and longitudinal welded pipe surface, then polishing subassembly and visual component stop at a certain position motionless apart from the longitudinal welded pipe surface, location revolving roller subassembly drags the longitudinal welded pipe rotation, when the visual component discovers the welding seam, then notify revolving roller subassembly through the host computer and stop rotatory, realize the location of the outer welding seam of longitudinal welded pipe. And then, starting a welding seam outline detection program by the vision assembly to detect the outline of the outer welding seam, planning a polishing track and performing rough polishing according to a preset program, and performing secondary fine polishing after the rough polishing is finished to realize the polishing process and quality judgment of the outer welding seam.
Polishing the inner welding seam: when the outer weld contour is detected, the appearance of the weld contour and the outer wall contour of the peripheral straight welded pipe is constructed, the outer diameter of the straight welded pipe and the position of the center line of the straight welded pipe are obtained, the pipe end position obtained when the outer weld is detected is combined, the polishing assembly and the vision assembly rotate for 90 degrees and translate to the inner side of the straight welded pipe from the outer side of the straight welded pipe, and move to the position of 7 o' clock and a certain distance away from the inner wall step by step. The grinding assembly and the vision assembly are fixed, the positioning rotating roller assembly drives the straight welded pipe to rotate, and when the vision assembly finds a weld, the upper computer informs the positioning rotating roller assembly to stop rotating so as to position the weld in the straight welded pipe. And then detecting the contour of the inner weld, planning a polishing track and performing coarse polishing according to a preset program, and after the coarse polishing is finished, performing secondary fine polishing on the contour of the inner weld to realize the polishing process and quality judgment of the inner weld.
In conclusion, the pipe end weld grinding system for the straight welded pipe can realize full-automatic grinding of the pipe end weld of the straight welded pipe, the grinding precision and the grinding efficiency can be obviously improved, and completely unmanned intelligent operation is realized; in addition, the straight welded pipe end weld grinding system is suitable for grinding all straight welded pipe end welds, and has a high popularization and application value.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. A grinding system for a weld joint at the end of a straight welded pipe is characterized by comprising
The grinding assembly is used for grinding the welding seam of the straight welded pipe;
the motion execution assembly is used for driving the grinding assembly to move;
the visual assembly is used for detecting the position, the welding seam position and the welding seam outline of the straight welded pipe;
the positioning rotating roller assembly is used for fixing and rotating the straight welded pipe;
and the control system receives the detection information of the visual assembly and issues movement instructions to the movement execution assembly and the polishing assembly according to the detection information of the visual assembly so as to polish the welding seam.
2. The butt welded pipe end weld grinding system according to claim 1, wherein the motion execution assembly comprises a robot walking shaft and a robot mechanical arm arranged on the robot walking shaft.
3. The butt welded pipe end weld grinding system according to claim 2, wherein the grinding assembly comprises a connecting sleeve and a flange plate, a tension wheel, a driving wheel, a contact wheel and a grinding belt;
the connecting sleeve and the flange are arranged on the robot mechanical arm;
the tensioning wheel, the driving wheel and the contact wheel are arranged on the connecting sleeve and the flange plate in a triangular manner;
the sanding belt is arranged on the tensioning wheel, the driving wheel and the contact wheel which are arranged in a triangular mode, and the sanding belt rotates to sand through the rotation of the driving wheel.
4. The butt welded pipe end weld grinding system according to claim 3, wherein the vision assembly is rotatably provided on the connecting sleeve and the flange.
5. The butt welded pipe end weld grinding system according to claim 1, wherein the control system comprises an upper computer and a robot controller for issuing motion instructions.
6. The butt welded pipe end weld grinding system according to any one of claims 1 to 5, further comprising a communication system for enabling signal transfer between the control system and the grinding assembly, motion execution assembly, vision assembly and positioning rotating roller assembly.
7. The butt welded pipe end weld grinding system according to claim 1, wherein the position of the butt welded pipe includes a pipe end position and a surface position of the butt welded pipe; and/or
The weld seam profile comprises a weld seam three-dimensional profile formed by a plurality of weld seam cross section curves along the length direction of the weld seam.
8. The butt welded pipe end weld grinding system of claim 1, wherein the movement instructions include movement instructions of the movement execution assembly, rotation instructions of the positioning rotary roller assembly, and grinding instructions of the grinding assembly.
9. The butt welded pipe end weld grinding system according to claim 8, wherein the grinding instruction comprises a rough grinding instruction and a fine grinding instruction;
the rough grinding instruction is to perform rough grinding by taking the center point of the welding seam as a tangent point and taking the normal direction of the tangent point as a tangent plane;
and the fine grinding instruction respectively takes the welding seam center point and 1/8 positions of two sides of the welding seam center point away from the welding seam edge part as tangent points, and takes the normal direction of the tangent points as tangent planes to carry out fine grinding.
10. The butt welded pipe end weld grinding system according to claim 9, wherein during the rough grinding, the pass of the rough grinding is
N＝int{(H-h)/w}；
Wherein N is the rough grinding pass;
h is the original surplus height of the welding seam detected by the visual assembly, and the unit is mm;
h is the target residual height after coarse grinding, and the unit is mm;
w is single-pass grinding feed amount, and the unit is mm;
in the fine grinding process, the fine grinding depth is
H Extract of Chinese medicinal materials ＝H-N*w-h；
Wherein H Extract (Chinese character of 'Jing') The unit is mm for fine grinding depth.
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