基于虚拟现实的立管横焊机器人辅助焊接工艺设计与实现  

Design and Implementation of Vertical Pipe Horizontal Welding Robot Assisted Welding Process Based on Virtual Reality

作　　者：罗雨[1] 高萌萌 许耀波 任飞燕 于俊杰 田文鹏 刘铂洋 LUO Yu;GAO Mengmeng;XU Yaobo;REN Feiyan;YU Junjie;TIAN Wenpeng;LIU Boyang(Advanced Connection Technology Research Center for Energy Engineering,Beijing Institute of Petrochemical Technology,Beijing 102627,China)

机构地区：[1]北京石油化工学院,能源工程先进连接技术研究中心,北京102627

出　　处：《机床与液压》2024年第13期110-115,236,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(52175286)。

摘　　要：焊接工艺参数的选择对焊接质量有重要影响。针对立管J型铺设窄坡口横焊熔池下淌特性,提出基于横焊焊道厚度及热输入恒定策略的焊接工艺参数匹配算法。基于Unity3D开发平台和工艺参数匹配算法,通过C#开发了立管横焊CAPP模块,扩展了虚拟现实人机交互系统的功能模块;开展立管横焊计算机辅助焊接工艺实验,焊后焊缝成形良好,无焊接缺陷。实验结果表明:CAPP模块可有效获取匹配的焊接工艺参数,能缩短焊接工艺开发周期,降低工艺开发成本,有效提升系统的智能化水平。The selection of welding process parameters has an important influence on the welding quality.A welding process parameter matching algorithm based on the strategy of horizontal weld bead thickness and constant heat input was proposed for the underflow characteristics of the narrow groove cross welding pool of the J-type laying of riser pipe.Based on the Unity3D development platform and process parameter matching algorithm,the computer-aided welding process module(CAPP)of riser horizontal welding was developed using C#,which expanded the functional module of the virtual reality human-computer interaction system.The computer-aided welding process experiment of vertical pipe horizontal welding was carried out,and the weld was formed well after welding,without welding defects.Experimental results show that the CAPP module can effectively obtain the matched welding process parameters,shorten the welding process development cycle,reduce the process development cost,and effectively improve the intelligent level of the system.

关 键 词：CAPP 虚拟现实人机交互系统 焊道规划算法 立管横焊机器人 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]