用于球罐焊接的柔性导轨焊接机器人研究  

Research on flexible rail type spherical tank welding robot

作　　者：曹莹瑜[1] 薛龙[1] 崔卫韬[1] 梁亚军[1] 黄继强[1] 蒋力培[1] 赵杰[1] 

机构地区：[1]北京石油化工学院,北京102617

出　　处：《电焊机》2009年第4期68-70,共3页Electric Welding Machine

基　　金：北京市优秀人才培养资助项目(20071D0500500162);光机电装备技术北京市重点实验室开放课题(KF2008-02);开放课题(KF2009-05)

摘　　要：针对大型球罐焊接的工程实践,开发出系列柔性轨道焊接机器人,实现球罐的全位置多道多层焊接;并针对研制过程中的难点对焊接机器人锁紧机构的设计、在线焊缝轨迹示教、在线全位置焊接参数控制、自主学习开放式专家系统进行详细说明。实践证明,该柔性导轨焊接机器人能够较好地完成复杂工件的多种焊缝的现场焊接,尤其是球罐全位置焊接的工艺要求。According to engineering practice of the steel structure for site welding,a series of flexible rail type all-position welding robot was developed.It can be chosen to achieve the all-position multi-pass and multi-layer seams of the large-scale spherical tank and the storage tank welding.The lock device, intelligent control procedures for online teaching of seam track, online control of all-position welding parameters and offline set of welding parameters were designed and the open expert system were intoduced in detail in the paper. The practice proves that welding robot can be able to complete site welding technology for various seam of complex workpiece.

关 键 词：柔性轨道 焊接机器人 全位置焊接 

分 类 号：TG457[金属学及工艺—焊接] TP242.6[自动化与计算机技术—检测技术与自动化装置]