Marine Pipe Saddle Cutting And Welding Robot System Research

In this paper, the current circumstances of domestic and international cutting andwelding of saddle-shaped marine pipe were researched and analyzed. At present, domesticship building industry commonly used hand-cutting in the manufacture process ofsaddle-shaped marine pipe, labor-intensive, and rely on the experience of operator. Thatleaded to the result that the cutting trajectory of intersecting line inexact, the angle of bevelunsymmetrical, the quality of welding unqualified. The ordinary auto pipe cutting machinecould only cut the branch pipe or the saddle-shaped hole in main pipe without bevel. Andthe bevel still needed artificial recondition. This situation had problems as follows: lowproduct efficiency, labor intensity and poor working condition. Therefore, the design of anew type of marine pipe saddle-shaped robot cutting and welding system had significantpractical value and market prospects.According to the actual situation of marine pipe cutting and welding product process,the requirements of marine tube saddle-shaped cutting and welding were developed. Therobot cutting and welding system for marine pipe saddle-shaped cutting and welding weredesigned. The selection of equipment and the design and manufacture of tooling were beendone. The integration of this system was preceded with the help of relevant manufactures.The three-dimensional models of the robot system were built up in the Solidworks. Themodels were imported in the KUKA Sin Pro and the constraint conditions were added. Themathematical calculation and off-line programming for the saddle-shaped intersection linewere also carried out. The robot path were planed using the KUKA Sim Pro, and thepurpose of this was to make the movement of the model meet the requirements and achievedthe purpose that guided the actual tests. According to the different angle of the bevel of thecomplex saddle surface of pipe-pipe intersection (oblique), the precise engineeringcalculations were studied. And it could be directly applied to the processing of cutting andwelding of the saddle-shaped surface. The robot control system has its own specific ways ofdata formats and communications, and it mean that only the off-line programs which couldbe discriminated by the robot were programmed that the process of robot automatic weldingcould be controlled.The robot cutting and welding process of marine pipe saddle-shaped were researched.The saddle-shaped cutting and welding tests for main pipe Φ356×13and branch Φ219×13 with90°orthogonal fittings were carried out, and the parameters of robot cutting andwelding were developed by optimizing. The results showed that the quality of saddle-shapedmarine pipe meet the production requirements.