轨道管道焊接机器人焊缝跟踪方法研究现状

河北科技大学学报 Pub Date : 2015-04-01 DOI:10.7535/HBKD.2015YX02003

Shenggang Hu, Luo Yu, J. Xiangdong, Zhou Canfeng, Han Suxin

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引用次数: 1

摘要

本文首先概述了截止2013年全球油气管道铺设情况、工业应用、燃气金属电弧(GMAW)轨道管道焊接机器人的工作特点和优势。然后全面介绍了常用焊缝跟踪传感器的分类。详细分析了传感器的工作原理、优缺点及其在管道焊接中的应用情况。研究表明，电弧传感器和视觉传感器具有实时性好、信息量大、跟踪精度高等优点，在管道焊接中应用最为广泛。在不同的过程中使用单个传感器容易限制跟踪精度，而在油气管道焊接中使用多个传感器将大大提高跟踪精度。将视觉传感器与电弧传感器相结合的系统应用于日本的气田管道焊接中，取得了良好的效果。最后得出结论，应根据工艺特点和方法选择合适的焊缝跟踪传感器，使用多种传感器可以提高焊缝跟踪精度，这将成为未来研究的重点。

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Research status of seam tracking methods for orbital pipe welding robots

This paper first outlines the worldwide oil and gas pipeline laying situation by 2013 and industrial applications,the working characteristics and advantages of orbital pipe welding robots using the gas metal arc metal( GMAW). Then the classifications of commonly used welding seam tracking sensors are comprehensively introduced. The sensor working principles,advantages and disadvantages and the application situation in pipeline welding are analysed in details. The studies show that arc sensors and visual sensors have many advantages such as good real-time characteristic,informativeness and high tracking precision,and are most widely used in pipeline welding. Using single sensor in different process can limit the tracking precision easily,but a system with multiple sensors will greatly improve the tracking precision in oil and gas pipeline welding. A system using visual sensor and arc sensor has been used in the gas field pipeline welding in Japan and a good effect has been achieved. Finally the conclusion is drawn that suitable seam tracking sen-sor should be chosen according to the process features and methods,and using a variety of sensors can improve the welding seam tracking precision,which will become the focus of future researches.

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来源期刊

河北科技大学学报

自引率

0.00%

发文量

3341

审稿时长

16 weeks

期刊介绍： Journal of Hebei University of Science and Technology is a comprehensive academic science and technology journal hosted by Hebei University of Science and Technology, which is openly distributed at home and abroad, published bimonthly at the end of each month, with the domestic uniform serial number CN 13-1225/TS and the international standard serial number ISSN 1008-1542. It is selected as one of the Chinese core journals of Peking University, Chinese core journals of science and technology, RCCSE Chinese core academic journals (A), excellent scientific and technological journals of Chinese colleges and universities, and ‘Top Ten’ journals of Hebei Province. According to the ‘Annual Report on Impact Factor of Chinese Academic Journals (2024 Edition)’ issued by China Knowledge Evaluation Centre in October 2024, the compound impact factor of Journal of Hebei University of Science and Technology is 1.736 (35/146 in subject order), and the influence index (CI) is 336 (62/146 in subject order). Journal of Hebei University of Science and Technology mainly publishes research papers in the fields of [Mechanical, Electronic and Information Science], [Material Science], [Food and Biological Science], [Textile Science], [Civil and Architectural Engineering], [Transportation and Logistics], etc. It also has [National Youth/Regional Science Fund Project Columns ], [Chemistry and Chemical Industry Column], [New Energy and Energy Conservation and Environmental Protection Column], [Data Analysis and Calculation Column] and [Xiongan Green Innovation Column] 5 special columns. Journal of Hebei University of Science and Technology is now published in China Academic Journals Network Publishing Database (China Knowledge), ‘China Science and Technology Paper Statistics Source Journal’ (China Science and Technology Core), Chinese Science and Technology Journal Database (Wipo), Wanfang Database, Changjiang Literature Library, Taiwan Chinese Journal Database, Chinese Journal Database, Chinese Journal Database, Chinese Journal Database, Chinese Journal Database, Chinese Journal Database, and Chinese Journal Database. Database, Changjiang Literature Library, Chinese Electronic Periodical Service in Taiwan - CEPS (CEPS), as well as the American Chemical Abstracts (Web Edition) (CA), the American Ulrich's Journal Guide (Web Edition) (Ulrichsweb), the American EBSCOhost Database (EBSCO), the British Polymer Library (PL), DOAJ (Sweden), HINARI (Switzerland), and JSTChina (Japan Science and Technology Agency).