Purpose

The membrane wall is one of the most important components in the boiler industry and numerous studs are welded on its surface. The membrane wall welding still remains a sector intensive in the manual and arduous works. This paper aims to propose a dual-robot system to automatically weld studs on the membrane wall.

Design/methodology/approach

In this paper, the authors proposed a dual-robot stud welding system for membrane walls. First, the membrane wall is divided into several zones and the welding paths are planned. Then, the pose of the pipes is calculated based on the data measured by light section sensors. The planned paths are compensated by the pose. Finally, the robots weld studs based on the compensated paths.

Findings

The method effectively eliminates manufacturing errors and welding distortions. The system can weld straight type and L-type membrane walls with high efficiency, high quality and high accuracy.

Originality/value

The system can weld straight type and L-type membrane walls with high efficiency and high quality. Experiments were performed in a factory to demonstrate the practicability of the method. The dual-robot system with two welding machines has approximately twice the efficiency of the manual welder with only one welding machine. The quality and accuracy of robot welding systems are higher than that of manual welding.

中文翻译：

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膜式墙双机器人螺柱焊接系统

目的

膜式壁是锅炉行业中最重要的部件之一，其表面焊接了许多螺柱。膜式墙焊接仍然是一个需要大量手工和繁重工作的部门。本文旨在提出一种双机器人系统来自动在膜墙上焊接螺柱。

设计/方法/方法

在本文中，作者提出了一种用于膜墙的双机器人螺柱焊接系统。首先，将膜式墙分为几个区域，并规划焊接路径。然后，根据光截面传感器测量的数据计算管道的姿态。计划路径由姿势补偿。最后，机器人根据补偿路径焊接螺柱。

发现

该方法有效地消除了制造误差和焊接变形。该系统可以高效率、高质量、高精度地焊接直式和L型膜墙。

原创性/价值

该系统可以高效率、高质量地焊接直式和L型膜墙。在工厂进行了实验以证明该方法的实用性。带有两台焊机的双机器人系统的效率大约是只有一台焊机的手动焊机的两倍。机器人焊接系统的质量和精度高于手工焊接。