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Advances in Manufacturing
Published in: Advances in Manufacturing 2/2017

23-05-2017

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

Authors: Zi-Li Xu, Song Lu, Jun Yang, Yong-Hui Feng, Chun-Tai Shen

Published in: Advances in Manufacturing | Issue 2/2017

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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.
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Metadata
Title
A wheel-type in-pipe robot for grinding weld beads
Authors
Zi-Li Xu
Song Lu
Jun Yang
Yong-Hui Feng
Chun-Tai Shen
Publication date
23-05-2017
Publisher
Shanghai University
Published in
Advances in Manufacturing / Issue 2/2017
Print ISSN: 2095-3127
Electronic ISSN: 2195-3597
DOI
https://doi.org/10.1007/s40436-017-0174-9

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