Research On The Key Technology Of Tube Sheet Welding Robot System

With the continuous development of welding robot technology, more and more robots have been widely applied to the special welding field. In petroleum, metallurgy, light industry, nuclear power and other special manufacturing field there are a large number of tube sheet welding. Although tube sheet welding has started using gantry, automated welding carriage and other semi-automatic or dedicated welding equipment. The use and installation of these devices are complex, labor intensity is high, working conditions are poor. Aiming at the limitations of the existing tube sheet welding equipment and the research of tube sheet welding robot, a robot tube sheet automatic welding method was proposed. Several key technologies of tube sheet automatic welding robot were researched. The main researches were outlined as follows:1. On the basis of the analysis of the welding operation object and the design requirements of tube sheet automatic welding robot, the overall scheme of robot tube sheet automatic welding method was established. And then, the design of robot tube sheet welding torch was completed according to the research of the mechanical structure of arc length control, swing of gun, tip and wire feeding and other major components.2. According to the research of the welding robot kinematics, the forward and inverse kinematics of tube sheet welding robot was completed. The seam position model of tube sheet welding robot was established based on the inclination of weld axis? and weld rotation?. The torch posture model of tube sheet welding robot was established based on the work angle ?, travel angle ? and rotation angle ?. This is the foundation of tube sheet welding robot path planning.3. To improve the efficiency and welding quality of robot tube sheet welding, an effective genetic algorithm was proposed to solve the path optimization problem of tube sheet welding. The relevant performance index function of tube sheet automatic welding robot was established based on seam position function, torch posture function, etc.4. According to the research of path planning method, the simulation and required processing code of tube sheet welding path was completed on RobotMaster. An air travel track reproduction test of tube sheet welding was completed by the processing code. The effect of the proposed path optimization algorithm is validated by analyzing it with RobotMaster. The conducted experiment shows that welding tube sheet by robot is viable.In order to complete tube sheet automatic robot welding, the kinematic model of the welding robot, the seam position model, the torch posture model, welding path planning and path planning algorithm were studied in this paper. The path planning and simulation of the robot tube sheet automatic welding process and air travel track of tube sheet welding were completed. The experiment demonstrates that the result of tube sheet welding path planning is reasonable. These studies laid a good foundation for the following research of tube sheet automatic welding robot system.