焊接机器人论文外文文献

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16Mn low-alloy steel structural steel, welding performance is very good, generally used by the J50 TIG welding wire, hand welding with J506, J507, J422, such as welding electrode. Range This technology is applicable to general industrial and civil construction projects in the steel structure production and installation of hand-Arc Welding works. Construction preparations materials and major equipment: welding electrodes: its choice of models according to design requirements, we must have quality certificate. Welding, as required prior to baking. Prohibited the use of drugs shedding skin, core rusty welding electrode. No design requirements, welding steel Q235 to choose E43 series of structural steel welding rod, welding 16 Mn steel to choose E50 series of low-alloy steel welding rod, welding important structure to use low-hydrogen electrode (alkaline electrode). Brochures on the request of baking, Add to Baowen Tong, with the use of admission. Acidic and alkaline electrode electrode not mixed use. arc plate: groove connection required arc plate, arc-type material and groove with the welding of the same. major equipment: welding machine (TAC, DC), the welding line, welding clamp, face masks, Xiaochui, electrode oven, the electrode Baowen Tong, wire brush, stone cotton cloth, such as temperature dollars. operating conditions familiar with the drawings, done welding technology Jiaodi. before welding welder certification should check the expiration date, should prove welder to take the welding work. spot welding power supply should meet the electricity demand. ambient temperature below 0 ℃, the preheating, after the hot temperature should be determined in accordance with technology test. Operation of Process Operating ready → Arc Welding (-welding, welding, Wang welding, Yang welding) → weld inspection arc welding steel structure: choose the right welding process, welding rod diameter, welding current, welding speed, the length of arc welding, welding technology through pilot certification. liquidation Welded Joints: welding inspection groove, the assembly space to meet the requirements, positioning it firmly welding, weld around the oil pollution may be, of rust. baking electrode should meet the required temperature and time, remove from the oven in the electrode, on the electrode Baowen Tong, with the use of admission. welding current: According to the thickness of welding, welding level, electrode models, diameter, welder proficiency and other factors, select suitable welding current. arc: Kok point arc welding ups and downs in the weld should end, to more than 10 mm, should not be casually playing arc, tinder-igniting immediately after the electrode from the seam zone will be opened so that the electrode and components Inter 2 ~ 4 mm to maintain a gap arc. Butt Weld and docking and the combination of angle to weld, located at both ends of the arc-welding leads and board, must arc welding to the board after the arc welding, half-way joint weld joints should be in the front 15 ~ 20mm igniting the tinder, welding pieces after preheating will return to weld electrode at the beginning of the pool to fill the requirements of thickness, before welding forward. welding speed: isokinetic welding requirements to ensure that weld thickness, width uniform, masks, read from the pool of molten iron slag and maintain equidistance (2 ~ 3 mm) welding arc length: electrode under different models identified, the general requirements of the same arc length stability, acid electrode is generally 3 ~ 4 mm, alkaline electrode is generally suitable 2 ~ 3 mm. welding angle: According to weld the two pieces of the thickness determined that welding two 000-point, first welding electrode and the direction of the angle to 60 ~ 75 °; electrode and the second is the angle between two welding about the situation When welding pieces of equal thickness, the angle between the electrode and welding pieces are 45 °; When the thickness ranging from welding, welding electrode and thick pieces of angle between the side should be more than welding electrode and thinner pieces of angle between the side of . to arc: each seam welded to the end, the hole should be filled arc, to welding direction opposite direction with arc, arc welding, Hang left inside to prevent the arc Hang bite of meat. Welding completed, should be used with arc-gas cutting and grinding formation, while the use hammer down. : The whole of welding seam after removal of slag, the welder self-inspection (including the appearance and weld size, etc.) is no problem, before relocation to welding. welding: basic operation and the process of welding the same level, but should pay attention to the following questions: under the same conditions, welding power than small-welding current 10 percent to 15 percent. use of short-arc welding, arc length is generally 2 ~ 3 mm. perspective based on welding electrode thickness determined. Welding two pieces of equal thickness, the electrode and the electrode around the direction of both the angle between 45 °; two pieces of thickness ranging from welding, welding electrode and thick pieces of angle between the side of the thin side should be larger than the angle. Electrode with the vertical plane formed 60 ° ~ 80 ° angle, slightly upward arc, toward pool centre. to arc: When welding to the end, the arc of a row pits will fill the arc, the arc moved to the central pool stopped arc. Prohibited the arc Hang left side. In order to prevent bites of meat, should be suppressed transform arc welding rod angle so that the welding rod and welded pieces of vertical or slightly down from the arc blowing. Wang welding : basic and same-welding, welding current conditions compared with the current small-welding of 10% to 15%, Arc-2 ~ 4 mm. Electrode perspective, Wang when welding electrode should Tilt Down, for their point of 70 ° ~ 80 °, to prevent hot metal falling. According to weld the two pieces of different thickness, can be properly adjusted electrode perspective, with the welding electrode to the direction of 70 ° ~ 90 °. Yang welding : basic and welding, Wang welding the same, the electrode and welding pieces of angle and thickness of the welding, and welding electrode into the direction of 70 ° ~ 80 ° angle,宜用small current, short arc welding. winter low temperature welding: in the environmental conditions of temperature below 0 ℃ under the Arc, in addition to compliance with the relevant provisions of ambient temperature welding, welding process parameters should be adjusted so that the weld and heat-affected zone slow cooling. Wind over four, the wind should take measures to cool after welding of the joints, should be avoided encounter snow and ice. welded steel structure in order to prevent cracks, should be preheated, preheat to control the temperature between layers. When the temperature in the workplace 0 ℃ below, the process should be carried out tests to ascertain preheating appropriate, after the hot temperature. Quality Standards ensure that the project welding materials should be consistent with the design requirements and the relevant standards, should check the quality certificates and baking records. The welder must pass the examination, inspection welder corresponding welding conditions of certification and testing dates. Ⅰ, Ⅱ-Weld must be approved by the detection test, and should meet the design requirements and construction standards and inspection requirements, inspection Weld Inspection report. Weld surface Ⅰ, Ⅱ-weld should not crack, of welding, Shaochuan, pits and other defects arc. Ⅱ-Weld may be the surface pores, slag, the arc pits, cracks, scratches and other defects arc, and weld Ⅰ level may be biting edge, not for welding defects. basic items Weld Appearance: Weld uniform appearance, welding, and welding, welding and smooth transition between the basic metals, welding slag and flying purge clean. surface porosity: Ⅰ, Ⅱ-Weld does not allow; Ⅲ-weld seam length of each 50 mm in diameter, allowing ≤ t; and ≤ 3 mm stomatal 2; ≤ 6 times the distance between stomatal aperture. biting edge: Ⅰ-Weld does not allow. Ⅱ-Weld: bite-depth ≤ t, and ≤ mm, for the length of ≤ 100 mm, and both sides of bite-chief of ≤ 10% weld length. Ⅲ-Weld: bite-depth ≤ 0. Lt, and ≤ lmm. Note; t joining the thinner the thickness. to allow deviation project Weld Ms high b <20 ~ 2 ~ ~ 1 Butt Weld (mm) b ≥ 20 ~ 3 ~ 0 ~ to < t and < t and < t and welding more than of not more than of not more than welding angle size hf ≤ 6 0 ~ + weld seam 2 Kok (mm) hf> 6 0 ~ +3 of Weld Ms high hf ≤ 6 0 ~ + Regulation (mm) hf> 6 0 ~ +3 seized three T-shaped joint weld combination , Cross joints, joint angle> t / 4 check welding angle from the size of the weight ≥ 50 t, mid-level working crane beam T-shaped connector t / 2 and ≯ 10 Note: b width for Weld, t joining the thinner the thickness, hf for welding angle size. Product Protection Not allowed to hit hit after welding joints, not just to the End of steel welding on the water. Low temperature should take measures to alleviate the cold. arbitrarily not be allowed outside the base metal in the weld on the arc. various components correction may be good after welding, and not free to move Sizing Block and Kaju, a component size to prevent bias. Concealed parts of Weld must apply for concealed End acceptance procedures only after the next, hidden processes. low-temperature welding slag not immediately clear, and so should cool down after the weld. Should pay attention to the quality problems Size exceed to allow deviation: Weld length and width, width, thickness inadequate, the centerline offset, bending, and other deviations, should strictly control the welding parts of the relative position of size, rear-qualified welding, welding operation at carefully. weld cracks: To prevent cracking, should be selected for the welding process parameters and welding procedures to avoid using high-current, do not suddenly off, weld joints should take 10 ~ 15 mm, welding in the wood allow moving, percussion welding Pieces. surface porosity: electrode to the required temperature and time for baking, welding region must clean up, welding process of choosing the appropriate welding current, lower welding speed so that the pool of gas entirely escaped. Weld slag : multi-layers of welding should be clean welding slag removal, transport operators should be correct, appropriate length. Note the direction of the flow of slag, a basic electrode, on the need to remain in the slog slog behind. Records

With the development of society, the robot has penetrated the needs of our life, work and economic aspects, and play a very significant role. Robot research and development of our economic development has a lot of influence. This article mainly elaborated through welding robot in architecture machinery industry, the importance of robot in the development of some countries, let the reader know for social development in the future development of the robot, this paper also wrote the importance of our present investigation and the robot, in the understanding of the existing in the development of robots, and some influencing factors of robot using some of the field.

机器人技术作为先进制造技术的典型代表和主要技术手段，实现文明生产等方面具有重大作用。下面是我整理的机器人焊接技术论文，希望你能从中得到感悟!

浅谈焊接机器人

概要：本文从国内外工业机器人的发展，焊接机器人技术及现状，及焊接机器人的发展及前景，焊接机器人在生产中应用的主要 经验 和问题，四个方面分别进行阐述，为今后焊接机器人的研究提供了依据。

关键词：焊接机器人 机器人 管道焊接

中图分类号：TP242 文献标识码：A 文章 编号：

1.国内外工业机器人的发展

机器人技术作为先进制造技术的典型代表和主要技术手段，它在提升企业技术水平、稳定产品质量、提高生产效率、实现文明生产等方面具有重大作用。大工业革命曾使人沦落为机器的奴隶，而机器人的诞生和广泛推广应用又重新使人类恢复了尊严。目前机器人技术已成为世界各发达国家竞相发展的高技术，其发展水平已成为衡量一个国家技术发展程度的重要标志之一。

美国是最早出现工业机器人的国家,1954年美国的.戴沃尔发表了“通用重复型机器人”的专利论文,第一次提出“工业机器人”和“示教再现”的概念。1959年美国Unimation公司推出第一台工业机器人。1967年日本从美国引进Unimate和Ver satran等类型的工业机器人以后，结合国情,面向中小企业,采取一系列鼓励使用工业机器人的 措施 ,率先在汽车制造业的喷涂、焊接、装配等重要工序中得到应用。并以此为契机,向 其它 产业渗透。

在我国，人工焊接仍然占据焊接作业的主导地位，人工施焊时焊接工人经常会受到心理、生理条件变化以及周围环境的干扰。在恶劣的焊接条件下，操作工人容易疲劳，难以较长时间保持焊接工作稳定性和一致性，而焊接机器人则工作状态稳定，不会疲劳。因而，选择应用焊接机器人对产品进行焊接可以实现用稳定一致的工艺条件确保产品焊接强度和满足产品各项性能指标的要求，同时满足焊缝成型良好的产品外观质量要求。随着国外及国内对工业机器人在焊接方面的研究应用,我国也开始了焊接机器人的研究应用。在引进国外技术的基础上,中国于20世纪70年代末开始研究焊接机器人。1985年哈尔滨工业大学研制成功我国第一台HY-1型焊接机器人。1989年北京机床研究所和华南理工大学联合为天津自行车二厂研制出了焊接自行车前三脚架的TJR-G1型弧焊机器人,为“二汽”研制出用于焊接东风牌汽车系列驾驶室及车身的点焊机器人。上海交通大学研制的“上海1号”、“上海2号”示教型机器人也都具有弧焊和点焊的功能[3]。20世纪节式机器人。1999年北京机械工业自动化研究所机器人中心研制的AW-600型弧焊机器人工作站,采用PC工控机控制和PMAC可编程多轴控制系统,于1999年4月通过了国家机械工业局的鉴定。1999年7月15日,国家863计划智能机器人主题专家验收通过了由“一汽”集团、哈尔滨工业大学和沈阳自动化研究所联合开发的H-100 A型 点焊机器人。由此可见,我们国内的焊接机器人已开始走向实用化阶段。

2. 焊接机器人技术及现状

焊接机器人的应用，不但改善了劳动环境、减轻劳动强度、提高升产效率，更主要原因是焊接机器人工作的稳定性和焊接产品质量的一致性，这对于保证批量生产的产品焊接质量至关重要。

通常情况下，焊接机器人系统由焊接机器人、机器人焊机、变位机以及回转工作台等周边装置、焊接夹具、安全装置等组成。焊接机器人的工作对象几乎和手工焊接一样广泛，可以焊接低碳钢、不锈钢、铝材、铜材等。焊接材料的厚度可以从零点几毫米到几毫米、十几毫米、直至几十毫米。并且能够灵活调整焊枪姿态，实现对工件的最佳焊接。

随着机器人控制技术的发展和焊接机器人应用范围的扩大，尤其为适应现代产品更新换代快和多品种小批量的需要，要求焊接机器人和变位机，弧焊电源等周边设备实现柔性化集成。这有助于减少辅助时间，是提高生产效率的关键之一。例如，在球形或椭圆形工件的径向焊缝或复杂形状工件的周边的卷边接头等状态下焊接时，为了使整条焊缝在焊接时都能使焊池水平或稍微下坡状态，焊接时变位机必须不断地变换工件位置和姿态。即变位机在焊接过程中不是静止不动的，而是要做相应的协调的运动。弧焊电源和工装夹具等也要在机器人统一控制下作相应的协调运动，才能保证整个系统的高效率，高质量的工作。

3. 焊接机器人的发展及前景

随着我国国民经济的发展和工业自动化水平的不断提高，特别是加入WTO,许多生产企业为提高产品质量和生产效率，争取尽快和国际市场接轨，在市场竞争中争取主动权，对在生产中采用机器人的要求越来越强烈，对应用机器人的呼声也越来越高，为焊接机器人市场的快速增长提供了一个良好的机会。机器人的需求量在逐年增加，中国近几年机器人市场将会一个大的跨越。

种种迹象表明，今后几年中国的焊接机器人市场将是技术不断提高，市场迅速扩大，应用工程项目市场竞争激烈的局面。预计今后的几年内，国内企业对点焊、弧焊机器人的需求量将以 30% 以上的速度增长。从机器人技术发展趋势看，焊接机器人不断向智能化方向发展，机器人的感觉功能将实现多传感器信息的融合，控制系统从示教、离线编程向模糊控制发展，实现生产系统中机器人的群体协调和集成控制，从而达到更高的可靠性和安全性。从应用技术市场角度分析，性能和价格以及技术服务的质量将仍然是决定用户做出正确选择的主要因素。随着国内机器人公司自主品牌的性能价格比进一步提高，短期内将可以达到与国外产品抗衡的能力。从机器人应用范围来看，焊接机器人的应用在传统制造业领域的需求持续增长同时不断向其它行业扩散。国内外众多机器人厂家激烈竞争的结果将促进我国工业制造技术自动化水平的不断提高，应用焊接机器人的企业在高技术、高质量、低成本条件下获得高速发展。

4 .焊接机器人在生产中应用的主要经验和问题

弧焊机器人在实际生产中的应用及产业化仍有如下的关键问题等待进一步研究解决:

(1)弧焊机器人系统的柔性化集成及优化，减少辅助时间，提高生产效率;

(2)新型机器人用弧焊逆变电源结构和性能的优化及电流波形控制，使熔滴实现最佳过渡，减少飞溅;

(3)弧焊过程实用传感技术，快速准确地提取弧焊过程的特征信息，实现焊缝自动跟踪;

(4)实用化的弧焊动态过程和焊接质量的实时智能控制技术;

(5)弧焊机器人工程应用和产业化中的技术成果转化。

5 .结论

工业机器人技术的研究、发展与应用,有力地推动了世界工业技术的进步。特别是焊接机器人在高质高效的焊接生产中,发挥了极其重要的作用。我国焊接机器人技术的研究应用虽然较晚,但借鉴于国外的成熟技术,得到了迅速的发展。近年来,我国在焊缝跟踪、智能控制、信息传感、周边设备及机器人专用电源等方面进行了大量的研究与应用,取得了许多优秀的成果。随着智能机器人技术和人工智能理论的进一步发展,焊接机器人系统还有许多值得我们认真研究的问题,特别是多智能体系统、基于PC的控制器和模糊神经网络等方面将是研究的 热点 问题。

参考文献

1 孙明如 日本焊接自动化和焊接机器人发展动态 电焊机,(11):30～31;

2龚进峰,彭商贤，履带式可变结构管道机器人及其双控制系统的研究 高技术通讯;

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Abstract  With the social development needs, the robot has infiltrated our lives, work and economic aspects, and has played a significant role. Robotics research and development of our economic development have a lot of impact. This piece of paper mainly expounds the welding robot in the construction machinery industry, the importance of robots in various countries on the development of some of the overview for readers to understand the future development of robots the importance of social development, the article I also wrote to the China Machine were a number of investigations and understanding of the status quo views of the robot in the Development of a number of factors, there are a number of field of use of robots (关键词）: Robot; welding robot; construction machinery; Prospect