Research On The Key Technology Of Circumferentoal Seam Welding Robot

Pipeline transportation has the advantages of high efficiency and labor saving,and is widely used in natural gas,oil and other transportation processes.In the installation process of the conveying pipeline,the manual welding efficiency is low,and the welding quality cannot be guaranteed.In order to improve the efficiency and quality of the annular pipeline welding,a mobile circular weld welding robot is designed in this paper.By consulting the information and combining the welding experience of the pipeline welders,the mechanical structure and the control system of the circular weld welding robot was designed,and the prototype of the circular weld welding robot was developed,the circular weld welding experiment was carried out,and the weld was inspected for flaws.The rationality of the design is verified.First,on the basis of summarizing the experience and technology of pipe welding,a fully automatic welding method for large-diameter pipes was developed.According to the welding requirements of the bottom layer,the filling layer and the cover layer,the corresponding space segmentation of the pipeline is carried out,and the corresponding automatic welding method is proposed in combination with the flat welding,vertical welding and overhead welding positions,and the corresponding welding reference is established.data.Secondly,combined with the automatic welding method of the circular seam and the requirements of the welding environment for the circular seam welding robot,the overall scheme of the circular seam welding robot is designed,including the mechanical scheme of the circular seam welding robot and the electric control scheme.Thirdly,according to the overall plan and welding process,the circular seam welding robot is designed in detail.The mobile circular seam welding robot is mainly composed of a circular motion module,a welding torch moving axially along the pipeline,and a welding torch moving radially along the pipeline.And other composition.The thesis combines the actual working environment and welding process to design each module in detail.With the help of solidworks 3D modeling software,each mechanical module is modeled,and then all modules are combined to obtain a complete circular weld welding robot 3D model.The strength of the main stressed components is checked to confirm that the strength meets the requirements,and the key parts are statically analyzed through ANSYS to verify the rationality of the design.Through the static calculation of the limit position,it provides a reference for the selection of the drive motor.The fuzzy PID-based motor control strategy is studied,and the simulation analysis is carried out on the walking system and the welding trajectory control system of the circular seam welding robot.Finally,field welding experiments were carried out on the developed circular seam welding robot.The test showed that the circular seam welding robot can achieve the required design functions,and the welds welded by it were tested by radiographic flaw detection.The appearance of obvious defects such as cracks indicates that the welding quality of the designed circular weld welding robot meets the requirements.