球罐全位置焊接机器人研究现状及其关键技术  

Research status and key technology of all-position welding robots on spherical tank

作　　者：罗雨[1] 张中亮[2] 焦向东[1] 杨成功[1] 

机构地区：[1]北京石油化工学院能源工程先进连接技术北京高校工程研究中心,北京102617 [2]北京化工大学机电工程学院,北京100029

出　　处：《电焊机》2016年第10期25-30,共6页Electric Welding Machine

基　　金：国家自然科学基金项目(51305037);北京市属高校创新团队建设提升计划(IDHT20130516);北京石油化工学院URT资助项目(2015J00083)

摘　　要：随着我国能源工业的发展和能源结构的调整,球罐与储罐工程建设的又一次高峰期已经到来,球罐全位置焊接机器人作为球罐制造中的关键设备,其应用可大幅提高球罐的焊接质量和焊接效率。综述了球罐全位置焊接机器人的发展概况和研究现状,从工程应用发展角度出发,分析了球罐全位置焊接过程中关键技术的研究进展和应用前景。With the development of energy industry and the adjustment of energy structure in China, the engineering construction of the spherical tank and storage tank boom has come again, all-position welding robots of spherical tank as the key equipment of the spherical tank manufacturing,its application can greatly improve the efficiency and quality of the welding of spherical tank.This paper reviews the development and research status of the all-position wehling robots on spherical tank,from the angle of the engineering applicatinn development,analyzes the research progress and application prospect of the key technologies in the process of all position welding on spherical tanks.

关 键 词：球罐焊接 全位置焊接机器人 多层多道焊缝跟踪 多机器人协同控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]