管道自动焊接装置设计.

洛阳理工学院毕业设计（论文） I 管道自动焊接装置设计

摘 要 【随着我国社会经济的发展和工业技术的进步，长输管道的应用越来越多、建设量越来越大，管道运输是油气运输中最主要、最快捷、最可靠的运输方式，可用于输送水、原油、天然气等液气品，具有运输量大、距离远、安全性能高、成本低等优点，因此在各国发展迅速。管道运输业中的主体是管道，管道工程的核心工作是管道接口的焊接。所以研究性能可靠、高效率的管道全位置自动焊接机具有十分重要的意义。 关键技术包括：研制新型的行走机构、及机器人轨道、焊枪摆动机构、焊枪机械手。本文主要介绍了行星轮式焊接机结构的设计，着重对其结构特点、设计要点、动作原理进行设计分析和说明。焊枪机械手能够沿太阳轮平稳、可靠的转动，进行管道外圆全位置焊接，其操作简便、成本低，适合我国现场施工作业及工人的技术水平，既能提高了劳动效率，又保证了焊接质量。】

关键词：管道，焊接机械手，自动焊接，行星轮，二氧化碳保护焊 洛阳理工学院毕业设计（论文）

II Design of pipeline automatic welding equipment ABSTRACT 【with China's social and economic development and the technology progress, the pipeline is used more and more, the greater the construction quantity is getting, pipeline transportation is transportation of oil and gas in the main, the quickest, the most reliable means of transportation, used to transport water, crude oil, natural gas, liquid gas, with transport capacity, long distance, high safety performance, low cost and other advantages, so rapidly in developing countries. Subject of pipeline transportation of pipeline, pipeline engineering is the core work is pipeline interface of welding. So the research of reliable performance, high efficiency of pipeline all position automatic welding machine has the very important significance.Key technologies include: the development model of the walking mechanism, and the robot track, welding gun swing mechanism, welding manipulator. This paper mainly introduces the planetary wheel welding machine structure design, emphatically on the structural characteristics, design essentials, action principle design analysis and explanation. Welding gun manipulator can along the sun wheel steady, reliable rotation, outside the pipeline all position welding, the utility model has the advantages of simple operation, low cost, suitable for fieldwork and workers in our country's technology level, both can improve the work efficiency, and ensure the welding quality.】

KEY WORDS:pipe,welding manipulator, automatic welding,planetary gear,carbon dioxide arc welding 洛阳理工学院毕业设计（论文）

III 目 录

前 言 ................................................................................................ 1 第1章 自动焊接机的应用与发展 ................................................... 2 1.1 课题背景及研究意义 ........................................................... 2 1.2 管道外圆自动焊接机国内外的研究现状 ............................ 2 1.2.1 管道外圆自动焊接机国内研究现状 .......................... 2 1.2.2管道外圆自动焊接机国外研究现状 ........................... 3 1.3管道外圆自动焊接机的发展及应用 ..................................... 4 1.3.1焊接机器人的发展历程 ............................................... 4 1.3.2焊接机器人国内外应用现状 ....................................... 5 1.3.3焊接机器人技术展望 .................................................. 6 第2章 管道自动焊接装置总体结构设计 ........................................ 8 2.1 自动焊接机总体要求和技术指标 ........................................ 8 2.2 自动焊接机总体方案的确定 ................................................ 8 2.3 管道自动焊接装置设计的基本思路 .................................... 9 2.4 焊丝送进机构 ....................................................................... 9 2.5 焊枪摆动机构 ..................................................................... 10 2.6 行星轮行走机构 ................................................................. 10 2.6.1 行星轮系类型的选择 ............................................... 10 2.6.2 行星轮系中各齿轮齿数的选择 ................................ 11 2.6.3 各轮的转速 ............................................................... 12 第3章 传动装置的设计 ................................................................. 13 3.1 电动机的选择 ..................................................................... 13 3.1.1 电动机类型的选择 ................................................... 13 3.1.2 电动机功率的选择 ................................................... 13 3.1.3 确定电动机的转速 ................................................... 13 3.2 计算总传动比及分配各级的传动比 .................................. 14 3.2.1 总传动比 ................................................................... 14 3.2.2 分配各级传动比 ....................................................... 14 洛阳理工学院毕业设计（论文） IV 3.3 轴的计算 ............................................................................. 14 3.3.1 电动机轴的计算 ....................................................... 14 3.3.2 轴的计算 ................................................................. 14 3.3.3 Ⅱ轴的计算 ............................................................... 15 3.3.4 Ⅲ轴的计算 ............................................................... 15 3.3.5 Ⅳ轴的计算 ............................................................... 16 3.4 V带的计算 .......................................................................... 16 3.4.1 确定计算功率 ........................................................... 16 3.4.2 选择V带的型号 ...................................................... 16 3.4.3 确定带轮的基准直径1dd、2dd .................................. 17 3.4.4 验算V带的速度 ...................................................... 17 3.4.5 确定V带的基准长度dL和实际中心距a ................. 17 3.4.6 校验小带轮包角1a .................................................... 18 3.4.7 确定V带根数Z ....................................................... 18 3.4.8 求初拉力0F及带轮轴的压力QF ................................ 18 3.4.9 设计结果 ................................................................... 19 3.5 减速器齿轮传动的设计计算 .............................................. 19 3.5.1 高速级圆柱齿轮传动的设计计算 ............................ 19 3.5.2 低速级圆柱齿轮传动的设计计算 ............................ 20 3.6 轴的设计 ............................................................................. 21 3.6.1 选择轴的材料及热处理 ............................................ 21 3.6.2 按钮转强度估算直径 ............................................... 21 3.6.3 设计轴的直径 ........................................................... 21 第4章 零部件的设计 ..................................................................... 22 4.1 滚动轴承的选择 ................................................................. 22 4.1.1 键的选择 ................................................................... 22 4.1.2 联轴器的选择 ........................................................... 22 第5章 保养方式 ............................................................................. 23 5.1 润滑油的选择 ..................................................................... 23 5.2 密封方法的选取 ................................................................. 23