焊縫全自動超聲掃查爬行器設計

機械論文編號:JX959  論文字數:15820.頁數:32   附CAD圖

 目 錄
 第一章 緒論 1
1.1 選題的背景與意義 1
1.2 國內外研究現狀和發展趨勢 2
1.3 本章小結 3
 第二章 設計任務 4
2.1 主要設計內容 4
2.2 關鍵技術 5
2.3 設計的實施方案和技術路線 5
2.4 本章小結 7
 第三章 焊縫超聲檢測工作原理 8
3.1 脈沖反射式超聲波探傷 8
3.2 超聲波檢測環形焊縫的基本原理 8
3.3 超聲探頭及儀器 9
3.3.1 弧面板與平面板比較 9
3.3.2 L0的測量 10
3.3.3 K值測量 11
3.4 本章小結 12
 第四章 掃查器總體方案與結構設計 13
4.1 基本功能方案 13
4.1.1 吸附方式選擇 13
4.1.2 運動方式選擇 14
4.2 結構設計 14
4.3 掃查器穩定性研究 18
4.4 本章小結 20
 第五章 掃查器主要部件結構校核 21
5.1 COSMOSWorks介紹 21
5.2 掃查器主要部件的校核 21
5.2.1 管道掃查器車體的靜態分析 21
5.2.2 管道掃查器掃查臂頻率分析 23
5.3 本章小結 24
 第六章 總結 25
 參考文獻 26
 致 謝 27

 摘     要
 介紹了焊縫掃查機器人技術發展的意義及我國焊縫機器人技術研究的現狀。論述了掃查爬行器基于PC的控制器和超聲檢測的融合技術將成為研究的熱點問題。該裝置具備結構簡單、安裝方便、穩定性好且質量輕等特點。本課題設計的系列大型設備與管道焊縫超聲自動檢查設備，采用永磁體輪式機構實現其在圓柱形筒體壁面的吸附和圓周移動功能，附加安裝專用掃查模塊可實現多種壁貌的自動掃查功能。
 本文根據該設備的實際工作要求和工作環境，選擇了合適的吸附方式和傳動方案，分別設計了適用于各種掃查壁貌的掃查器總體方案設計，詳細介紹了掃查器本體、掃查臂等各模塊的設計，掃查器本體裝配不同的掃查臂從而實現超聲探頭的各種軌跡的掃查運動。
 焊縫全自動超聲掃查機構（或爬行器），借助計算機、數控、精密機械、微電機驅動等技術，由便攜電腦、基于PC的多軸步進電機控制卡、智能化超聲檢測高速數據采集卡、二維精密機械傳動裝置以及軟件系統組成，是整個系統實現自動化、數字化、圖像化、智能化，實現在線檢測的關鍵。
 另外，還利用SolidWorks軟件就焊接機器人實際的工作過程進行了模擬。并對個別裝置上的零件進行了參數分析。
 本項目設計的管道焊縫超聲檢測掃查器結構簡單，性能可靠，通用性好;本文研究方法和結果具有一定通用性，可供同類型設計作為參考。
 
關鍵詞： 焊縫機器人 超聲 PC控制SolidWorks
 
 The Design of Automatic Weld Scanning by Ultrasonic Crawler
 
Abstract
 Outlined Weld Inspection of the significance of the development of robot technology and our weld the status of robotics research. Crawling on the scanning device of the controller and the PC-based ultrasonography of the fusion technology research will become a hot issue. The device has simple structure, convenient mounting, enough stability and light mass etc. Series of automatic ultrasonic testing device for large-sized vessel and pipeline welds in the dissertation utilize wheel device with permanent magnet to perform the adsorption and circular motion of the scanner in cylinder’s working surface. Additionally, mount different special scanning modules to perform corresponding automatic inspections on different working surfaces.
 According to the actual work requirements and enviornment, this dissertation chooses appropriate adsoprtion mode and drive scheme. On the basic takes advantage of modular design method, respectively represents various general-planning designs suitable for inspecting corresponding working surfaces, represents various modules design such as main body of the scanning, the scanning arms etc indetail. The scanner mounted by the main body and the appropriate arm can achieve every trace motion of the ultrasonic wave detector.
 Automatic scanning ultrasonic weld body (or Creeper), the use of computer, numerical control, precision machinery, such as the micro-motor drive technology. From portable computers, PC-based multi-axis stepper motor control card, intelligent ultrasonic testing high-speed data acquisition card, two-dimensional precision mechanical transmission device and software system. This is to automate the entire system, digital, image, intelligence, the key to online testing.
 In addition, the use of SolidWorks software on the actual work of welding robot to simulate the process. Individual devices and components for the parameters of analysis.
 The ultrasonic testing scanners for pipeline welds design by the project have simple structures, good reliability and applicability. The study methods in the paper have some universalism in some sense and can be used for reference for some similar design.
 
Keywords:  Weld robot,  Utrasonnd,  PC control,  SolidWorks