Research and experiment analysis on coordinate translation of the center of circle algorithm of the steel pipes butting machine

A steel pipes butting machine based on the three-jaw centering system on the gantry to realize the clamping and adjustment function,according to the theories and methods of clamp butting and artificial butting,was developed because of the challenges and difficulties of ensuring pipeline butting accuracy in offshore oil engineering.To meet the technical parameters of the butted steel pipes,a coordinate translation of the center of circle algorithm has been proposed. The method makes one pending steel pipe as reference,and translates another pipe in the vertical plane to decrease the offset of the steel pipes while staggering the double steel longitudinal weld seams. Grouping experiments were carried out on an experimental prototype,the edge offset was less than 2 mm,the straightness was less than 9 mm. These results prove the validity of the mechanical system and the algorithm.