类人机器人焊接技术研究现状与展望  

Research Status and Prospect of Humanoid Robot Welding Technology

作　　者：王振民[1] 宋哲龙 迟鹏 廖海鹏 张芩[2] Wang Zhenmin;Song Zhelong;Chi Peng;Liao Haipeng;Zhang Qin(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China;School of Computer Science and Engineering,South China University of Technology,Guangzhou 510006,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640 [2]华南理工大学计算机科学工程学院,广州510006

出　　处：《机电工程技术》2025年第4期1-13,共13页Mechanical & Electrical Engineering Technology

基　　金：国家自然科学基金项目(U2141216,U23A20625,52375334);广东省自然科学基金项目(2023B1515250003,2023A1515012112);深圳市科技计划(KJZD20230923114614029)。

摘　　要：航空航天、舰船、海洋装备以及核电等高端装备制造领域亟需面向复杂、多元应用场景的高精度、高可靠机器人焊接技术支撑。通过回顾焊接机器人技术的发展历程,阐述类人机器人焊接技术的发展前景。结合近年来焊接场景、任务、工艺等需求的变化趋势以及人形机器人的设计特点,探讨并提出了类人焊接机器人可能的系统架构。该架构由机器人本体系统、多模态焊接信息感知系统、人工智能计算平台以及一体化能源控制与管理系统组成,基于此,类人焊接机器人可以针对不同焊接工况自主完成焊接信息采集、焊接工艺决策、焊接任务规划、能源管理和利用等各类智能化行为;在此基础上,深入分析类人机器人焊接制造过程所涉及的先进焊接电源技术、视觉辅助焊接技术、焊接双臂协调控制技术以及多模态焊接信息融合技术等关键技术。最后,对类人机器人焊接技术的发展进行总结与展望。High-end equipment manufacturing fields such as aerospace,ships,marine equipment and nuclear power are in urgent need of high-precision and highly reliable robot welding technology support for complex and diversified application scenarios.By reviewing the development of welding robot technology,the development prospect of humanoid robot welding technology is expounded.According to the changing trend of welding scene,task and process requirements and the design characteristics of humanoid robots in recent years,the possible system architecture of humanoid welding robots is discussed and proposed.The architecture is composed of robot ontology system,multi-modal welding information perception system,artificial intelligence computing platform and integrated energy control and management system.Based on this,humanoid welding robots can independently complete various intelligent behaviors such as welding information collection,welding process decision-making,welding task planning,energy management and utilization according to different welding conditions.On this basis,the key technologies involved in humanoid robot welding manufacturing process,such as advanced welding power technology,visual assistant welding technology,welding two-arm coordination control technology and multi-mode welding information fusion technology,are deeply analyzed.Finally,the development of humanoid robot welding technology is summarized and prospected.

关 键 词：类人机器人焊接技术 发展前景 类人焊接机器人 系统架构 焊接制造 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]