Design And Analysis Of Driving And Driving System Of Circular Seam Welding Robot In Pipeline

With the rapid development of China’s oil and gas pipeline construction,the corresponding pipeline welding equipment also develops rapidly.In this paper,aiming at the problems existing in the CPP900 internal annular welding robot used in engineering field,the driving and driving system of the robot is redesigned with the focus on optimizing the structure design.The main research contents are as follows:Based on a large number of domestic and foreign literature,this paper analyzes in detail the bending and driving problems of CPP900 welding robot under current working conditions.By comparing the advantages and disadvantages of the movement mode,transmission mode and power supply mode of the internal circular seam welding robot,the overall scheme design of the internal circular seam welding robot is completed in view of the problems existing in the original structure.A simplified 2d 5D passability constraint theory model was established for the head assembly and the walking force part respectively,and the relationship between the size of the head and the walking force part and the pipe size was analyzed.The 5D passability of the inner ring welding robot was calculated in the simplified 2D theoretical model.In view of the actual three-dimensional model of the inner ring welding robot interference inspection analysis,gives the internal ring welding robot in bending possible position state,through the interference inspection function of Solid Works software further all the parts of the internal ring welding robot and pipe interference inspection calculation.The calculation results show that the inner ring welding robot can meet the passability requirements of 5D bend.According to the Angle of ascending and descending slope,the whole mechanical analysis is carried out,and the mechanical balance equation is listed.According to the given design parameters,calculate the motor and chain drive parameters,complete the internal ring welding robot motor,chain and other related parts selection,and make a detailed design of the motor control system.According to the drive system proposed in this paper,the structural design of the drive system,the structural design of the gas tank and the brake assembly is completed.According to the scheme proposed in this paper to improve the bending capacity,the expansion guide protection device design,support and rigid connection mechanism design are completed.Finally,the key stress parts in the structure are analyzed,and the statics strength check of relevant parts is completed to ensure that the strength meets the requirements.