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膨胀波纹管技术是一种很有发展前途的石油钻井套管封固新技术,焊接是膨胀波纹管的主要连接技术,目前膨胀波纹管连接施工仍处于手工焊阶段,自动化焊接技术是膨胀波纹管技术的研究热点和亟待解决的关键技术。研究出一种能实现“8”字型复杂截面膨胀波纹管自动焊接的机器人。建立多段圆弧组成的“8”字型波纹管截面轨迹的四象限数学方程,依据波纹管外形尺寸小、波谷小、成形误差大等特点提出基于角度检测的波纹管复杂截面焊接机构方案。建立焊接小车、微型从动末端执行机构、高低跟踪机构联动控制的焊接速度矢量控制模型,基于角度的恒速度控制模型,以及膨胀波纹管直角坐标系对称分析模型,并以第一象限4区为例分析各区段之间恒速控制的约束条件,建立基于压力检测的焊接小车与微型跟踪执行机构协同作业机制。利用角度检测建立恒速控制模型,避免膨胀波纹管复杂截面的精确数学模型轨迹控制,同时也能很好地适应波纹管工件制造偏差和安装偏差,解决了膨胀波纹管截面机器人焊接速度恒定以及焊接轨迹跟踪问题。采用所提出机器人焊接的膨胀波纹管焊缝成形美观,无损检测显示焊缝质量好,无焊接缺陷;打压膨胀试验表明所焊接的膨胀波纹管最大承压达到35MPa,能满足膨胀管的膨胀性能要求。
Expansion bellows technology is a promising new technology for casing sealing of oil well drilling. Welding is the main connection technology for the expansion bellows. At present, the construction of the expansion bellows is still in the manual welding stage. The automation welding technology is the expansion bellows The hot research of technology and the key technology to be solved urgently. Developed a robot can achieve “8 ” font complex cross-section expansion bellows automatic welding. A four-quadrant mathematical equation of the cross-section of “8” -shaped corrugated pipe composed of multi-section circular arcs was established. Based on the small size of the corrugated pipe, small trough and large forming error, a solution to the complicated cross-section welding mechanism of the corrugated pipe based on the angle detection was proposed . The welding speed vector control model with linkage control of welding carriage, micro-driven end effector, high-low tracking mechanism, angle-based constant velocity control model and symmetrical analysis model of rectangular tube with expansion bellows were established. In this paper, the constraint conditions of constant speed control between different sections are analyzed, and the cooperation mechanism between welding trolley and micro tracking actuator based on pressure detection is established. The establishment of a constant speed control model by using angle detection avoids the precise mathematical model trajectory control of the complicated section of the expansion bellows and also can well adapt to the manufacturing deviation and installation deviation of the bellows workpiece and solves the problem that the welding speed of the expansion bellows section robot is constant, Track the problem. Adopting the proposed robot welding, the appearance of the weld of the expansion bellows is beautiful and the non-destructive test shows that the welding seam is of good quality and no welding defects. The compression and expansion test shows that the maximum pressure of the welded bellows reaches 35MPa, which can meet the requirements of the expansion performance of the expansion pipe .