面向大型结构件爬行机器人智能焊接技术  

Intelligent welding technology for large structures crawling robot

作　　者：冯消冰[1,2] 王建军 王永科 陈苏云 刘爱平 FENG Xiaobing;WANG Jianjun;WANG Yongke;CHEN Suyun;LIU Aiping(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Beijing Botsing Technology Co.,Ltd.,Beijing 100176,China;Sinopec No.5 Construction Co.,Ltd.,Guangzhou 510145,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]北京博清科技有限公司,北京100176 [3]中石化第五建设有限公司,广州510145

出　　处：《清华大学学报（自然科学版）》2023年第10期1608-1625,共18页Journal of Tsinghua University(Science and Technology)

摘　　要：大型结构件的焊接在船舶制造、油气化工、核电工程、能源电力、建筑钢构和轨道交通等高端制造领域中应用广泛,传统手工焊以及轨道小车、龙门吊等半自动焊已无法满足高效、高质量的焊接要求。大型结构件智能化焊接成为发展趋势,以无轨导全位置爬行焊接机器人为代表的智能化装备正逐步推动解决大型结构件的自动化焊接问题。该文首先系统介绍了国内外面向大型结构件焊接的智能机器人研究现状,并对有轨和无轨机器人的应用场景及优缺点进行比较,分析认为无轨爬行机器人的灵活性好、适应性强,更适用于大型结构件的焊接。其次,针对大型结构件多层多道焊接时因机械加工、装配、热变形、焊道过多、焊缝堆叠等导致的焊接精度及焊接质量难以保证等问题进行分析,认为自动打底和多层多道自动排道技术还存在多项难点亟待突破。最后,从自动打底、焊缝跟踪、多层多道自动排道方面对相关技术的探索进行归纳,预测了多模态深度学习和多传感器融合技术将成为引领焊接机器人发展的关键技术,为大型结构件的智能化焊接提供方向性指导。[Significance]Welding has reached a very important position in large structural workpieces.The welding of large structural members also has been covered many fields,including high-end manufacturing fields such as shipbuilding,oil and gas chemical industry,nuclear power engineering,energy and power,building steel structure,and rail transit.The problems of traditional manual welding are instability and low efficiency.Even semi-automatic welding such as gantry welding and rail robot welding,which has not yet to meet the requirements of more efficient and high-quality automation industry.The welding development trend of large structural parts is more intelligent and automatic welding.In this case,the welding robot that has no track and can crawl in all positions has become the representative of intelligent welding equipment,and gradually has promote and solve the automatic intelligent welding of large structural parts.[Progress]In this paper,the research status of intelligent robots for welding large structural parts at home and abroad was systematically introduced,and the welding robots were classified according to the welding robots with and without rails.The application scenarios,advantages and disadvantages of these two types of welding robots were compared.Through these comparisons,it was concluded that the welding robot without rail was more suitable for welding large structural parts because of its better flexibility,adaptability and convenience.There were many problems in the welding process of large structural parts,especially when multi-layer and multi pass thick plates were welded.At the same time,these problems caused low welding process accuracy and low welding quality.Problems included low machining accuracy,inaccurate assembly,metal thermal deformation,many weld passes,weld beads stacked together and many other reasons.In the welding of large structural parts,there were still many difficulties that need to be solved urgently.Automatic backing welding technology and multi-layer and multi-channel automat

关 键 词：大型结构件 全位置焊接爬行机器人 智能化 自动打底焊接 多层多道自动排道 

分 类 号：TP393.1[自动化与计算机技术—计算机应用技术]