Piping and Pressure Vessel Welding Automation through Adaptive Planning and Control
Piping and Pressure Vessel Welding Automation through Adaptive Planning and Control
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DOI：
10.1007/s11837-019-03912-y
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发表时间：
2019-11
期刊：
影响因子：
2.6
通讯作者：
Sam Robertson;J. Penney;J. L. McNeil;W. Hamel;D. Gandy;G. Frederick;Jonanthan Tatman
中科院分区：
文献类型：
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作者：
Sam Robertson;J. Penney;J. L. McNeil;W. Hamel;D. Gandy;G. Frederick;Jonanthan Tatman
焊接自动化是降低能源部门成本和对短缺的认证焊工依赖的一条途径。介绍了近年来不锈钢构件多道/多层钨极惰性气体保护焊系统级自动化的研究情况。自动化是追求焊接规划，执行和缺陷检测。规划利用主动焊缝/坡口传感和直观的焊道定位。焊道和层的几何形状估计使用焊道形状预测，考虑到工艺参数。在第一焊接层之后，调整后续轨迹规划以补偿规划的焊接表面与实际焊接表面之间的差异。目前正在对这一过程进行基于传感器的闭环控制，以补偿重力效应。对实时过程的连续监测以预测/检测焊接缺陷的发生正在开发中。近乎实时的缺陷检测提供了立即评估和纠正的机会，减少了昂贵的维修。初步的实验结果。
Welding automation is a pathway to reducing costs in the energy sector and dependence on certified welders, who are in short supply. Recent research into system-level automation of multibead/layer Tungsten Inert Gas welding for stainless-steel components is presented. Automation is pursued for weld planning, execution, and defect detection. Planning utilizes active seam/groove sensing and intuitive weld bead positioning. Bead and layer geometries are estimated using weld bead shape prediction that takes into account process parameters. After the first weld layer, subsequent trajectory plans are adapted to compensate for differences between the planned and actual weld surface. Sensor-based, closed-loop control of the process is being pursued to compensate for gravitational effects. Continuous monitoring of the real-time process to predict/detect the occurrence of welding defects is in development. Near-real-time defect detection provides the opportunity for immediate evaluation and correction, reducing costly repairs. Preliminary experimental results are presented.