曹立超,刘晓光,蒋晓明,等.基于爬壁机器人的EH36船用高强钢立焊工艺研究[J].精密成形工程,2020,12(4):94-99.
CAO Li-chao,LIU Xiao-guang,JIANG Xiao-ming,et al.Vertical Welding Technology of EH36 Marine High-strength Steel Based on Wall-climbing Robot[J].Journal of Netshape Forming Engineering,2020,12(4):94-99. |
| 基于爬壁机器人的EH36船用高强钢立焊工艺研究 |
| Vertical Welding Technology of EH36 Marine High-strength Steel Based on Wall-climbing Robot |
| 投稿时间：2020-05-28 修订日期：2020-07-10 |
| DOI：10.3969/j.issn.1674-6457.2020.04.010 |
| 中文关键词: 爬壁机器人 EH36船用钢 立焊 |
| 英文关键词: wall-climbing robot EH36 marine steel vertical welding |
| 基金项目:广东省科技计划（2020B090928002）；广东省科学院实施创新驱动发展能力建设专项（2017GDASCX-0115，2018GDASCX-0015）；广东省现代控制技术重点实验室开放运行项目（2017B030314165） |
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| 中文摘要: |
| 目的 研究在爬壁机器人平台上进行EH36船用高强钢立焊的可行性及工艺参数。方法 通过在实验室搭建焊接实验平台来模拟EH36船用高强钢的实际焊接场景；在轮式爬壁机器人WRobot-50平台上进行船用EH36高强钢的立焊实验；对不同参数下的试样进行宏观形貌、微观组织及相关力学性能分析。结果 在电流为160 A、电压为24.5 V、焊接速度为0.6 m/min下，可以得到外观成形及微观组织都没有缺陷的立焊焊缝，其中焊缝的硬度较母材提高了约30%，屈服强度较母材约提高了4.3%，抗拉强度较母材约提高了9.0%。结论 爬壁机器人完全适用于船用EH36高强钢的立焊工艺，并且可以应用到船舶、石化等大型钢结构件的焊接工作中。 |
| 英文摘要: |
| The paper aims to study the feasibility and process parameters of vertical welding of EH36 marine high-strength steel on a climbing robot platform. This paper simulated the actual welding scenario of EH36 marine high-strength steel by building an experimental welding platform in the laboratory. The vertical welding experiment of marine EH36 high-strength steel was carried out on the WRobot-50 platform. Samples with different parameters were analyzed for macro morphology, microstructures and related mechanical properties. The experimental result showed that vertical weld without defect in terms of appearance and microstructure can be formed at 160 A, 24.5 V and 0.6 m/min. Compared with the base material, the hardness of the weld seam was increased by about 30%; the yield strength was increased by about 4.3%; and the tensile strength was increased by approximately 9.0%. The wall-climbing robot is completely suitable for the vertical welding process of marine EH36 high-strength steel, and can be applied to the welding of large steel structural parts such as ships and petrochemicals. |
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