Study On Robot Welding System For Marine Medium Size Pipe-Pipe And Pipe-Flange

The current manufacturing process of pipe structure has problems such as follows: lowproduction efficiency, welding quality unstable and poor working conditions for the workers.Based on the analysis of the requirements of pipe structure assembling and welding, thedesign of robot-welding was bought up.In this paper, two robot-welding stations, straight pipe robot-welding station andbended pipe robot-welding station, were designed according to the marine medium size pipeand flange specific circumstances. For the straight pipe robot-welding station, comparingthe two machines comprehensively, one was jaw-type position changing machine and theother was idler-type position changing machine. Through comprehensively comparing thetwo machines, the idler-type position changing machine was eventually used. Meanwhile,the flange tack weld device, the feeding and blanking systems, master-slave robots controland slave robot moving platform were designed. For the bended pipe robot-welding station,the clamping apparatus, L-type position changing machine and movable single shaft rotaryposition changing machine were designed. The welding power source, the clearing gun andcutting wire device, the gas supply system and other safety devices were introduced indetails.The models of various parts of the two robot-welding stations were established usingPRO/E. The simulation experiments of the two robot-welding stations were carried out inKUKA Sim Pro. The walking paths of two robots were optimized and anti-collision deviceswere tested. Based on the results of the simulation tests, the rack of the welding gun ofbended pipe robot was improved. The results of the simulation tests also demonstrated thatthe design of the two robot-welding stations were reasonable and feasible.The welding technology experiments for marine medium size pipe workpiece werecarried out, and the impacts of process parameters on the weld shape and porosity defectswere studied. According to the results of the experiments, the pipe-pipe and pipe-flangewelding parameters were optimized. Using the optimized process parameters, the formingexcellent weld seams were obtained. And the weld leg sizes meet standard of theclassification society. The X-ray detection results showed that there were no cracks andstoma. The mechanical properties of the welded joints meet the specification requirementsof the classification societies.