关键词: 管内机器人, 机器人加工, 刚度, 焊缝打磨

Abstract:  In response to the difficulty of high-precision machining by in pipe robots, a high-precision grinding method was proposed for in pipe robots considering stiffness characteristics, taking the example of repairing and polishing the residual heights of the weld seams in the pipe. Firstly, based on the wheeled pipe machining robots, a finite element simulation model was established considering the stiffness characteristics of the pneumatic support devices, and the deformation relationship was obtained under different machining loads and poses. Secondly, a weld seam recognition method was established based on height features, and a cubic B-spline model was used to establish the parameter equation of the weld seam busbar, thereby a machining trajectory point generation method was proposed to integrate stiffness compensation; Finally, the effectiveness of the method proposed for polishing weld seams inside pipes was verified through robot prototype experiments. The results show that the method may accurately trim the seam residual height of about 1 mm to less than 0.2 mm, and the error between the average seam residual height and the design residual height after machining is less than 5%.

Key words:  , in-pipe robot, robot machining, stiffness, weld grinding