多机器人环缝焊接系统的设计

Design of multi-robot welding system in the application of girth welding

基于海洋工程制管业发展的需要,为了实现真正意义的全自动化高效焊接,从而提高焊接质量和焊接效率、改善工作环境,达到降低成本、节约能耗、提升公司技术竞争力的最终目标,在海洋工程制管生产线中引进多机器人协同控制双丝MIG焊接系统,应用于管件接长区工件外环缝的填充、盖面焊。本文根据海洋工程制管的行业现状,分析海洋工程制管技术的特点及发展瓶颈,深入研究了以多机器人协同运动控制方法,开发了多个机器人的双丝MIG高效焊接工艺,应用焊缝电弧跟踪以及接触式自动寻缝来满足不同尺寸管件的柔性化生产,从而实现了从管件来料至管件焊接完成的全程自动化机器人焊接中心。

Based on the requirements of the development of ocean engineering pipe manufacturing, in order to realize the real sense of full automatic high efficiency welding, to improve the welding quality and efficiency and the working environment, to reduce costs and save energy consumption, to promote the competitiveness of the technology, we introduce the Tandem MIG welding system with multi-robot coordination control to the ocean engineering pipe production line, which is applied to the circular seam filling and cosmetic welding for pipe outsides. According to ocean engineering pipe industry present situation, analyzing the characteristics of ocean engineering pipe technology and its development bottleneck, in-depth to multi-robot cooperative movement control method is studied, and the development of the Tandem MIG and efficient welding technology of multiple robot, the application of weld arc seam tracking, and touch sensing to meet different size fitting the flexibility of production, so as to make automatic robot welding center in the whole process of the pipe welding from coming materials to production.