管道外圆自动焊接机结构设计

摘要：管道运输是油气运输中最主要、最快捷、经济、可靠的方式，可用于输送水、原油、天然气、成品油等，具有输量大、距离长、安全性高、成本低等优点，在各国发展迅速。管道运输业的主体是管道，管道工程的核心工作是管口的焊接。因此研究高效率、性能可靠的管道全位置自动焊接机具有十分重要的意义。

为解决管道建设野外作业的自动化焊接的难题，研制了一种导轨式管道焊接机器人，其关键技术包括：研制新型的行走机构、焊枪摆动机构、及机器人轨道、焊枪机械手。介绍了导轨式焊接机结构的设计和焊接机控制，着重对其结构特点、动作原理、设计要点进行设计分析和说明。现场应用表明，该机器人能沿导轨平稳、可靠的行走，进行管道外圆全位置焊接，其操作简便，成本低，适合我国现场施工作业及工人的技术水平，既保证了焊接质量，又提高了劳动效率。

关键词：轨道式焊接机 ；结构设计； 管道 ；机械手

指导老师签名：

Cylindrical pipe automatic welding machine design

Abstract:Pipeline transportation is the most important,quickest,economical andreliable method in petroleum transportation.It can transport water,crude oil,natural gas,oil product etc.It has a number of advantages:high transmissionvolumes,long distance,safety and cost-effectiveness,whichisrapid developedin all the world.The subject of pipeline transportation is pipeline;the core ofpipeline project is nozzle welding.So,it has very important significance todevelop high efficient and reliable performance pipeline all-position automaticwelding machine.

An orbit pipeline welding robot has been developed to solve the problem of automatic welding during pipeline construction in the fields. Its key techniques consist of developing a new type of travel unit, welding torch as cillating unit, robot orbit and intelligent control system etc. The development work of the orbit pipeline welding robot mechanic system is introduced in the paper. The main illustration is about the system’s structure，action principle，key points of design and machining technies and verifying calculation for selecting reduction gearbox with the wire feeder motor and the diameter of the wire-feed wheel. The application in fieldwork shows that the robot can trave1 along the orbit stably and reliably and carry through all-position welding. The welding is easy with low cost that is fit for fieldwork and worker in our country，guarantees the welding quality and improve working efficiency.

Keywords:Orbital weldingmachine ；construction design ；pipeline；Manipulator

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目 录

摘要

Abstract

1. 绪论

1.1课题背景及研究意义

1.2管道外圆自动焊接机的发展及应用

1.2.1焊接机器人的发展历程

1.2.2焊接机器人国内外应用现状

1.2.3焊接机器人技术展望

1.3管道外圆自动焊接机的研究现状

1.3.1管道外圆自动焊接机国外研究现状

1.3.2管道外圆自动焊接机国内研究现状

2.管道外圆自动焊接机总体结构设计

2.1自动焊接机总体要求和技术指标

2.2 自动焊接机总体方案的确定

2.3管道外圆自动焊机的设计基本思路

2.4小车行走机构

2.4. 1 基本工作原理

2.4.2 行走机构车体设计要点

2.4.3 行走机构滚动组件的设计要点

2.5 焊丝送进机构

2.6 焊枪摆动机构

2.7 焊接轨道

2.8行走机构的设计计算

2.8.1 等效负载转矩计算

2.8.2 等效转动惯量的计算

3 焊接小车行走机构的机械传动

3.1 电机的选择

3.2 减速器的结构及传动比

3.3 送丝机构的机械传动

3.3.1 送丝电机的选择

3..3.2 减速器

3.4 焊枪姿态调整机构的机械传动

3.4.1 电机的选择

4. 结论

参考文献

致谢