管道全位置焊接机器人机械系统研制

为解决管道建设野外作业的自动化焊接的难题。研制了一种导轨式管道焊接机器人，其关键技术包括：研制新型的行走机构、焊枪摆动机构、机器人导轨与智能控制系统。介绍了导轨式管道焊接机器人机械系统的研制，着重对其结构特点、动作原理、设计要点进行了分析和说明。结合焊接工艺的要求对送丝电机减速箱及走丝轮直径的选定进行了校核计算。现场应用表明，该机器人能沿导轨平稳、可靠的行走，进行管道的全位置焊接，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，既保证了焊接质量，又提高了劳动效率。

Development of pipeline all-position welding robot mechanic system

An orbit pipeline welding robot has been developed to solve the problem of automatic welding during pipeline construction in the fields.Its key techniques consist of developing a new type of travel unit,welding torch as cillating unit,robot orbit and intelligent control system etc.The development work of the orbit pipeline welding robot mechanic system is introduced in the paper.The main illustration is about the system's structure,action principle,key points of design and machining technics and verifying calculation for selecting reduction gearbox with the wire feeder motor and the diameter of the wire-feed wheel.The application in fieldwork shows that the robot can travel along the orbit stably and reliably and carry through all-position welding.The welding is easy with low cost that is fit for fieldwork and worker in our country,guarantees the welding quality and improve working efficiency.