管道全位置焊接机器人结构设计与分析

针对长输油气管道焊接效率低、劳动强度大和焊接质量不稳定的问题，研制了一种管道全位置焊接机器人。根据野外施工特点，采用模块化设计方法，确定了焊接机器人结构，主要包括行走机构、焊炬调节机构和送丝系统三部分，并对其结构特点和工作原理进行了分析。根据机械模型建立了机器人的运动学方程，进行了仿真和试验研究，仿真结果表明：该机器人可以完成对应壁厚钢管的焊接，且焊接质量良好。

Structural Design and Analysis of Pipeline All position Welding Robot

Aimed at the problems of low welding efficiency, high labor intensity and unstable welding quality of long distance oil and gas pipelines, a pipeline full position welding robot was developed. According to the characteristics of field construction, the structure of the welding robot was determined by using the modular design method,including the walking mechanism, welding torch adjustment mechanism and wire feeding system. The structural characteristics and working principle were analyzed. Kinematics equation of the robot was established according to the mechanical model, the simulation and experimental study were carried out. The simulation results show that the robot can complete the welding of the corresponding wall thickness steel pipe, and the welding quality is good