CN105195868B - 一种机器人焊接系统及其焊接方法 - Google Patents

一种机器人焊接系统及其焊接方法 Download PDF

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Publication number
CN105195868B
CN105195868B CN201510769050.0A CN201510769050A CN105195868B CN 105195868 B CN105195868 B CN 105195868B CN 201510769050 A CN201510769050 A CN 201510769050A CN 105195868 B CN105195868 B CN 105195868B
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CN
China
Prior art keywords
welding
tube
robot
pipe
sheet
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CN201510769050.0A
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English (en)
Chinese (zh)
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CN105195868A (zh
Inventor
杨乘东
唐伟宝
张茂龙
张敏
罗庆
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Shanghai Electric Nuclear Power Equipment Co Ltd
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Shanghai Electric Nuclear Power Equipment Co Ltd
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Publication date
Application filed by Shanghai Electric Nuclear Power Equipment Co Ltd filed Critical Shanghai Electric Nuclear Power Equipment Co Ltd
Priority to CN201510769050.0A priority Critical patent/CN105195868B/zh
Priority to PCT/CN2015/095306 priority patent/WO2017079995A1/zh
Priority to TR2017/18224A priority patent/TR201718224T2/tr
Priority to GB1718196.7A priority patent/GB2555262B/en
Priority to KR1020177034739A priority patent/KR101982433B1/ko
Priority to ROA201800125A priority patent/RO133553B1/ro
Publication of CN105195868A publication Critical patent/CN105195868A/zh
Application granted granted Critical
Publication of CN105195868B publication Critical patent/CN105195868B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125—Weld quality monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0288—Seam welding; Backing means; Inserts for curved planar seams for welding of tubes to tube plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006—Power supply
    • B23K9/1043—Power supply characterised by the electric circuit
    • B23K9/1056—Power supply characterised by the electric circuit by using digital means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124—Circuits or methods for feeding welding wire
    • B23K9/125—Feeding of electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/14—Heat exchangers
CN201510769050.0A 2015-11-12 2015-11-12 一种机器人焊接系统及其焊接方法 Active CN105195868B (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201510769050.0A CN105195868B (zh) 2015-11-12 2015-11-12 一种机器人焊接系统及其焊接方法
PCT/CN2015/095306 WO2017079995A1 (zh) 2015-11-12 2015-11-23 一种机器人焊接系统及其焊接方法
TR2017/18224A TR201718224T2 (tr) 2015-11-12 2015-11-23 Bir Robot Kaynaklama Sistemi Ve Bunun Kaynaklama Yöntemi
GB1718196.7A GB2555262B (en) 2015-11-12 2015-11-23 A Robot Welding System and Its Welding Method
KR1020177034739A KR101982433B1 (ko) 2015-11-12 2015-11-23 로봇 용접 시스템 및 그 용접방법
ROA201800125A RO133553B1 (ro) 2015-11-12 2015-11-23 Sistem de sudare cu robot pentru sudarea îmbinărilor tuburi-plăci

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510769050.0A CN105195868B (zh) 2015-11-12 2015-11-12 一种机器人焊接系统及其焊接方法

Publications (2)

Publication Number Publication Date
CN105195868A CN105195868A (zh) 2015-12-30
CN105195868B true CN105195868B (zh) 2018-05-15

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Country Status (6)

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KR (1) KR101982433B1 (ro)
CN (1) CN105195868B (ro)
GB (1) GB2555262B (ro)
RO (1) RO133553B1 (ro)
TR (1) TR201718224T2 (ro)
WO (1) WO2017079995A1 (ro)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN110154034A (zh) * 2019-06-21 2019-08-23 成都钧诺威视智能科技有限公司 一种基于激光三维建模的机器人管板焊接方法

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CN105729469B (zh) * 2016-02-17 2017-12-22 中国科学院自动化研究所 一种基于环境吸引域的轴孔装配方法及系统
CN105904126B (zh) * 2016-06-17 2017-07-21 尔智机器人（上海）有限公司 一种基于视觉定位的机器人焊接系统及焊接方法
CN106001849A (zh) * 2016-06-24 2016-10-12 中车南京浦镇车辆有限公司 一种城际轨道列车转向架的环境自适应焊接系统及焊接方法
CN106041258B (zh) * 2016-08-17 2018-02-06 江苏北人机器人系统股份有限公司 一种智能化机器人焊接系统
CN106238946B (zh) * 2016-08-31 2019-04-19 武汉法利莱切焊系统工程有限公司 激光填丝焊质量在线检测和尺寸反馈系统及方法
CN107813282A (zh) * 2016-09-13 2018-03-20 天津市安维康家科技发展有限公司 石油输送管道智能铺设机器人
CN107813340A (zh) * 2016-09-14 2018-03-20 天津市安维康家科技发展有限公司 管道铺设机器人的激光平衡控制系统
CN106670622B (zh) * 2017-01-12 2018-08-03 上海电气核电设备有限公司 一种管子-管板焊接系统的u型管轴向移动检测装置及方法
CN106552989B (zh) * 2017-01-12 2019-08-23 上海电气核电设备有限公司 机器人焊接系统的气体保护焊钨极自动更换装置及方法
CN107335900B (zh) * 2017-08-30 2023-12-01 国网浙江省电力有限公司台州供电公司 一种焊接机器人
CN107617828B (zh) * 2017-10-31 2019-12-13 杭州焊林科技有限公司 汽轮机凝汽器管排焊接方法及其装置
CN108515299A (zh) * 2018-03-30 2018-09-11 江苏金恒信息科技股份有限公司 一种棒材标牌焊接方法
CN108961285B (zh) * 2018-06-20 2022-02-15 广东工业大学 一种集装箱铰链焊缝边缘提取方法和装置
CN109108419A (zh) * 2018-07-18 2019-01-01 苏州菲丽丝智能科技有限公司 铜管自动焊接系统和方法
CN108788585B (zh) * 2018-08-20 2024-03-19 沃得精机(中国)有限公司 焊枪头自动寻位装置及其工作方法
DE102018123363B4 (de) * 2018-09-24 2021-01-07 Bystronic Laser Ag Verfahren zur Kollisionsvermeidung und Laserbearbeitungsmaschine
KR102125167B1 (ko) * 2019-01-21 2020-06-19 한양대학교 에리카산학협력단 자동화 용접 장치 및 그의 동작 방법
CN110497210A (zh) * 2019-09-18 2019-11-26 北京荣盛时代科技发展有限公司 一种多功能智能表面处理中心装置和方法
CN110919134A (zh) * 2019-10-09 2020-03-27 常州坤达焊接技术有限公司 一种管板定位焊接方法
CN111189393B (zh) * 2020-01-21 2021-10-01 北京卫星制造厂有限公司 一种三维薄壁结构焊缝的高精度全局视觉测量方法
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CN112692470A (zh) * 2020-11-27 2021-04-23 中船海洋动力部件有限公司 基于视觉传感的机器人离线自适应编程加工系统和方法
CN113399793A (zh) * 2021-06-15 2021-09-17 广东开放大学（广东理工职业学院） 一种薄壁钛管机器人焊接方法
CN113798673A (zh) * 2021-09-15 2021-12-17 广州明珞装备股份有限公司 一种激光填丝焊质量追溯装置、方法、工作站和生产线
CN113954068B (zh) * 2021-10-21 2023-04-11 南京工业大学 车身焊接机器人路径规划系统
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CN114131156A (zh) * 2021-12-22 2022-03-04 一重集团大连核电石化有限公司 一种管束密封焊全自动化系统
CN114211120B (zh) * 2021-12-31 2024-01-12 中核武汉核电运行技术股份有限公司 一种用于压水堆核电站的蒸汽发生器管子-管板接头
CN114119611B (zh) * 2022-01-25 2022-04-01 季华实验室 焊缝参数识别方法、装置、电子设备及存储介质
CN114654469A (zh) * 2022-04-12 2022-06-24 东莞理工学院 基于深度学习的焊接机器人控制系统
CN115647686B (zh) * 2022-12-28 2023-03-21 上海电气核电集团有限公司 核电管子-管板焊枪平衡装置、焊接装置及控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110154034A (zh) * 2019-06-21 2019-08-23 成都钧诺威视智能科技有限公司 一种基于激光三维建模的机器人管板焊接方法

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Publication number Publication date
GB2555262A (en) 2018-04-25
CN105195868A (zh) 2015-12-30
KR101982433B1 (ko) 2019-08-30
TR201718224T2 (tr) 2018-08-27
GB2555262B (en) 2023-02-08
RO133553A2 (ro) 2019-08-30
RO133553B1 (ro) 2023-08-30
WO2017079995A1 (zh) 2017-05-18
KR20170141793A (ko) 2017-12-26
GB201718196D0 (en) 2017-12-20

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