摘要
核电、盾构、船舶与海洋工程等行业的工程现场环境具有工况复杂、非结构化、条件严酷的特点,对于采用机器人替代人工进行焊接作业具有迫切需求。为了解决复杂环境焊接作业问题,在突破网络通信、三维建模、位姿更新、碰撞检测、数据采集、人机交互等关键技术的基础上,采用数字孪生方式搭建了焊接机器人遥操作试验平台,建立了控制虚拟机器人的上位机与控制实体机器人的下位机之间实时可靠的双向数据通道,实现了虚拟机器人与实体机器人位姿的精确同步控制;同时,以盾构机刀盘现场维修为潜在应用场景,针对Q345钢板材料进行了2G和3G位置的机器人遥操作MIG焊试验,并最终获得了外观良好的焊接焊缝。结果表明,机器人数字孪生与遥操作技术在解决复杂工况条件下的高质量焊接方面具有一定优势,在核电、盾构、船舶与海洋工程维修领域具有广阔应用前景。
The engineering field environment of nuclear power,shield structure,ship and ocean engineering and other industries is characterised by complex,unstructured and severe conditions,which has an urgent demand for the use of robots to replace manual welding operations.In order to solve the problem of welding operations in complex environments,this paper addresses the key technologies such as network communication,three-dimensional modelling,pose update,collision detection,data acquisition,and human-machine interaction.Based on digital twin technology,a teleoperation test platform for the welding robot has been established.This platform creates a real-time and reliable bi-directional data channel between the upper computer controlling the virtual robot and the lower computer controlling the physical robot,thereby achieving precise synchronous control of the poses of both the virtual and physical robots.At the same time,a robot teleoperation MIG welding test is carried out as the potential application scene of shield machine cutter plate field repair for Q345 steel plate material in 2G and 3G positions,and the welded seam with good appearance is obtained.The results show that the robotic digital twin and teleoperation technology has certain advantages in solving the high-quality welding under complex working conditions,and has a broad application prospect in the field of nuclear power,shield structure,ship and ocean engineering repair.
作者
高辉
胡晓慧
王龙
周灿丰
焦向东
GAO Hui;HU Xiaohui;WANG Long;ZHOU Canfeng;JIAO Xiangdong(Research Center of Energy Engineering Advanced Joining Technology,Beijing Institute of Petrochemical Technology,Beijing 102617,China)
出处
《机械制造文摘(焊接分册)》
2025年第3期13-18,共6页
Welding Digest of Machinery Manufacturing
基金
北京市属高校分类发展专项—面向北京高端制造业的高水平应用型科研成果孵化转化平台建设(11000023T000002199202)。
关键词
数字孪生
焊接机器人
网络通信
三维建模
位姿更新
digital twin
welding robot
network communication
3D modeling
posture update
