基于KUKA弧焊机器人的盾构机关键部件焊接工作站  

Welding workstation for key part of tunnel boring machine based on KUKA arc welding robot

作　　者：孙章龙 黄继强[2] 杨列峰 薛龙[2] 黄军芬[2] 周海 曹莹瑜[2] SUN Zhanglong HUANG Jiqiang YANG Liefeng XUE Long HUANG Junfen ZHOU Hai! CAO Yingyu(China Railway Construction Heavy Industry Group Co. Ltd.,Changsha 410100,China Beijing Institute of Petro- chemical Technology, Beijing 102617, China KUKA Robot（Shanghai） Co. Ltd., Shanghai 201614, China)

机构地区：[1]中国铁建重工集团有限公司,湖南长沙410100 [2]北京石油化工学院,北京102617 [3]库卡机器人(上海)有限公司,上海201614

出　　处：《电焊机》2017年第1期48-50,共3页Electric Welding Machine

基　　金：北京市教育委员会2015年度创新能力提升计划项目(TJSHG201510017023);国家自然科学基金项目(51505035)

摘　　要：针对盾构机关键零部件的焊接特点,基于KUKA弧焊机器人研制了自动化焊接工作站。利用焊接机器人接触寻位、多层多道焊和电弧跟踪等功能实现盾构机联体刀座工件的自动焊接。焊接实验结果表明,所研制的盾构机关键零部件焊接工作站能够满足离散制造企业的零部件小批量自动化焊接生产。The automatic welding workstation based on KUKA arc welding robot is developed according to welding characteristics of the key components of Tunnel Boring Machine（TBM）. The KUKA robot has the functions of touch sensingforpositioning,multilayerwelding and arc sensing for seam tracking etc.,which can be used to realize automatic welding of the connected tool support of TBM. Experimental results of welding show that the welding workstation for the key components of TBM can meet small batch automatic welding production of the components for the discrete manufacturing enterprises.

关 键 词：盾构机 弧焊机器人 电弧传感跟踪 接触寻位 多层多道焊 

分 类 号：TG409[金属学及工艺—焊接]