管道外圓自動焊接機結構設計

論文編號:JX1632  論文字數:13554.頁數:28 附任務書，開題報告，外文翻譯,CAD圖

管道外圓自動焊接機結構設計
 摘要：管道運輸是油氣運輸中最主要、最快捷、經濟、可靠的方式，可用于輸送水、原油、天然氣、成品油等，具有輸量大、距離長、安全性高、成本低等優點，在各國發展迅速。管道運輸業的主體是管道，管道工程的核心工作是管口的焊接。因此研究高效率、性能可靠的管道全位置自動焊接機具有十分重要的意義。
        為解決管道建設野外作業的自動化焊接的難題，研制了一種導軌式管道焊接機器人，其關鍵技術包括：研制新型的行走機構、焊槍擺動機構、及機器人軌道、焊槍機械手。介紹了導軌式焊接機結構的設計和焊接機控制，著重對其結構特點、動作原理、設計要點進行設計分析和說明。現場應用表明，該機器人能沿導軌平穩、可靠的行走，進行管道外圓全位置焊接，其操作簡便，成本低，適合我國現場施工作業及工人的技術水平，既保證了焊接質量，又提高了勞動效率。
 
關鍵詞：軌道式焊接機 ；結構設計； 管道 ；機械手

Cylindrical pipe automatic welding machine design
 Abstract: Pipeline transportation is the most important, quickest, economical and reliable method in petroleum transportation. It can transport water, crude oil, natural gas, oil product etc. It has a number of advantages: high transmission volumes, long distance, safety and cost-effectiveness, which is rapid developed in all the world. The subject of pipeline transportation is pipeline; the core of pipeline project is nozzle welding. So, it has very important significance to develop high efficient and reliable performance pipeline all-position automatic welding machine.
             An orbit pipeline welding robot has been developed to solve the problem of automatic welding during pipeline construction in the fields. Its key techniques consist of developing a new type of travel unit, welding torch as cillating unit, robot orbit and intelligent control system etc. The development work of the orbit pipeline welding robot mechanic system is introduced in the paper. The main illustration is about the system's structure，action principle，key points of design and machining technies and verifying calculation for selecting reduction gearbox with the wire feeder motor and the diameter of the wire-feed wheel. The application in fieldwork shows that the robot can trave1 along the orbit stably and reliably and carry through all-position welding. The welding is easy with low cost that is fit for fieldwork and worker in our country，guarantees the welding quality and improve working efficiency.
 Keywords: Orbital welding machine ；construction design ；pipeline； Manipulator

目  錄
摘要 1
Abstract 2
1. 緒 論 5
1.1課題背景及研究意義 5
1.2管道外圓自動焊接機的發展及應用 5
1.2.1焊接機器人的發展歷程 5
1.2.2焊接機器人國內外應用現狀 6
1.2.3焊接機器人技術展望 7
1.3管道外圓自動焊接機的研究現狀 8
1.3.1管道外圓自動焊接機國外研究現狀 8
1.3.2管道外圓自動焊接機國內研究現狀 9
2.管道外圓自動焊接機總體結構設計 11
2.1自動焊接機總體要求和技術指標 11
2.2 自動焊接機總體方案的確定 11
2.3管道外圓自動焊機的設計基本思路 12
2.4小車行走機構 12
2.4. 1 基本工作原理 12
2.4.2 行走機構車體設計要點 13
2.4.3 行走機構滾動組件的設計要點 13
2.5 焊絲送進機構 14
2.6 焊槍擺動機構 15
2.7 焊接軌道 15
2.8行走機構的設計計算 16
2.8.1 等效負載轉矩計算 17
2.8.2 等效轉動慣量的計算 18
3 焊接小車行走機構的機械傳動 19
 3.1 電機的選擇 20
3.2 減速器的結構及傳動比 21
3.3 送絲機構的機械傳動 21
3.3.1 送絲電機的選擇 21
3..3.2 減速器 23
3.4 焊槍姿態調整機構的機械傳動 23
3.4.1 電機的選擇 23
4. 結  論 25
參考文獻 25
致  謝 26