【作者】 张永和；

【导师】 吴林；

【作者基本信息】 哈尔滨工业大学 ， 材料加工工程， 2008， 硕士

【摘要】 核环境中的设备维修任务涉及大量管道全位置焊接。由于恶劣的工作环境和对焊接质量的高要求,机器人遥操作及相关技术是解决核环境下管道检测、维修等工作的重要途径,而目前通用的管道全位置焊接机无法满足遥控焊接系统的要求。本文根据遥控焊接的需要和管道全位置自动焊接的特点,从实用化角度出发,研制了一套针对核环境中小口径管道的全位置自动焊接装置,完成了与遥操作机器人焊接系统的集成,实现了管道的遥控焊接。本文首先对装置的硬件进行了设计。硬件系统采用“模块化”的设计思想,主要包括工具自动夹紧装置、机械传动机构、专用焊枪及焊枪微调系统、机器人末端工具快速更换器接口的预留等设计。利用计算机软件完成系统的硬件设计和运动模拟,建立管道全位置自动焊接装置的硬件系统。然后,对全位置自动焊接装置编写了控制软件。根据工作环境和管道焊接任务的要求,该控制软件以工业控制计算机为核心,结合多功能运动控制卡组成驱动控制系统。系统软件的控制功能主要包括对管道气动夹紧装置的控制,以实现装置的自动夹紧和拆卸;对机械传动机构的控制,以实现焊接速度的控制、焊枪行走轨迹控制及焊接周向位置的控制;对焊枪微调电机的控制,以实现焊枪的轴向位置调整和法向焊枪高度调整。最后,本文通过实验验证了所研制的管道全位置自动焊接装置的各项性能。分别进行了系统夹紧固定、焊接平稳性、焊枪旋转同心度、焊枪调节、焊枪性能等一系列实验。进一步完成了与遥控操作机器人系统的集成实验,包括与机器人系统的对接操作、装置与管道装配操作、管道焊接操作的综合性实验。实验表明,本文研制的装置能够完成小口径管道的全位置自动焊接,可满足遥控焊接系统的特殊要求。更多还原

【Abstract】 All-position pipeline welding task is heavily involved in equipment maintenance in nuclear environment. Due to execrable work environment and requirement of high welding quality, tele-operation of robot and related techniques are important approaches to solve the pipeline inspection and maintenance in nuclear environment. However, at the present time, the general all-position automatic welding device can not satisfy the need of tele-operated welding system. According to the need of remote welding and characteristic of all-position automatic welding, from a practical perspective, the thesis have developed an all-position automatic welding device for small-diameter pipeline in nuclear environment. The device is integrated with the tele-robotic welding system and accomplishes the remote welding for pipeline.Firstly,designed the hardware of the all-position automatic welding device. The hardware system used“modularization”design idea and included automatic clamping device, mechanical transmission, special welding torch, fine-tuning system and the replacement interface of robot end effectors, etc. Using computer software,the all-position automatic pipeline welding device was constructed and the motion of the device was simulated.Secondly, according to the working environment particularity and the tasks needs programmed the multi-function driver control system. The system was constituted of industrial personal computer and the industrial card system. It mentioned to the pneumatic clamping device control system using in the automatic clamping and demolition, the mechanical transmission control system to get the welding speed, welding path and the circular position of the welding torch, fine-tuning control system for the axial position and the normal high degree of the torch.Finally, by a series of experiments, the performances of the device was verified, such as clamping to fix, welding movement smoothly, torch rotating concentrically, the torch welding performances. Moreover, the integration experiment with the tele-robotic welding system was completed, including the abutting joint with the robot operating system, the assembly operations of the pipeline welding device and the welding actions of the comprehensive system. Results show that the device realizes the demand of tele-robotic welding system and can be used in remote welding.更多还原