一种小口径管道内焊接机器人研究  

Research on a small diameter pipeline internal welding robot

作　　者：黄超 苗新刚 李加平 HUANG Chao;MIAO Xingang;LI Jiaping(School of Mechanical-Electrical Engineering and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing,102616,China;China Petroleum Pipeline Engineering Co.,Ltd,Langfang,065000,China)

机构地区：[1]北京建筑大学,机电与车辆工程学院,北京102616 [2]中国石油管道局工程有限公司,廊坊065000

出　　处：《焊接学报》2024年第11期66-70,共5页Transactions of The China Welding Institution

基　　金：安徽省重点研究与开发项目(202304a05020069)。

摘　　要：针对小口径管道传统的人工焊接方法效率低下、劳动强度高、存在安全风险且对操作工人技能要求高,难以满足现代工程的需求,设计了一款小口径管道内焊接机器人.该机器人能够在管道内部自主移动,利用精密的机械结构实现高质量的自动化焊接.机器人主要由行走机构、涨紧机构、焊枪升降机构、焊枪回转机构、送丝机构和智能控制系统等部分组成,通过智能控制系统来精确控制各个电机驱动单元,实现全电动的焊接作业.与现有外焊设备相比,这款内焊机器人能有效避免外部环境干扰,提升焊接稳定性,尤其适用于空间受限、难以采用传统焊接方法的施工环境.此设计不仅提升了自动化焊接的灵活性,还展现了焊接技术的智能化发展趋势,为油气管道建设提供了技术支持.A small diameter pipeline internal welding robot has been designed to address the low efficiency,high labor intensity,safety risks,and high skill requirements of traditional manual welding methods for small diameter pipelines,which are difficult to meet the needs of modern engineering.The robot can autonomously move inside the pipeline and use precise mechanical structures to achieve high-quality automated welding.The robot mainly consists of a walking mechanism,a tensioning mechanism,a welding gun lifting mechanism,a welding gun rotation mechanism,a wire feeding mechanism,and an intelligent control system.Through the intelligent control system,various motor drive units are accurately controlled to achieve fully electric welding operations.Compared with existing external welding equipment,this internal welding robot can effectively avoid external environmental interference,improve welding stability,and is particularly suitable for space limited welding and difficult to use traditional welding.This design not only enhances the flexibility of automated welding,but also demonstrates the intelligent development trend of welding technology,providing technical support for oil and gas pipeline construction.

关 键 词：小口径管道 自动焊 管道内焊接 焊接机器人 结构设计 

分 类 号：TG409[金属学及工艺—焊接]