A Research On Technology Of Pipe Welding Robot

Seam welding is an important procedure of pipeline laying project. Weldingquality has relation to the reliability and operational safety of the pipeline. NowEurope America and other developed countries monopolize most of the automatedpipeline welding equipment. Against such a background, this paper develops apipeline welding robot with robot technology.This paper elaborates on some key technology pipeline welding robot based onthe technology of robot，the theory of ANN，computer simulation technology andvirtual reality technology．According to the demand of pipeline welding procedure, the dimensionparameters of the robot has been determined and the whole layout and mechanicalstructure of this robot has been designed in this thesis on the base of the research ofdomestic and foreign robots. This robot is a5-DOF joint robot. These joints consistof4rotary joints and1mobile joint. RV Reducer and Harmonic Dive Rducer areused to increase speed ratioso that speed radio can be gotten by these small devices.These joints are driven by AC Servo Motor.This paper establishes a3D simulation model of the pipe welding robotthrough the software of Pro/E and selects type of RV Reducer, Harmonic DiveRducer and AC Servo Motor. The kinematics analysis on the robot is conducted andthe forward kinematics matrix formula is set up. The problem of the inversekinematics is solved though artificial neural network theory. We have studiedObstacle avoidance planning of the pipe welding robot and have carried kinematicssimulation on a robot with ADAMS in this paper. The simulation test resultindicates that the welding robot meets the design requirements.