机器人工作站在空间轨迹焊接应用的设计和研究

Design and Application of Robot Welding Workstation for Space Track Welding of Pressure Vessel

采用机器人和变位机的联动控制技术,设计压力容器机器人焊接工作站,实现压力容器空间轨迹焊缝的全位置自动化焊接,焊接参数可调,立焊、横焊、圆管焊、角焊均符合外观成型、射线探伤和压力试验等技术要求。在机器人自动焊中尝试了压力容器的立向下焊接工艺,进行了可行性试验验证,证明了立向下焊接工艺可应用于压力容器的实际工程应用。

With the linkage control technology of robot and positioner,the pressure vessel robot welding workstation is designed to realize the fullposition automatic welding of the space track of pressure vessel.The welding parameters canbe adjusted.Vertical welding,transverse welding,pipe welding and fillet welding can all meetthetechnical requirementssuch as appearance forming,radiographic inspection and pressure test.Vertical-down welding technology of pressure vessel has been tried in robotic automatic welding and feasibility test has been carried out,which has proved that vertical-down welding techbology can be applied to practical engineering application of pressure vessel.