机器人自动脉冲TIG焊J形坡口焊缝填充策略

核电压力容器封头由半球形封头和多个圆管相贯构成，连接的焊缝为J形坡口，轨迹是球管相贯的空间曲线，位于封头内部.由于该焊缝的特殊性，目前普遍采用手工焊接，质量与效率不佳.文中针对核电压力容器封头J形坡口的机器人自动焊接技术提出了一种多层多道焊填充策略.通过焊接结构分析，确定了J形坡口的焊接工艺分区，提出了设定焊接层数、道数的焊接轨迹规划方法，进而提出了焊接工艺参数的设定规则并据此对焊缝形状进行控制.结果表明，应用文中提出的焊缝填充策略及焊缝形状控制方法可获得良好的焊缝成形.

A filling strategy of J-groove weld with automatic pulsed TIG welding

Nuclear vessel head is constituted by intersection structure of sphere and a given number of tubes. The welding groove is called J groove, its welding seam is irregular space curve, and its position is inside the vessel head. The welding efficiency and quality is not good with common manual welding method for J-groove. This paper proposed a multi-pass filling strategy of J-groove automatic welding process for one type nuclear power pressure vessel head. Through the analysis of welding structure, the region division of welding process and filling strategy is determined. And the selection rule of welding process parameters is put forward to control the welding appearance. The tests indicate that suitable welding appearance can be obtained through the proposed strategy.