球罐全自动电弧焊设备

研制了一种球罐全位置全自动电弧焊设备，此设备主要由二维记忆跟踪系统与有轨式爬行机构组成。其主要特点是：在焊接第一层时，跟踪系统的微机对二维传感器的数据进行分析处理与记录，并控制焊头进行二维实时跟踪；在焊接第二层至盖面焊缝的各层焊接过程中，微机系统依据记录的量数据来控制焊摘头，实现二维记忆跟踪与自动分层摆动焊接。焊接试验结果表明，该设备跟踪精度高，焊缝成形好，可以用于球罐的全位置多层自动焊接。

Study on Full Automatic Welding Machine for Spherical Tank

A full automatic welding machine for spherical tanks all position mutil-layer welds has been developed. This machine is mainly composed of a two-dimension seam tracking system based on microcomputer's memory and a welding tractor as well as rail. The main features of the machine are : while welding the first layer of a seam, its microcomputer system can analyze and store the tracing information from a two-dimension sensor, and control the welding head device to realize two-dimension real time seam tracking; while welding the second layer up to the top layer of the seam, it can realize two-dimension real time seam tracking memorial tracking based on the memorial data, automatically determine the layer number and continually sway the welding head. The welding test shows that the machine has good tracing and welding behavior, and is suitable for spherical tank's all position mutil-layer welds.