Abstract
As an attempt to increase the development efficiency of automation in circumferential welding of pipelines, a methodology was developed and validate in this work. This methodology proposes the use of sensors for correction in real time of the programmed path of an anthropomorphous commercial robot. Arc sensor for seam tracking and electrical contact sensor for seam finding were employed. The considerations regarding the employment for such sensors on circumferential welding were described in this work. To enable the use of a sensor for circumferential welding a program in form of algorithm for path generation and welding parameters allocation was developed. The program is based on definition of some arguments, such as: pipe radius (Rtubo) and the torch angle (£tocha). To validate the proposed system, the control of torch position performed by the arc sensor is analyzed based in current measurement over time. The program development and the virtual arrangement of the test facility were initially executed using simulation software. The results from this work will be used in the future as a basis for the development of strategies in form of algorithms to control the parameters and variables of orbital welding (adaptive welding), using a dedicated anthropomorphous robot for pipeline welding.
Key-words: Robotic orbital welding, Arc sensor, MIG/MAG CCC.
Referência:
KINDERMANN, R. M.; SILVA, R. H. G. e; DUTRA, J. C. Desenvolvimento e validação de algoritmos para emprego de sensores na soldagem robótica orbital de tubulações. 8º PDPETRO – Congresso Brasileiro de P&D em Petróleo e Gás, Outubro, 2015, Curitiba, PR, Brasil.