摘要
就大型钢制球罐自动焊的关键技术进行了深入研究,采用CCD光电测控技术解决了球罐多层多道焊的实时跟踪难题,采用柔性磁轮式机构解决了焊车在球罐上无导轨全位置自由行走的难题,并试验研究了用CO_2气体保护药芯焊丝焊(FCAW)进行球罐全位置多层多道焊的工艺技术。在此基础上,研制成了一种5自由度的全位置焊接机器人,能对球罐内外纵缝、横缝及仰缝进行无导轨全自动焊接,达到了高效率、高质量、无人实时操作和低劳动强度。
Through studying on the key technique of high efficient automatic welding for large scale spherical steel tanks, an automatic tracking system with CCD photo-detectors is developed to solve the problem of tracing multi-layer or multipass seams on real-time and an all-position welding carriage without rail, which can walk on the surface of spherical tanks, is created by using a flexible magnetic wheel mechanism. Moreover, the all-position welding technology is investigated with CO2 shielded flux cored arc welding (FCAW). Based on the above research work, an all-position welding robot with 5 degrees of freedom is developed to improve the automatic welding efficiency and quality of spherical tanks.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第8期146-150,共5页
Journal of Mechanical Engineering
基金
国家863高技术计划基金(563-512-9913-02)
关键词
大型钢制球罐
自动焊
高效焊
焊接机器人
Spherical tank Automatic welding High efficient welding Welding robot
