CN117020485A - 8-shaped expansion corrugated pipe mobile welding robot and design method thereof - Google Patents
8-shaped expansion corrugated pipe mobile welding robot and design method thereof Download PDFInfo
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- CN117020485A CN117020485A CN202310974638.4A CN202310974638A CN117020485A CN 117020485 A CN117020485 A CN 117020485A CN 202310974638 A CN202310974638 A CN 202310974638A CN 117020485 A CN117020485 A CN 117020485A
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- 238000003466 welding Methods 0.000 title claims abstract description 79
- 238000013461 design Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 60
- 238000012795 verification Methods 0.000 claims abstract description 4
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000002474 experimental method Methods 0.000 claims description 3
- 239000003208 petroleum Substances 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a 8-shaped expansion corrugated pipe mobile welding robot and a design method thereof, and the robot specifically comprises the following steps: establishing an expansion corrugated pipe weld curve fitting equation; designing a profiling track; selecting a specification of a transmission chain, and respectively calculating included angles between adjacent chain links on each sectional track; solving the transmission force attenuation coefficient of each segment link; selecting the types and the number of the driving motors; and processing a sampling machine to perform experimental verification. The invention improves the welding quality and efficiency of the expansion corrugated pipe in the petroleum exploration field, solves the technical bottleneck that the deep well cementation in the petroleum exploration field in China cannot realize high-quality automatic welding, provides reference for the configuration design of the automatic welding robot for the welding seam with the complicated special-shaped cross section, can be popularized and applied to the automatic welding of the complicated special-shaped welding seam in the same plane in other fields, and provides a new solution for the structural design of the mobile welding robot under the complicated working condition.
Description
Technical Field
The invention belongs to the technical field of welding robots, and particularly relates to a 8-shaped expansion corrugated pipe mobile welding robot and a design method thereof.
Background
In the petroleum exploration industry, due to the special underground environment, corrosion leakage can occur to the oil well or gas well pipeline in long-term service, and great threat is brought to production safety and smooth oil and gas transportation. Before introducing foreign well cementation maintenance techniques, once the oil and gas well leaks, the well is discarded and cannot be used any more for various reasons. In China, a Russian expansion corrugated pipe maintenance well cementation technology is introduced in the early 21 st century, and the technical problem that an oil and gas pipeline in China cannot be maintained is solved. The technology adopts an extrusion die to extrude steel pipes with certain specification into corrugated pipes with uniform specification, two or three expansion corrugated pipes are welded into a column in a well cementation maintenance site, each column is lifted to a drilling platform, then each column is welded together to form a pipe string of tens of meters and hundreds of meters, finally the extruded expansion corrugated pipes are expanded to the original size by pumping high-pressure water, high-pressure air or a mechanical expansion mode, and the expanded pipes are closely attached to the original leakage pipes, so that the plugging maintenance of an oil-gas well is realized.
Patent 201020511548.X and application 201010268098.0 disclose a special-shaped workpiece flexible welding cutting device, have realized the welding cutting operation of mobile welding robot on expansion bellows special-shaped cross section, but drive chain be single row's chain, axial rigidity is lower, welding precision is not enough, and drive chain is sliding friction with the wall of annular guide rail in the transmission process, frictional force is great, the chain wearing and tearing are serious, need adopt high-power driving motor, the cost is higher and be difficult to realize engineering application.
Disclosure of Invention
The invention aims to provide a 8-shaped expansion corrugated pipe mobile welding robot to solve the technical problems of low axial rigidity and large friction force of a transmission chain of a welding robot in the prior art; the invention also aims to provide a design method of the 8-shaped expansion corrugated pipe mobile welding robot.
The design method of the 8-shaped expansion corrugated pipe mobile welding robot disclosed by the invention solves the technical bottleneck that high-quality automatic welding cannot be realized in deep well cementation in the petroleum exploration field in China, provides a reference for the design of the configuration of the automatic welding robot for the welding seam with the complicated special-shaped cross section, can be popularized and applied to the design of automatic welding equipment for the complicated special-shaped welding seam in the same plane in other fields, provides a new solution for the structural design of the mobile welding robot under the complicated working condition, and improves the design level and efficiency of the mobile welding robot industry.
In order to achieve the above purpose, the 8-shaped expansion corrugated pipe mobile welding robot provided by the invention adopts the following technical scheme:
the utility model provides a 8 font expansion bellows removes welding robot, includes the profile modeling track board that waits to weld the welding seam profile unanimous on profile modeling track board of profile modeling track board and 8 font expansion bellows, the round recess has been seted up on the surface of profile modeling track board near the inboard, install the chain in the recess, be provided with the boss on the inner wall of recess, the position of boss corresponds with the position of roller in the corresponding chain for the roller rolls along it.
Further, the chain is a parallel double-row chain, two circles of bosses are arranged in the groove, and the positions of the two circles of bosses correspond to the positions of corresponding rollers in the parallel double-row chain.
The invention relates to a design method of a 8-shaped expansion corrugated pipe mobile welding robot, which adopts the following technical scheme:
a design method of a 8-shaped expansion corrugated pipe mobile welding robot comprises the following steps:
step 1: according to the overall dimension of the 8-shaped expansion corrugated pipe workpiece, carrying out sectional fitting on the welding seam track of the workpiece and establishing a welding seam curve fitting equation;
step 2: designing a profiling track of a transmission track of the 8-shaped expansion corrugated pipe mobile welding robot according to a weld curve fitting equation;
step 3: selection based on minimum radius of curvature of profiled railDetermining the chain link specification to ensure that the chain pitch is smaller than the minimum curvature of the profiling track, calculating the number of required chain links according to the formula I, and determining the included angle beta between adjacent chain links on each curve arc section, wherein the formula I isIn which L p For the number of links, L represents the total length of the profile rail and p represents the selected chain pitch;
step 4: setting welding speed, carrying out stress analysis on the chain link, and obtaining a transmission force attenuation coefficient alpha on the arc according to a formula II, wherein the formula II is thatMu is the friction coefficient of generalized chain transmission, F N Representing the supporting force of the profiling track on the transmission chain;
step 5: selecting the number z of teeth of the chain wheel and the size thereof, and selecting the working condition safety coefficient K A Preliminarily selecting the types and the number of the driving motors according to a formula III, wherein the formula III is thatn represents the number of preliminarily selected driving motors, P d Representing the actual power of the preliminarily selected drive motor; p represents the rated power of the chain transmission; k (K) z And K m Respectively representing the tooth number coefficient of the chain wheel and the number coefficient of the multiple rows of chains;
step 6: checking whether the transmission force of the circular arc upper chain transmission with the same curvature is larger than the friction force according to a fourth formula, if the checking is passed, entering a step 7, if the checking is failed, entering a step 3 to reselect the specification of the chain link, and if the fourth formula is thatF in the formula n For the driving force of the nth joint chain link, F 1 The driving force of the 1 st section chain link;
step 7: and designing and drawing the robot part drawing paper according to the calculation and analysis, manufacturing a robot prototype, and performing welding experiment verification.
Further, in the step 1, a two-dimensional cartesian coordinate system is established with the centroid of the 8-shaped expansion bellows as the origin, and the external dimension of the 8-shaped expansion bellows workpiece is measured based on the two-dimensional cartesian coordinate system.
Further, in the step 2, when designing the profile modeling track, the center profile track of the transmission track should be formed by outwards and inwards shifting the center profile track on the basis of the principle that the center profile track of the transmission track is consistent with the established weld curve fitting equation.
Further, when the link specification is selected in the step 3, a double row transmission chain and a link with a small pitch are preferably selected.
Further, in the step 4, n is not less than 2,F N Taking 1.4-1.6 times of chain transmission pretightening force.
Further, in the step 4, K is taken A ＝3，K m ＝1.7。
Compared with the prior art, the invention has the advantages that: the design method of the 8-shaped expansion corrugated pipe mobile welding robot is provided, the design steps and the core design formula are defined, and the design efficiency of the expansion corrugated pipe welding robot for well cementation and maintenance in the petroleum exploration field is improved. In addition, compared with the existing scheme, the mobile welding robot designed by the invention is optimized and improved, adopts a high-rigidity double-row chain transmission mode, changes sliding friction into rolling friction, greatly improves the practical engineering application capacity of the mobile welding robot, modularizes the design process of the mobile welding robot, provides reference for the design of the automatic welding robot configuration of the welding seam with the complicated special-shaped cross section, can be popularized and applied to the design of automatic welding equipment of the complicated special-shaped welding seam in the same plane in other fields, and provides a new solution for the structural design of the mobile welding robot under the complicated working condition.
Drawings
FIG. 1 is a schematic diagram of a 8-shaped expansion bellows mobile welding robot in the technical solution of the invention;
FIG. 2 is a schematic view of the partial mating of the boss at the parallel double row chain of FIG. 1;
fig. 3 is a design flow chart of a design method of a 8-shaped expansion bellows mobile welding robot according to the technical solution of the invention.
Wherein, 101: expansion bellows workpiece, 102: profiling track plate, 103: parallel double row chain, 104: welding gun assembly, 105: drive motor assembly, 106: a boss.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The embodiment of the 8-shaped expansion corrugated pipe mobile welding robot comprises the following components:
a structure of an 8-shaped expansion corrugated pipe mobile welding robot is shown in figures 1 and 2,
fig. 1 shows a 8-shaped expansion bellows mobile welding robot, which mainly comprises: the welding gun comprises a profiling track plate 102, a parallel double-row chain 103, a welding gun assembly 104 and a driving motor assembly 105, wherein the profiling track plate 102 is fixedly arranged below a welding line of the expansion bellows workpiece 101. The profiling track plate 102 comprises a groove, the parallel double-row chain 103 is arranged in the groove, the parallel double-row chain 103 is driven in the horizontal plane, the welding gun assembly 104 is fixedly arranged on the parallel double-row chain 103 through a pin shaft, the driving motor assembly 105 is fixedly arranged on the profiling track plate 102, and the driving motor assembly 105 drives the parallel double-row chain 103 to rotationally move along the inner peripheral outline of the profiling track plate 102 through double-row chain wheels.
Two circles of bosses 106 are arranged in the profiling track plate 102, the bosses 106 are arranged on the inner wall surfaces of the grooves, and the positions of the bosses 106 are consistent with the positions of the rollers in the parallel double-row chains 103, so that the rollers roll on the bosses 106 in the chain transmission process, and therefore sliding friction between the chain transmission process and the profiling track plate 102 is changed into rolling friction, and friction resistance in the transmission process is greatly reduced. Chain transmission tensioning wheels are respectively arranged at the concave parts of the sides of the profiling tracks 2 of the 8-shaped profiling track plate 102, so that all chain link rollers are guaranteed to roll tightly against the boss 106 in the transmission process. The chain transmission mode in the horizontal plane is different from the traditional mode of chain transmission in the vertical plane, is an unconventional transmission mode, and the transmission chain is calculated according to tight edge transmission.
The embodiment of the design method of the 8-shaped expansion corrugated pipe mobile welding robot comprises the following steps:
the 8-shaped expansion corrugated pipe mobile welding robot shown in fig. 1 is designed according to the design method of the 8-shaped expansion corrugated pipe mobile welding robot shown in fig. 3, and specifically comprises the following steps:
step 1: measuring the overall dimension of the 8-shaped expansion corrugated pipe workpiece, carrying out sectional fitting on the weld track of the workpiece, and establishing a weld curve fitting equation, wherein the weld curve fitting equation is a sectional function, and each sectional function corresponds to one section of weld track respectively;
in the step, in order to simplify a piecewise curve fitting equation, a two-dimensional Cartesian coordinate system is established by taking the centroid of an 8-shaped expansion corrugated pipe as an origin;
step 2: designing a profiling track according to the established weld curve fitting equation;
in the step, when the profiling track is designed, the principle that the central contour track of the transmission track is consistent with the established weld curve fitting equation is adopted, and the outer contour track and the inner contour track of the transmission track are formed by outwards and inwards shifting the central contour track.
Step 3: selecting a link specification according to the minimum curvature radius of the profile modeling track center profile, calculating the number of required links according to the selected link pitch, and determining an included angle beta between adjacent links on each curve arc section according to the profile modeling track inner circumference profile track;
when the chain link specification is selected, a double-row transmission chain is preferably selected, the pitch value of the chain link is smaller than or equal to the minimum curvature radius of the profile modeling track center outline, and the pitch of the chain link is as small as possible under the condition that the rated power of the chain link meets the requirement.
In this step, the number of links L p According to the formula I, the formula I is calculated as:
where L represents the total length at the profile track center profile locus, i.e., the sum of the segment arc lengths, and p represents the selected chain pitch.
After the chain link specification is selected, the chain is installed in the profiling track with definite size, so that the direction of any chain link is along the tangential direction of the profiling track central contour at the contact point of the chain link and the profiling track central contour track, and the included angle beta between adjacent chain links can be determined.
The expansion corrugated pipe for welding is an expansion corrugated pipe specially used for well cementation maintenance and manufactured by a standard die in a unified mode, is projected along the axial direction, and has continuous and conductive profile curves, so that in the step, chain links with proper specifications can be selected without the problem of selection of the non-proper chain links.
Step 4: setting a welding speed, carrying out stress analysis on the chain links, and solving a transmission force attenuation coefficient alpha on the arc;
in this step, a specific welding speed is set according to the welding process. The transmission force attenuation coefficient alpha on the arc is calculated according to a formula II, wherein the formula II is as follows:
wherein μ is a generalized chain drive friction coefficient, which can be uniquely determined based on contact interface roughness, F N The supporting force of the profiling inner rail boss on the transmission chain is shown, and the supporting force is 1.4-1.6 times of the pretightening force set in the chain transmission according to experience.
Step 5: selecting the number z of teeth of chain wheel and its sizeSafety coefficient K of working condition selection A Preliminarily selecting rated power and quantity of the driving motors;
in this step, the number n of driving motors and the actual power P are selected d The time is according to the formula:
wherein: n represents the number of preliminarily selected driving motors, the 8-shaped expansion corrugated pipe workpiece 101 is complex in appearance, concave arcs and convex arcs are connected in a staggered mode, and the number of the driving motors is larger than or equal to 2 based on actual engineering application requirements.
P d Representing the actual power of the preliminarily selected drive motor; p represents the rated power of the chain transmission, and the rated power can be uniquely determined after the model of the chain link is determined; k (K) z And K m Respectively representing the tooth number coefficient of the chain wheel and the number coefficient of the multiple rows of the chain, K after the specification of the chain link is determined z And K m Is determined; z represents the number of teeth of the chain wheel, the value of the number is an integer between 15 and 20, and the maximum value is preferably selected under the condition that the size specification meets the requirement; k (K) A Is the safety factor of working condition
In the invention, the chain transmission mode is different from the conventional vertical plane transmission mode, but the transmission mode is in the horizontal plane, the working condition safety coefficient of the chain transmission mode is required to be larger than the standard value, and the transmission power is amplified by at least 2 times so as to ensure the normal operation of the mobile welding robot. Thus, in the present embodiment, K A Take the value of 3, K m The value was 1.7.
Step 6: checking whether the transmission force of the chain transmission is larger than the friction force, namely whether F is satisfied n ＞μF N If the driving force of each chain link is larger than the friction force of the chain link, the design is considered to be successful, and the next step can be carried out; or the driving force of the chain link is smaller than or equal to the friction force of the chain link, and the step 3 is returned to for reselecting the model of the chain link.
On the circular arcs with the same curvature radius, the force attenuation recursion formula of the n-section double-row chain transmission is as follows:
wherein F is n For the driving force of the nth joint chain link, F 1 The 1 st joint link is a link to which the driving motor assembly 105 is directly mounted, and the links which are backward in the conveying direction are a 2 nd joint link, a 3 rd joint link, an n-1 st joint link, and an n-th joint link in this order.
In the invention, the designed profiling track is formed by splicing 12 sections of tracks with different curvature radiuses, and the curvature radiuses of each section of track are the same. And the transmission forces of the single chain links connected in the two adjacent sections of the track are the same by default, so that the transmission force of other chain links in the arc section track with the same curvature radius can be calculated along the transmission direction under the condition that the transmission force of any chain link is known, the transmission force of the first chain link on the next arc section can be determined, and the transmission force of all the chain links can be determined by analogy.
F in the case of a defined actual power of the drive motor and the dimensions of the transmission 1 The driving force of any chain link can be calculated.
Step 7: and designing and drawing the robot part drawing paper according to the calculation and analysis, and manufacturing a robot prototype to perform welding experiment verification.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (8)
1. The utility model provides a 8 font expansion bellows removes welding robot, includes profile modeling track board that the profile of waiting to weld the welding seam profile unanimous on profile modeling track board of profile modeling and 8 font expansion bellows, its characterized in that: a circle of groove is formed in the inner side of the surface of the profiling track plate, a chain is arranged in the groove, a boss is arranged on the inner wall of the groove, and the position of the boss corresponds to the position of a roller in the corresponding chain so that the roller can roll along the roller.
2. The 8-shaped expansion bellows mobile welding robot of claim 1, wherein: the chain is a parallel double-row chain, two circles of bosses are arranged in the groove, and the positions of the two circles of bosses correspond to the positions of corresponding rollers in the parallel double-row chain.
3. A design method of a 8-shaped expansion corrugated pipe mobile welding robot comprises the following steps:
step 1: according to the overall dimension of the 8-shaped expansion corrugated pipe workpiece, carrying out sectional fitting on the welding seam track of the workpiece and establishing a welding seam curve fitting equation;
step 2: designing a profiling track of a transmission track of the 8-shaped expansion corrugated pipe mobile welding robot according to a weld curve fitting equation;
step 3: selecting chain link specifications according to the minimum curvature radius of the profiling track to ensure that the chain pitch is smaller than the minimum curvature of the profiling track, calculating the number of required chain links according to a formula I, and determining an included angle beta between adjacent chain links on each curve arc section, wherein the formula I is as followsIn which L p For the number of links, L represents the total length of the profile rail and p represents the selected chain pitch;
step 4: setting welding speed, carrying out stress analysis on the chain link, and obtaining a transmission force attenuation coefficient alpha on the arc according to a formula II, wherein the formula II is thatMu is the friction coefficient of generalized chain transmission, F N Representing the supporting force of the profiling track on the transmission chain;
step 5: selecting the number z of teeth of the chain wheel and the size thereof, and selecting the working condition safety coefficient K A Preliminarily selecting the types and the number of the driving motors according to a formula III, wherein the formula III is thatn represents the number of preliminarily selected driving motors, P d Representing the actual power of the preliminarily selected drive motor;p represents the rated power of the chain transmission; k (K) z And K m Respectively representing the tooth number coefficient of the chain wheel and the number coefficient of the multiple rows of chains;
step 6: checking whether the transmission force of the circular arc upper chain transmission with the same curvature is larger than the stress according to a formula IV, if the checking is passed, the step 7 is carried out, if the checking is failed, the step 3 is carried out, the chain link specification is reselected, and the formula IV isF in the formula n For the driving force of the nth joint chain link, F 1 The driving force of the 1 st section chain link;
step 7: and designing and drawing the robot part drawing paper according to the calculation and analysis, manufacturing a robot prototype, and performing welding experiment verification.
4. A method for designing a mobile welding robot for 8-shaped expansion bellows according to claim 3, wherein in said step 1, a two-dimensional cartesian coordinate system is established with the centroid of the 8-shaped expansion bellows as the origin, and the external dimensions of the 8-shaped expansion bellows workpiece are measured based on the two-dimensional cartesian coordinate system.
5. The method for designing a mobile welding robot for 8-shaped expansion bellows according to claim 3, wherein in the step 2, the profile track is designed based on the principle that the central profile track of the transmission track is consistent with the established weld curve fitting equation, and the outer profile track and the inner profile track of the transmission track are formed by shifting the central profile track outwards and inwards.
6. The method according to claim 4, wherein when the link specification is selected in the step 3, a double row transmission chain and a link with a small pitch are preferably selected.
7. A method for designing a 8-shaped expansion bellows mobile welding robot according to claim 3, wherein, in the step 4,taking n not less than 2,F N Taking 1.4-1.6 times of chain transmission pretightening force.
8. A method for designing a 8-shaped expansion bellows mobile welding robot according to claim 3, wherein in said step 4, K is taken A ＝3，K m ＝1.7。
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| CN202310974638.4A CN117020485A (en) | 2023-08-04 | 2023-08-04 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
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| CN202310974638.4A CN117020485A (en) | 2023-08-04 | 2023-08-04 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
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| CN115906307A (en) * | 2022-11-02 | 2023-04-04 | 北京石油化工学院 | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2906343A1 (en) * | 2006-09-21 | 2008-03-28 | S F Z Soc Par Actions Simplifi | Expansion bellows for installation e.g. oil and gas installations, has inner and outer radial walls provided with respect to main axis of bellows, and thermal insulation layers placed and sandwiched between walls |
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| CN115906307A (en) * | 2022-11-02 | 2023-04-04 | 北京石油化工学院 | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe |
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