基于VR焊接系统的机人协作GTAW焊接

Machine-human collaboration GTAW process based on virtual reality welding system

手工焊因其灵活性和可达性高仍将继续发挥其作用,手工焊的脱技能化,将是一个长期面临的课题。通过监测熟练焊工焊接过程中焊接电流和焊接速度两个主要参数的调整情况,进而学习熟练焊工的经验,然后通过机人协作控制系统,用来弥补初级焊工的技能,实现了熟练焊工经验向初级焊工的传递。结果表明,学习熟练焊工得到的焊接电流和焊接速度的关系模型,不仅能够应用于文中提出的机人协作焊接系统中,也可以扩展到自动焊接领域,为全熔透焊接提供技术支持。

Manual welding will still be irreplaceable in applications where the needed versatility and accessibility cannot be achieved by robots,and it's a long-term and major task to eliminate the dependence of weld quality on the welder skills in manual welding. Based on the monitoring of the adjustment of current and welding speed in welding process by the skilled welder,and then the experience of skilled welder was learned. Through the machine-human coordinated control system,the primary welding skills was made up,which realizes the transfer of the experience from skilled welder to primary welder. The relational model of welding current and welding speed obtained by learning from skilled welder,not only can be applied to the proposed machine-human collaboration welding system,but also can be extended to the field of automatic welding,and provides the technical support for the full penetration welding.