基于三圆轨迹规划的MARKⅢ型LNG薄膜舱波纹板机器人焊接

Robotic welding of corrugated plates in MARK Ⅲ LNG membrane tank based on three-circle trajectory planning

MARKⅢ型LNG薄膜舱波纹板的焊接质量是LNG船建造成功与否的关键之一。为了实现MARKⅢ型LNG薄膜舱1.2mm厚304L不锈钢波纹板的机器人焊接,研究了基于“三圆”连接构思的波纹板机器人焊接的轨迹规划模型,通过模型计算了沿波纹板轨迹焊接过程中的焊枪位置和焊枪姿态坐标,并对模型和计算的结果进行了仿真验证;在此基础上,进行了不锈钢波纹板机器人搭接焊的脉冲等离子弧焊的工艺优化研究。结果表明:本文建立的波纹板机器人焊接的“三圆”轨迹规划模型以及基于该模型计算的焊枪位姿坐标准确;基于模型和计算,结合优化后的脉冲等离子弧焊工艺参数,实现了焊缝成形良好的MARKⅢ型LNG薄膜舱1.2mm厚304L不锈钢波纹板搭接的机器人焊接,焊缝成形达到了法国GTT公司标准文件中提供的成形尺寸标准。

The welding quality of the corrugated plate of the MARK Ⅲ LNG membrane tank is one of the key elements to the success of LNG ship construction.To realize the robotic welding of 1.2 mm thick 304L stainless steel corrugated plate in the MARK Ⅲ LNG membrane tank,a trajectory planning model for robotic welding of corrugated plate based on the"three-circle"connection concept is studied.The model calculates the torch position and torch attitude coordinates during the welding process along the corrugated plate trajectory.The model and the calculated results are verified by simulation.On this basis,the process optimization study of pulsed plasma arc welding of stainless steel corrugated plate robot lap welding is carried out.The results show that the corrugated plate robot welding"three circles"trajectory planning model established in this paper and the accuracy of the gun position coordinates calculated based on the model are both precise.Based on the model and calculation,combined with the optimized pulse plasma arc welding process parameters,the robotic welding of the lap joint of the 1.2 mm thick 304L stainless steel corrugated plate of MARK Ⅲ LNG thin film module with good weld seam formation is achieved,and the weld seam formation meets the formation dimension requirements provided in the standard document of GTT France.