面向工程现场维修的焊接机器人数字孪生技术

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中图分类号：TG441.7

Digital twin technology of welding robot for on-site maintenance

GAO Hui， HU Xiaohui， WANG Long， ZHOU Canfeng， JIAO Xiangdong （Research Center of Energy Engineering Advanced Joining Technology，Beijing Institute of Petrochemical Technology，Beijing1O2617，China）

Abstract： The engineering field environment of nuclear power，shield structure，ship and ocean engineering and other industries is characterised by complex，unstructured and severe conditions，which has anurgent demand for the use of robots to replace manual welding operations.In order to solve the problem of welding operations incomplex environments，this paper addresses the key technologies such as network communication，threedimensional modelling，pose update，collsion detection，data acquisition，and human-machine interaction. Based on digital twin technology，a teleoperation test platform for the welding robot has been established.This platform creates a real-time and reliable bi-directional data channel between the upper computer controling the virtual robot and the lower computer controlling the physical robot，thereby achieving precise synchronous control of the poses of both the virtual and physical robots.Atthe same time，a robot teleoperation MIG welding test is carried out as the potential application scene of shield machine cuter plate field repair for Q345 steel plate material in 2Gand 3G positions，and the welded seam with good appearance is obtained. The results show that the robotic digital twin and teleoperation technology has certain advantages in solving the high-quality welding under complex working conditions，and has a broad application prospect in the field of nuclear power，shield structure， ship and ocean engineering repair.

Key words： digital twin； welding robot； network communication; 3D modeling; posture update

0 前言

数字孪生在智能制造、数字化工厂、焊接机器人等领域的应用得到广泛而快速发展，并且与虚拟现实、增强现实、人工智能等先进技术的结合日益紧密。（剩余7580字）