焊缝全自动超声扫查爬行器设计

论文编号:JX959  论文字数:15820.页数:32   附CAD图

 摘     要
 介绍了焊缝扫查机器人技术发展的意义及我国焊缝机器人技术研究的现状。论述了扫查爬行器基于PC的控制器和超声检测的融合技术将成为研究的热点问题。该装置具备结构简单、安装方便、稳定性好且质量轻等特点。本课题设计的系列大型设备与管道焊缝超声自动检查设备，采用永磁体轮式机构实现其在圆柱形筒体壁面的吸附和圆周移动功能，附加安装专用扫查模块可实现多种壁貌的自动扫查功能。
 本文根据该设备的实际工作要求和工作环境，选择了合适的吸附方式和传动方案，分别设计了适用于各种扫查壁貌的扫查器总体方案设计，详细介绍了扫查器本体、扫查臂等各模块的设计，扫查器本体装配不同的扫查臂从而实现超声探头的各种轨迹的扫查运动。
 焊缝全自动超声扫查机构（或爬行器），借助计算机、数控、精密机械、微电机驱动等技术，由便携电脑、基于PC的多轴步进电机控制卡、智能化超声检测高速数据采集卡、二维精密机械传动装置以及软件系统组成，是整个系统实现自动化、数字化、图像化、智能化，实现在线检测的关键。
 另外，还利用SolidWorks软件就焊接机器人实际的工作过程进行了模拟。并对个别装置上的零件进行了参数分析。
 本项目设计的管道焊缝超声检测扫查器结构简单，性能可靠，通用性好;本文研究方法和结果具有一定通用性，可供同类型设计作为参考。
 
关键词： 焊缝机器人 超声 PC控制SolidWorks
 
 The Design of Automatic Weld Scanning by Ultrasonic Crawler
 
Abstract
 Outlined Weld Inspection of the significance of the development of robot technology and our weld the status of robotics research. Crawling on the scanning device of the controller and the PC-based ultrasonography of the fusion technology research will become a hot issue. The device has simple structure, convenient mounting, enough stability and light mass etc. Series of automatic ultrasonic testing device for large-sized vessel and pipeline welds in the dissertation utilize wheel device with permanent magnet to perform the adsorption and circular motion of the scanner in cylinder’s working surface. Additionally, mount different special scanning modules to perform corresponding automatic inspections on different working surfaces.
 According to the actual work requirements and enviornment, this dissertation chooses appropriate adsoprtion mode and drive scheme. On the basic takes advantage of modular design method, respectively represents various general-planning designs suitable for inspecting corresponding working surfaces, represents various modules design such as main body of the scanning, the scanning arms etc indetail. The scanner mounted by the main body and the appropriate arm can achieve every trace motion of the ultrasonic wave detector.
 Automatic scanning ultrasonic weld body (or Creeper), the use of computer, numerical control, precision machinery, such as the micro-motor drive technology. From portable computers, PC-based multi-axis stepper motor control card, intelligent ultrasonic testing high-speed data acquisition card, two-dimensional precision mechanical transmission device and software system. This is to automate the entire system, digital, image, intelligence, the key to online testing.
 In addition, the use of SolidWorks software on the actual work of welding robot to simulate the process. Individual devices and components for the parameters of analysis.
 The ultrasonic testing scanners for pipeline welds design by the project have simple structures, good reliability and applicability. The study methods in the paper have some universalism in some sense and can be used for reference for some similar design.
 
Keywords:  Weld robot,  Utrasonnd,  PC control,  SolidWorks
 目 录
 第一章 绪论 1
1.1 选题的背景与意义 1
1.2 国内外研究现状和发展趋势 2
1.3 本章小结 3
 第二章 设计任务 4
2.1 主要设计内容 4
2.2 关键技术 5
2.3 设计的实施方案和技术路线 5
2.4 本章小结 7
 第三章 焊缝超声检测工作原理 8
3.1 脉冲反射式超声波探伤 8
3.2 超声波检测环形焊缝的基本原理 8
3.3 超声探头及仪器 9
3.3.1 弧面板与平面板比较 9
3.3.2 L0的测量 10
3.3.3 K值测量 11
3.4 本章小结 12
 第四章 扫查器总体方案与结构设计 13
4.1 基本功能方案 13
4.1.1 吸附方式选择 13
4.1.2 运动方式选择 14
4.2 结构设计 14
4.3 扫查器稳定性研究 18
4.4 本章小结 20
 第五章 扫查器主要部件结构校核 21
5.1 COSMOSWorks介绍 21
5.2 扫查器主要部件的校核 21
5.2.1 管道扫查器车体的静态分析 21
5.2.2 管道扫查器扫查臂频率分析 23
5.3 本章小结 24
 第六章 总结 25
 参考文献 26
 致 谢 27

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