管道焊接机器人轨道设计与研究
文献类型：学位论文
| 作者 | 金玉章
|
| 学位类别 | 硕士 |
| 答辩日期 | 2015-05-26 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 中国科学院沈阳自动化研究所 |
| 导师 | 朱思俊 |
| 关键词 | 管道焊接机器人 轨道设计 支撑设计 拓扑优化 尺寸优化 刚柔耦合 疲劳分析 |
| 其他题名 | Design and Research on Pipeline Welding Robot Rail |
| 学位专业 | 机械电子工程 |
| 中文摘要 | 管道运输以其经济，可靠，绿色等独特优势成为长距离油气运输的主要方式。如今无论是国内还是国外管道建设都以高速度增长。因管口焊接是整个管道建设工程的核心工序，所以开发性能优良的管口焊接设备—管道焊接机器人就显得十分必要。 本文在分析国内外管道焊接机器人研究现状的基础上，发现在当前的研究中对于管道焊接机器人关键组件行走轨道的研究较少。又因行走轨道是整个焊接小车运行的基础，很大程度上影响焊接小车行走的稳定性和精度，从而进一步影响管道焊接质量。因此设计优秀的轨道就尤为必要。 本文首先建立了焊接小车在预焊接管道的不同位置时轨道受力的模型、轨道径向变形的模型以及轨道所受最大应力的模型。根据所建立的轨道径向变形和最大应力的解析模型，提出了一种轨道厚度和支撑个数的选择表法，为工程师初选管道焊接机器人轨道厚度和支撑个数提供依据。其次本文依据所提出的选择表法，依照本项目的相关参数，设计了轨道厚度为10mm，轨道支撑为12个的刚性轨道。为验证设计的有效性，进行了联合ANSYS和ADAMS软件平台的刚柔耦合仿真。 再次对轨道支撑进行了优化设计，以解决焊接轨道在安装过程中与预焊接管道难同心的问题以及减少系统运行过程中产生的振动对轨道产生的损伤。在概念设计阶段采用拓扑优化的方法确定最优的结构形式；在详细设计阶段，综合考虑加工难度和成本等问题，将拓扑优化得到的模型进行相应的修改和优化得到最合理的设计尺寸。 最后对所设计的新型柔性支撑进行疲劳仿真分析和静载压缩实验。疲劳分析采用的是nCode DesignLife软件平台，分析了所设计的轨道支撑的损伤量与疲劳寿命；静载压缩实验是通过对所设计的轨道支撑样件进行压缩实验完成的。经实验验证本轨道支撑符合设计要求。 |
| 索取号 | TP242/J67/2015 |
| 英文摘要 | Pipeline transportation with its unique advantages of reliable, economic, environmental-friendly becomes the main method of long distance oil and gas transportation. Now, pipeline construction is increasing at a high speed at home and abroad. Because the pipe-welding process is the key of the pipeline construction project, so the research and development of orbital welding robot with excellent performance is very essential. Based on the analysis of research status at home and abroad on the pipeline welding robot, it shows that the research of the rail which is the key part of pipeline welding robot is less. Because the rail is the base of the movement of welding car, determines the stability and accuracy of the robot at a large extent and affects the pipeline welding quality further. So it's necessary to analysis and design excellent performance rail. This paper firstly established the model of force of rail, the model of radial deformation of rail and the stress model of the rail when the welding car in the different position. According to the established models of the rail radial deformation and the maximum stress, a method is introduced to choose the thickness and number of support of the rail track of the orbital welding robot for engineers. Secondly, by using the method that is introduced and the relevant parameters of the project, a rail that the thickness is 10 mm and number of support is 12 is design. In order to verify the effectiveness of the design, a simulation of combination of rigid-flexible in ANSYS and ADAMS platform is done. Thirdly, optimization design of rail support is done to solve the concentric problem in installation process and alleviate the vibration damage of rail and pipeline in the running of the system. By using the method of topology optimization in conceptual design phase to determine the optimal structure and the method of sizing optimization in the detailed design stage, considering the processing difficulty and cost, the reasonable size of model is determined. Lastly, Fatigue analysis and static load test of the new designed support are done to verify the effectiveness of design. Fatigue analysis gets the damage and fatigue life of rail support in the nCode Design-Life software platform. Static load experiment is based on the prototype of the rail support to verify the compliance with the design requirements. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 页码 | 69页 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/16762]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | 金玉章. 管道焊接机器人轨道设计与研究[D]. 中国科学院沈阳自动化研究所. 中国科学院沈阳自动化研究所. 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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