多机器人全自动焊接系统在海洋工程制管中的应用-控制工程专业论文.docxVIP

上海交通 上海交通大学工程硕士学位论文 摘要 第 I 第 I 页 多机器人全自动焊接系统在海洋工程制管中的应用 摘 要 基于海洋工程制管业发展的需要，为了实现真正意义的全自动化高效 焊接，从而提高焊接质量和焊接效率、改善工作环境，达到降低成本、 节约能耗、提升技术竞争力的最终目标，在海洋工程制管生产线中引进 多机器人协同控制双丝 MIG 焊接系统，应用于管件接长区工件外环缝的 填充、盖面焊。 本文根据海洋工程制管的行业现状，分析海洋工程制管技术的特点 及发展瓶颈，深入研究了多机器人协同运动控制方法，开发了机器人的 双丝 MIG 焊接工艺，以提高管道焊接的生产效率；首次采用焊缝电弧跟 踪以及接触式自动寻缝来满足不同尺寸管件的柔性化生产，并且解决了 管件误差造成的焊接质量问题；利用简单的以太网通讯方式及先进的监 控软件连接整个机器人焊接系统，实现工厂生产状态的远程监控及质量 追溯，从而实现了从管件来料至管件焊接完成的全程自动化及质量保证。 本文设计的基于以太网通讯的硬件平台并开发的高效焊接工艺，已 经在实际项目中应用。实际运行效率提高，焊接成形美观，焊接缺陷率 降低，工人劳动强度及返工率也同时大幅降低，缩小了国内海洋制管技 术与国际先进制管技术间的差距。 关键词：海洋制管、焊接质量控制、双丝焊接、焊缝跟踪、接触式寻缝 上海交通 上海交通大学工程硕士学位论文 ABSTRACT 第 I 第 II 页 APPLICATION OF MULTI-ROBOT AUTOMATIC WELDING SYSTEM FOR OFFSHORE ENGINEERING PIPE MANUFACTURING ABSTRACT Based on the requirements of the development of ocean engineering pipe manufacturing, in order to make fully automatic high efficiency welding, to improve the welding quality and efficiency and the working environment, to reduce costs and save energy consumption, to promote the competitiveness of the technology, we introduce the Tandem MIG welding system with multi-robot coordination control to the ocean engineering pipe production line, which is applied to the circular seam filling and cosmetic welding for pipe outsides. According to ocean engineering pipe industry situation, we analyzed the characteristics of ocean engineering pipe technology and its development bottleneck, studied multi-robot coordination movement control method and developed the Tandem MIG welding process. Arc welding seam tracking and touch sensing is used for the first time to meet different size fitting the flexibility of production and solved the quality problems which caused by huge tolerance of engineering pipe. Simple method of Ethernet and advanced software are used to connect with the system to achieve the factory remote monitoring and quality traceability, so as to make automatic robot welding center in the whole process of the pipe welding from coming materials to production.