CFB锅炉旋风分离器销钉机器人焊接系统开发及应用

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Research on stud robot welding of CFB boiler cyclone separator

LUO Yongfei， JIANG Kuan，LI Yong， YIN Runbang DongfangBoilerCo.，Ltd.，Zigong643oo1，Sichuan， China

Abstract： Pin welding of tube panels in cyclone separators of CFB boilers mainly adopts either ceramic ferrule shielded pin welding or gasshielded pin welding，which suffers from low intelligence，high labor intensity for workers and unstable welding quality.In view of this，an intelligent robotic pin welding system for tube panels of cyclone separators in CFB boilers is proposed. Through the research on technologies such as laser scanning and 3D reconstruction of tube panels，precise scanning of single stee tubes and welding path planning，the software development of the intellgent robotic pin welding control system for tube panels ofcyclone separators is completed， thereby realizing the intelligent pin welding of tube panels in cyclone separators of CFB boilers.The resultant pin welds feature atractive formation，stable qualityand are freefrom defects such as incomplete fusion and weld beads. Keywords： tube panel; stud robot; laser scanning; 3D reconstruction; intelligent welding

1序言

旋风分离器是循环流化床锅炉（CFB锅炉）的核心部件，CFB锅炉的工作原理及旋风分离器示意如图1所示。（剩余4890字）