【作者】 张明；

【导师】 陈卫东； 丁绍源；

【作者基本信息】 上海交通大学 ， 控制工程（专业学位）， 2013， 硕士

【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。更多还原

【Abstract】 Based on the requirements of the development of ocean engineering pipemanufacturing, in order to make fully automatic high efficiency welding, toimprove the welding quality and efficiency and the working environment, toreduce costs and save energy consumption, to promote the competitiveness ofthe technology, we introduce the Tandem MIG welding system withmulti-robot coordination control to the ocean engineering pipe production line,which is applied to the circular seam filling and cosmetic welding for pipeoutsides.According to ocean engineering pipe industry situation, we analyzed thecharacteristics of ocean engineering pipe technology and its developmentbottleneck, studied multi-robot coordination movement control method anddeveloped the Tandem MIG welding process. Arc welding seam tracking andtouch sensing is used for the first time to meet different size fitting theflexibility of production and solved the quality problems which caused byhuge tolerance of engineering pipe. Simple method of Ethernet and advancedsoftware are used to connect with the system to achieve the factory remotemonitoring and quality traceability, so as to make automatic robot weldingcenter in the whole process of the pipe welding from coming materials toproduction.In this paper, the design is based on Ethernet communication and highefficiency welding technology has been applied in the project. The runningefficiency is raised, welding performance is improved, welding defect ratecome down and the labor intensity and the rework rate are also reduced. Italso greatly reduces the technical gap between China and in the international advanced pipe technology.更多还原