盾构机刀盘机器人立焊试验研究

利用六自由度弧焊机器人系统ARCMAN-MP进行盾构机刀盘超大厚度Q345B碳钢板立焊试验,通过编辑矢量库实现焊丝在立焊坡口内的精确摆动,获得了外观良好的立焊缝,建立了焊接数据库。对立焊焊缝分别进行拉伸和冲击力学性能试验,利用金相显微镜观察显微组织,并利用扫描电子显微镜(SEM)观察拉伸试件断口形貌。试验结果表明,超大厚度钢板机器人立焊效率高,焊缝表面成形好,焊缝缺陷率极低,可以用于盾构机刀盘制造。

Experimental study on vertical welding of shield machine cutter robot

The six-degree-of-freedom arc welding robot system ARCMAN-MP was used to vertical welding test,and the object of welding is the shield machine cutter head large thickness Q345B carbon steel plate. The edited vector library realized the precise swing of the welding wire in the vertical welding groove,and the vertical welding with good appearance was obtained,in the same times,a welding database was built. The mechanical properties were conducted by tensile and impact experiment,the microstructure was observed by metallographic microscope,and the fracture morphology was observed by scanning electron microscopy (SEM). The results show that the high welding efficiency,good weld surface formation,low weld defect rate and high overall welding quality in the experiments,showing this welding method has high quality and feasibility.