Development of T - joints Automatic Welding Equipment for Jacket Based on Saddle - shaped Space Trajectory

摘要

Through the saddle intersection curve analysis, the mathematic model of the saddle-shaped space trajectory was established by matrix equation and interpolation method. For the special saddle-shaped welds of T-joints the automatic welding device is designed for automatic welding of jacketed T-joints, which consists of a traveling device with the cone-wheel elastic positioning mode, a track device with elevation engagement and a swing mechanism with high-precision linear modules. The equipment used in WHPE platform construction of Suizhong 36-1 project, and achieved good results.