| 摘要: |
| 为了解决核环境下的管道维修问题,适应遥控焊接机器人的实际应用需求,研制出一套针对核环境下小口径管道的全位置自动焊接装置.重点介绍了该装置的系统构成及各组成部分的设计分析、工作原理和自动控制系统.结合遥控焊接机器人的视觉和力觉等传感技术,对该装置进行了功能验证试验.试验证明该装置用于遥控焊接机器人时可以实现装夹和拆卸,满足自动装卸、速度可调、位置可控,且其圆周运动误差满足管道全位置焊接的要求.结果表明,该装置能够实现管道全位置焊接,焊缝外观成形良好. |
| 关键词: 遥控焊接 极限环境 管道维修 全位置焊接 |
| DOI： |
| 分类号: |
| 基金项目:新世纪优秀人才支持计划基金资助项目(NCET-07-0233) |
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| All position pipe welding device for remote welding |
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DONG Na1, GAO Hongming1, ZHANG Yonghe2, LI Haichao1, WU Lin1
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1.State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China;2.Lanzhou Institute of Physics, Lanzhou 730000, China
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| Abstract: |
| An all-position automatic minor-caliber pipe welding device used in a remote welding robot was designed for solving the problem of pipe maintenance in nuclear environment.The design analysis, working principle and automatic control parts of the device are described.The verification experiment about the device function was carried out by using the remote welding robot with the vision and force sensor.Results show that the device adapts the automatic assembling and disassembling requirement and has accurate position control.The circular motion error satisfies the demand of the all position welding.The actual welding results are good and prove that the device can be used in remote welding. |
| Key words: remote welding terminal environment pipe maintenance all position welding |
