船用管马鞍形机器人切割和焊接系统研究-材料加工工程专业论文.docxVIP

江苏科技大学工学硕士学位论文 江苏科技大学工学硕士学位论文 A Abstract PAGE PAGE VI III III Abstract In this paper, the current circumstances of domestic and international cutting and welding of saddle-shaped marine pipe were researched and analyzed. At present, domestic ship building industry commonly used hand-cutting in the manufacture process of saddle-shaped marine pipe, labor-intensive, and rely on the experience of operator. That leaded to the result that the cutting trajectory of intersecting line inexact, the angle of bevel unsymmetrical, the quality of welding unqualified. The ordinary auto pipe cutting machine could only cut the branch pipe or the saddle-shaped hole in main pipe without bevel. And the bevel still needed artificial recondition. This situation had problems as follows: low product efficiency, labor intensity and poor working condition. Therefore, the design of a new type of marine pipe saddle-shaped robot cutting and welding system had significant practical value and market prospects. According to the actual situation of marine pipe cutting and welding product process, the requirements of marine tube saddle-shaped cutting and welding were developed. The robot cutting and welding system for marine pipe saddle-shaped cutting and welding were designed. The selection of equipment and the design and manufacture of tooling were been done. The integration of this system was preceded with the help of relevant manufactures. The three-dimensional models of the robot system were built up in the Solidworks. The models were imported in the KUKA Sin Pro and the constraint conditions were added. The mathematical calculation and off-line programming for the saddle-shaped intersection line were also carried out. The robot path were planed using the KUKA Sim Pro, and the purpose of this was to make the movement of the model meet the requirements and achieved the purpose that guided the actual tests. According to the different angle of the bevel of the complex saddle surface of pipe-pip