A wheel-type in-pipe robot for grinding weld beads

doi:10.1007/s40436-017-0174-9

Advances in Manufacturing ›› 2017, Vol. 5 ›› Issue (2): 182-190.doi: 10.1007/s40436-017-0174-9

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A wheel-type in-pipe robot for grinding weld beads

Zi-Li Xu¹, Song Lu¹, Jun Yang², Yong-Hui Feng¹, Chun-Tai Shen²

1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, People's Republic of China;
2. Shanghai Electric Central Research Institute, Shanghai 200063, People's Republic of China

Received:2016-04-18 Revised:2017-04-17 Online:2017-06-25 Published:2017-06-25
Contact: Song Lu E-mail:623884179@qq.com

Abstract

Abstract:

To improve the safety and efficiency of polishing operations in circular boiler headers, a new type of wheel-drive polishing robot was developed in this study. The robot was designed to grind weld beads on the inner walls of pipes in diameter between 550 mm and 714 mm. The robot consists of a moving structure, a positioning structure, and a polishing structure. Charge coupled device (CCD) cameras and line lasers are used in the robot's vision system, thus the robot can be manually controlled to move, locate, and grind quickly and accurately. The experimental results showed that the robot performed well in practical applications.

Key words: Grinding robot, In-pipe robot, Circular boiler header, Weld bead

Zi-Li Xu, Song Lu, Jun Yang, Yong-Hui Feng, Chun-Tai Shen. A wheel-type in-pipe robot for grinding weld beads[J]. Advances in Manufacturing, 2017, 5(2): 182-190.

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A wheel-type in-pipe robot for grinding weld beads

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