直缝埋弧焊管外焊缝机器人磨削系统设计及应用  

Design and Application of Robot Grinding System for External Weld of LSAW Pipe

作　　者：程继兵 茹翔 宋东涛 王健 罗景龙 CHENG Jibing;RU Xiang;SONG Dongtao;WANG Jian;LUO Jinglong(Zhongyou Baoshishun(Qinhuangdao)Pipe Co.,Ltd.,Qinhuangdao 066206,China;Shandong Yiwei Automation Co.,Ltd.,Zaozhuang 277000,China)

机构地区：[1]中油宝世顺(秦皇岛)钢管有限公司,河北秦皇岛066206 [2]山东一唯自动化有限公司,山东枣庄277000

出　　处：《钢管》2024年第5期32-37,共6页Steel Pipe

摘　　要：分析了直缝埋弧焊管外焊缝磨削的加工特点及难点;针对外焊缝存在螺旋度、不直度等问题,设计并搭建了外焊缝机器人磨削系统。该系统采用6轴工业机器人作为磨削工具的载体,采用激光轮廓扫描仪实现焊缝高度的检测及磨削轨迹的跟踪。介绍机器人焊缝柔性磨削系统的整体设计,激光视觉跟踪系统的原理及组成,磨削系统工艺流程以及磨削效果。结果表明,该外焊缝机器人磨削系统可有效适应直焊缝螺旋度、不直度问题,实现全管体外焊缝的自动磨削。Analyzed here in the article are the processing characteristics and difficulties of grinding process for external weld of the LSAW pipe.Addressing the problems concerning the helicity and non-straightness of the external weld of the pipe,an external weld grinding robot system is designed,and built up.The said system is equipped with the 6-axis industrial robot as the carrier of the grinding tool.The laser contour scanner is used to detect the weld height and track the grinding path.Described here are the main aspects of the robot system for flexible grinding of weld,including the overall design,the principle and the configuration of the lazar vision tracking system,and the process flow and the effectiveness of the grinding system.The result shows that the robot grinding system properly adapts the helicity and non-straightness of the straight weld,and is capable of automatically grinding the over-length external weld of the pipe body.

关 键 词：直缝埋弧焊管 磨削抛光 激光跟踪 机器人 3PE防腐 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG445[自动化与计算机技术—控制科学与工程] TG580.6[金属学及工艺—焊接]