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Development and Application of Robotic Technology for Intelligent Grinding of Welds

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DOI: 10.23977/jemm.2023.080110 | Downloads: 17 | Views: 439


Ting Zhang 1, Ming Liu 1, Dongtao Song 1, Hongkun Liu 2, Shujian Ou 2


1 CNPC Baoshishun (Qinhuangdao) Steel Pipe Co., Ltd., Qinhuangdao, Hebei, 066200, China
2 Xiangtan Huajin Heavy Equipment Technology Co., Ltd., Shaoshan, Hunan, 411300, China

Corresponding Author

Hongkun Liu


Large oil and gas conveying pipes are generally made of medium-thickness alloy steel plate welding. The API 5L pipeline steel pipe specification and GB/T9711.1-1997 standard put forward strict requirements for the high butt welding seam of the pipe end. Domestic pipe making enterprises generally use artificial grinding or semi-automatic welding grinding machine to repair steel pipe end weld. At present, there are many problems of poor accuracy and compliance, cumbersome production process, low automation and low labor efficiency. This paper, on the basis of the existing sand belt grinding machine development weld intelligent grinding robot, first using visual recognition technology, realize weld automatic recognition, using fuzzy control and neural network control mechanical arm motion and action, automatic decision grinding motion parameters and movement trajectory, ensure the welding pipe weld grinding quality standard, and improve the processing efficiency.


Pipe Welding, Grinding. Robot, Intelligent Decision-Making, Intelligent Control


Ting Zhang, Ming Liu, Dongtao Song, Hongkun Liu, Shujian Ou, Development and Application of Robotic Technology for Intelligent Grinding of Welds. Journal of Engineering Mechanics and Machinery (2023) Vol. 8: 86-94. DOI:


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