机器人在隧道施工装备臂架焊接中的应用

Application of robot in arm welding of tunnel construction equipment

目前隧道施工装备的工作臂均采用高强度、轻质量、高耐磨、长寿命的焊接结构设计。针对臂架的焊接特点及要求,研发了一种适合臂架焊接制造的双工位柔性焊接机器人装备,焊缝轨迹通过三维离线编程软件进行示教,并在焊接过程中采用喷嘴传感器、探针传感器、激光距离传感器和电弧实时跟踪对产品的装配、坡口以及定位偏差进行补偿以确保焊接质量。根据臂架特点,设计了一套可用于各类臂架安全、可靠装夹的柔性化焊接夹具。通过焊接试验及工艺评定,获得了最佳焊接工艺参数。所研发的柔性焊接机器人已成功应用于隧道施工装备的臂架产品制造焊接生产中,产品质量和生产效率得到显著提高。

At present,the working arms of tunnel construction equipment are designed with high strength,light weight,high wear resistance and long life. For welding characteristics and requirement of the boom,developed a double location for boom welding manufacturing flexible robot welding equipment,welding trajectory through 3D off-line programming software to carry on the teaching,and used in the process of welding nozzle arc sensor,probe sensor,laser distance sensor and real-time tracking of product assembly,groove and location deviation compensation to ensure the welding quality. According to the characteristics of the boom,a set of flexible welding jig which can be used for secure and reliable clamping of all kinds of boom was designed. The optimum welding parameters were obtained by welding test and process evaluation. The flexible welding robot has been successfully applied in the manufacturing and welding production of boom products for tunnel construction equipment of our company,and the product quality and production efficiency have been significantly improved.