模块化管道焊接机器人结构设计与分析

Structure Design and Analysis of Modular Pipeline Welding Robot

针对城市供水管网铺设时操作空间狭小、人工焊接效率低、质量不稳定等问题,设计一种模块化管道焊接机器人。采用模块化设计方法,完成焊接机器人的机械结构设计,主要包括焊接行走底盘、焊枪姿态调整机构和可调柔性导轨3部分。运用D-H参数法建立机器人运动学方程,基于蒙特卡罗法对该机器人的可视化工作空间进行仿真分析。最后进行模块化管道自动焊接工艺实验和施工现场应用。实验结果和施工现场应用结果表明:该机器人能够完成对应壁厚钢管的全位置焊接任务,焊接过程稳定且焊缝成形良好。

Aiming at the problems such as narrow operating space,low manual welding efficiency and unstable quality when laying urban water supply pipeline networks,a modular pipeline welding robot was designed.Using modular design method,the mechanical structure design of the welding robot was completed which mainly included three parts:the welding walking chassis,the torch attitude adjustment mechanism and the adjustable flexible guide rail.The kinematic equations of the robot were established using the D-H parameter method,and the visualized workspace of the robot was simulated and analyzed based on Monte Carlo method.Finally,the modular pipeline automatic welding process experiment and construction site application were carried out.The experimental results and construction site application results show that the robot can complete the all-position welding task of the corresponding wall thickness steel pipe with stable welding process and good weld seam formation.