埋弧焊管管端焊缝磨削机器人设计与应用  

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

作　　者：王旭 孟凡佳 徐刚 陈延军 WANG Xu;MENG Fanjia;XU Gang;CHEN Yanjun(CNPC Bohai Equipment Julong Steel Pipe Co.,Ltd.,Qingxian 062658,Hebei,China;Steel Tube Design and Research Institute of CNPC Bohai Petroleum Equipment Manufacture Co.,Ltd.,Qingxian 062658,Hebei,China)

机构地区：[1]渤海装备巨龙钢管公司,河北青县062658 [2]渤海装备钢管设计研究院,河北青县062658

出　　处：《焊管》2018年第11期27-30,共4页Welded Pipe and Tube

摘　　要：针对埋弧焊管管端焊缝磨削机占用工位、操作人员多、焊缝磨削质量不易保证等问题,提出了一种管端焊缝磨削机器人的技术方案。通过对焊缝形貌特征数据进行分析,设计了机器人磨削运动轨迹,并进行了工业测试。结果表明,直缝埋弧焊管采用直线磨削运动轨迹和圆弧修磨运动轨迹相结合的方法;螺旋埋弧焊缝采用螺旋磨削运动轨迹的方法。应用实践表明,设计的磨削机器人在焊管生产线上的应用满足使用要求。Aiming at the problems of the occupied position and the number of operators and the grinding quality of the submerged arc welded pipe end grinding machine,a technical scheme of the pipe end weld grinding robot is proposed.Through the analysis of the weld profile data,the robot grinding motion trajectory was designed and industrial test was carried out.The results show that the straight seam submerged arc welded pipe adopts the method of combining linear grinding and arc grinding motion track,while the spiral submerged arc welded pipe adopts the method of spiral grinding motion track.The application of the designed grinding robot in the welded pipe production line meets the requirements for use.

关 键 词：管端焊缝磨削机 工业机器人 直线磨削 圆弧修磨 运动轨迹 

分 类 号：TG580.23[金属学及工艺—金属切削加工及机床]