The Research Of Welding Robot Of Large Diameter To Takeover

The butt welding is an important working procedure in the process of pipeline laying, it is widely used in petroleum, natural gas, chemical industry, urban pipelines, etc, and the quality of welding plays a key role in the reliability of pipeline use and safety of operation. At present, the most of the large diameter pipe butt welding in domestic done by the traditional manual welding, resulting in low working efficiency, progress is slow. Although some project adopted automatic welding robot, but for the most of these devices are developed by Europe, the United States and other developed countries. Such cases, it is meaning of designing a suitable for large diameter pipe butt welding robot.The research object of this paper is large diameter pipe butt welding robot. By adopting the technology of the robot, kinematics theory, kinetics theory and computer simulation technology, focusing on designing and researching mechanical structure of the large diameter welding robot. It is divided into the following several aspects:(1)By understanding the welding robot working environment, object and task, to determine the structure design scheme of welding robot;(2)Designing the three of the robot movement joints(circular motion mechanism, axial tilting mechanism and radial telescopic arm), selecting and motor, reducer, bearings and other standard parts;(3)Using the robot matrix theory knowledge to analysis the kinematics of the robot forward problem and inverse problem of the welding robot, determine the relationship among the movement of the actuator(position), the geometric parameters of welding robot and motion parameters of welding robot;(4)Using 3 d software Pro/E4.0 to make three-dimensional models of the robot, and under the Pro/E4.0 organization module carries on kinematics simulation and position simulation,get the speed of the actuator(gun), the change of the acceleration curve and location trajectory, and carries on the analysis, and demonstrate its in line with the principle of work;(5)Using geometric method, in the welding process, analyze the possible problem of interference between car and chain, and demonstrated the presence of interference; Using the method of mechanics analysis, analyze the problem of the chain skidding on pipeline, the car stopped motionless, and it is concluded that the car smooth movement condition equation.