Design and Realization of a Welding Robot System for Attachment of Serpentine Tube Panel

Yi CHEN; Jun FU; Wenguo LUO; Anli HUANG; Zhongxi SHENG; Hao LI

doi:10.7512/j.issn.1001-2303.2022.07.09

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Design and Realization of a Welding Robot System for Attachment of Serpentine Tube Panel
Vol. 52, Issue 7, Pages: 62-68(2022)
Received：12 October 2021，

Revised：2021-12-02，

Published：25 July 2022
DOI： 10.7512/j.issn.1001-2303.2022.07.09
稿件说明：

移动端阅览

陈弈，付俊，罗文国，等.蛇形管屏附件焊接机器人系统的设计与实现［J］.电焊机，2022，52（7）：62-68. DOI： 10.7512/j.issn.1001-2303.2022.07.09.

CHEN Yi, FU Jun, LUO Wenguo, et al.Design and Realization of a Welding Robot System for Attachment of Serpentine Tube Panel[J].Electric Welding Machine, 2022, 52(7): 62-68. DOI： 10.7512/j.issn.1001-2303.2022.07.09.

摘要

蛇形管管屏是用于锅炉领域的高压蒸汽管道的重要组成部分，在管屏上有大量的焊接附件，目前支撑块焊接方式均为手工焊接，存在效率低、一致性差，工作强度高等问题。因此本文设计了一种蛇形管附件焊接机器人系统，可实现对蛇形管管屏的自动传送、自动定位、自动识别、自动平焊仰焊结合的全过程集成智能化控制。对该系统的硬件和软件两部分的详细组成进行了介绍，并设计了系统作业流程。采用该系统进行了焊接工艺试验，结果表明，系统运行流畅，激光寻位精准，焊接过程稳定，探伤结果满足质量要求。

Abstract

The serpentine tube panel is an important part of the high-pressure steam pipeline used in the boiler field. There are a large number of welding attachments on the tube panel. At present

the welding method of the support block is manual welding

which has the problems of low efficiency

poor consistency and high working intensity. Therefore

a welding robot system is designed for the serpentine tube attachments

which can realize the whole process integrated intelligent control of automatic transmission

automatic positioning

automatic identification

and automatic flat welding and overhead welding of the serpentine tube panel. The hardware and software of the system are introduced in detail

and the operation flow of the system is designed. The welding process test is carried out by using the system

the result shows that the system runs smoothly

the laser positioning is accurate

the welding process is stable

and the flaw detection results meet the quality requirements.

关键词

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references

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