盾构机结构件机器人多层多道焊关键技术

发布时间：2018-10-24 09:43

【摘要】：盾构机作为先进的大型工程装备在隧道施工中得到广泛应用,其与普通工程机械有两个明显的不同之处,一是盾构机重要结构件属于超厚钢板,焊接工作量很大;二是为了更好地适应隧道地质条件,结构件均采用针对性的设计。这导致每个结构件的形状、尺寸、重量乃至结构形式都不相同,从而给机器人焊接的实施带来挑战。为了实现盾构机结构件超厚钢板多层多道机器人焊接,需要解决焊接变形与应力、焊缝传感与跟踪、离线编程示教,以及多机器人协同焊接等关键技术。对于盾构机结构件机器人焊接的未来发展而言,通过接头图形自动生成、坡口智能规划等技术加强计算机辅助焊接工艺功能、融合虚拟现实等多种技术手段提升焊接过程监测水平,以及大力开发针对具体应用的焊接工艺规范数据库等,将是重要方向。
[Abstract]:As advanced large-scale engineering equipment, shield machine has been widely used in tunnel construction. There are two obvious differences between shield machine and common construction machinery. One is that the important structure of shield machine belongs to ultra-thick steel plate, and the welding work is very large. Second, in order to better adapt to the geological conditions of the tunnel, structural parts are targeted design. As a result, the shape, size, weight and even the structure of each structure are different, which brings challenges to the implementation of robot welding. In order to realize multi-layer and multi-pass robot welding of shield machine structural parts, the key technologies such as welding deformation and stress, welding seam sensing and tracking, off-line programming teaching and multi-robot cooperative welding should be solved. For the future development of robot welding of shield machine structure parts, the functions of computer aided welding technology are strengthened by automatic generation of joint figure and intelligent planning of groove. Fusion of virtual reality and other technical means to improve the level of welding process monitoring and vigorously develop a database of welding process specifications for specific applications will be an important direction.
【作者单位】：中铁工程装备集团有限公司;北京石油化工学院能源工程先进连接技术北京市高等学校工程研究中心;唐山开元机器人系统有限公司;
【分类号】：TG409

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