Robot welding system and welding method thereof

Abstract

The invention provides a robot welding system and a welding method thereof and suitable for pipe-pipe plate welding for a vapor generator of a main device in a nuclear island. According to the invention, a path planning and off-line programming module is used for planning an anti-collision welding path for an industrial robot and performing off-line programming on a planned scheme; a laser scanning positioning module obtains the circle centre coordinate of a pipe hole according to scanning results and performing initial welding position identification and autonomous guiding; the two industrial robots controlled by a central control module are matched with four pipe-pipe plate welding guns to perform welding on all pipe-pipe plate welding lines on a pipe plate; and an on-line welding line quality detection module obtains a three-dimensional reconstruction image according to welding line laser scanning results and performing on-line detection on welding line quality according to morphologies of the welding lines. Due to adoption of the system and the method disclosed by the invention, the pipe-pipe plate welding efficiency is improved, and the stability of the welding line quality is ensured.

Description

technical field [0001] The present invention relates to an automatic welding system and method in the field of intelligent robot welding technology, in particular to a robot welding system and a welding method for welding a steam generator tube-tube plate of a main equipment of a nuclear island. Background technique [0002] Nuclear power is an important direction for future energy development due to its advantages of cleanliness, strong continuous power supply capacity, and relatively few geographical constraints. The "National Nuclear Power Development Special Plan" proposes that by 2020, my country's nuclear power operating installed capacity will reach 40 million kilowatts, the proportion of nuclear power in the total power installed capacity will increase to 4%, and the annual power generation will reach 260-280 billion kwh. The length of the nuclear power construction period has a significant impact on its economics. The steam generator is the main equipment of the nuc...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the present situation that the steam generator tube-tube sheet is mainly welded manually, and proposes a robot welding system and welding method for the steam generator tube-tube sheet welding of the main equipment of the nuclear island, so as to realize the automatic welding of the tube-tube sheet In the process, the initial welding position identification and guidance, path planning and offline programming, automatic welding of pipe-tube plate welding seam robot, automatic detection and replacement of tungsten electrode, online inspection of weld quality, etc.

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