[1] 计时鸣,黄希欢.工业机器人技术的发展与应用综述[J].机电工程, 2015, 32(1):1-13. JI S M, HUANG X H. Review of development and application of industrial robot technology[J]. Journal of Mechanical&Electrical Engineering, 2015, 32(1):1-13.(in Chinese)
[2] 张轲,吕学勤,吴毅雄,等.移动焊接机器人的研究现状及发展趋势[J].焊接, 2004(8):5-9. ZHANG K, LÜ X Q, WU Y X, et al. Research status and development trend about mobile welding robots[J]. Welding&Joining, 2004(8):5-9.(in Chinese)
[3] 宁静.基于专利分析的企业技术竞争情报挖掘研究[D].郑州:郑州航空工业管理学院, 2017. NING J. The competitive intelligence mining of enterprise technology based on patent analysis[D]. Zhengzhou:Zhengzhou University of Aeronautics, 2017.(in Chinese)
[4] Gullco International. KAT 300 welding and cutting auto-mation carriage[Z/OL].[2022-06-09] . https://catalog.gullco.com/product/weld-automation/welding-cutting-automation-carriage.
[5] 成都熊谷加世电器有限公司.管道全自动焊机[Z/OL].[2022-06-09] . https://www.xionggu.com/h-pd-56.html#_pp=3_13. Chengdu Xionggu Jiashi Co., Ltd.. Full automatic pipeline welding machine[Z/OL].[2022-06-09] . https://www.xionggu.com/h-pd-56.html#_pp=3_13.(in Chinese)
[6] BUG-O Systems. The advanced pipe welding system-integrated with Lincoln power wave or Miller PipeWorx to utilize the latest in advanced digital weld process control[Z/OL].[2022-06-09] . https://bugo.com/mechanized-welding/track-welding/piper-plus/.
[7] ESAB Corporation. Railtrac B42V[Z/OL].[2022-06-09] . https://esab.com/sa/mea_en/productssolutions/product/welding-automation-and-robotics/gas-metal-arc-welding-gmaw/carriersm-anipulators-and-robotics/welding-tractors/railtrac-b42v/.
[8] 焦向东,朱加雷.石油化工行业特种焊接机器人技术现状及发展[N/OL].(2016-08-19)[2022-06-09] . https://www.renrendoc.com/paper/164763799.html. JIAO X D, ZHU J L. Present situation and development of special welding robot technology in petrochemical industry[N/OL].(2016-08-19)[2022-06-09] . https://www.renrendoc.com/paper/164763799.html.(in Chinese)
[9] 北京石油化工学院能源工程先进连接技术研究中心.焊接自动化技术实验室[Z/OL].[2022-06-09] . http://www.bipt.edu.cn/pub/lab/sysygzs/kylhsys/index.htm. Advanced Connection Technology Research Center for Energy Engineering of Beijing Institute of Petrochemical Technology. Automatic Welding Technology Lab[Z/OL].[2022-06-09] . http://www.bipt.edu.cn/pub/lab/sysygzs/kylhsys/index.htm.(in Chinese)
[10] 张轲,吕学勤,吴毅雄,等.自寻迹舰船甲板焊接移动机器人[J].焊接学报, 2005, 26(4):55-59. ZHANG K, LÜ X Q, WU Y X, et al. Mobile robot for welding ship decks with function of auto-searching weld line[J]. Transactions of the China Welding Institution, 2005, 26(4):55-59.(in Chinese)
[11] 中国东方电气集团有限公司.一种用于中厚板焊接的自主移动式双丝焊机器人系统:201210185605.3[P]. 2015-08-26. Dongfang Electric Corporation. Autonomous mobile robot tandem welding system for welding plate:201210185605.3[P]. 2015-08-26.(in Chinese)
[12] 桂仲成.爬壁机器人能源工业应用与发展[J].机器人技术与应用, 2015(1):25-32. GUI Z C. Application and development of wall-climbing robot energy industry[J]. Robot Technique and Application, 2015(1):25-32.(in Chinese)
[13] KERMORGANT O. A magnetic climbing robot to perform autonomous welding in the shipbuilding industry[J]. Robotics and Computer-Integrated Manufacturing, 2018, 53:178-186.
[14] 梁瑛,刘邦涛.无轨导焊接机器人首次工业化应用试验成功[N/OL].(2018-07-11)[2022-06-09] . http://www.cinic.org.cn/zgzz/cx/441418.html. LIANG Y, LIU B T. The first industrial application test of the trackless welding robot was successful[N/OL].(2018-07-11)[2022-06-09] . http://www.cinic.org.cn/zgzz/cx/441418.html.(in Chinese)
[15] 王雪琪,高仙菊,康晓宁,等."无轨导全位置爬行焊接机器人"项目通过评审[Z/OL].(2021-05-19)[2022-06-09] . http://www.sinopectv.cn/index.php?option=wap,newsdetail&id=212716. WANG X Q, GAO X J, KANG X N,et al. The project of "trackless guide all position crawling welding robot" passed the review[Z/OL].(2021-05-19)[2022-06-09] . http://www.sinopectv.cn/index.php?option=wap,newsdetail&id=212716.(in Chinese)
[16] 中国石化新闻网.中国石化五建公司无轨导爬行焊接机器人投入实体化运用[N/OL].(2018-12-05)[2022-06-09] . http://www.oilsns.com/article/365559. Sinopec News. The trackless crawling welding robot of Sinopec Fifth Construction Company was put into practical application[N/OL].(2018-12-05)[2022-06-09] . http://www.oilsns.com/article/365559.(in Chinese)
[17] 张紫赟.潘际銮院士焊接机器人技术落地清华启迪科技城[N/OL].(2017-09-28)[2022-06-09] . http://m.xinhuanet.com/ah/2017-09/28/c_1121740729.htm. ZHANG Z Y. Academician Pan Jiluan's welding robot technology landed in Hefei[N/OL].(2017-09-28)[2022-06-09] . http://m.xinhuanet.com/ah/2017-09/28/c_1121740729.htm.
[18] 中国日报网.博清科技:填补国际焊接自动化领域的空白,新一代焊接机器人的拓疆者[N/OL].(2020-04-20)[2022-06-09] . https://baijiahao.baidu.com/s?id=1664468428145332038&wfr=spider&for=pc. China Daily. Beijing Botsing Technology Co., Ltd.:Filling the gap in the field of international welding automation, the pioneer of a new generation of welding robots[N/OL].(2020-04-20)[2022-06-09] . https://baijiahao.baidu.com/s?id=1664468428145332038&wfr=spider&for=pc.(in Chinese)
[19] 田艳军.一次技术交易撬动多项成果转化[N/OL].(2019-03-22)[2022-06-09] . https://finance.ifeng.com/c/7lFQWS4tqoL. TIAN Y J. One technology transaction leverages the transformation of multiple achievements[N/OL].(2019-03-22)[2022-06-09] . https://finance.ifeng.com/c/7lFQWS4tqoL.(in Chinese)
[20] 冯消冰,潘际銮,高力生,等.爬行焊接机器人在球罐自动焊接中的应用[J].清华大学学报(自然科学版), 2021, 61(10):1132-1143. FENG X B, PAN J L, GAO L S, et al. Wall climbing welding robot for automatic welding of spherical tanks[J]. Journal of Tsinghua University (Science and Technology), 2021, 61(10):1132-1143.(in Chinese)
[21] 韩晓余.从"全人工"到"无轨导":这个焊接机器人有"独门绝技"[N/OL].(2021-06-18)[2022-06-09] . http://www.cnr.cn/shanghai/tt/20210618/t20210618_525515935.shtml. HAN X Y. From "full manual" to "trackless guide" :This welding robot has "unique skills" [N/OL].(2021-06-18)[2022-06-09] . http://www.cnr.cn/shanghai/tt/20210618/t20210618_525515935.shtml.(in Chinese)
[22] 精工钢构集团.智造的力量!无轨导全位置爬行焊接机器人亮相广州白云站项目[Z/OL].(2021-11-01)[2022-06-09] . https://mp.weixin.qq.com/s?_biz=MzA5MDM2ODQwMQ==&chksm=8be6bde8bc9134fe0ea4d954e2497c23e68014b982f50d27b64af03cb9e7c58356bf5ac4b6ac&idx=1&mid=2652810518&sn=30defca6e31bc19018e573eccab3a867. Seiko Steel Structure Official Micro. The power of intelligent manufacturing!Rail-guided all-position crawling welding robot debuts in Guangzhou Baiyun Station Project[Z/OL].(2021-11-01)[2022-06-09] . https://mp.weixin.qq.com/s?__biz=MzA5MDM2ODQwMQ==&chksm=8be6bde8bc9134fe0ea4d954e2497c23e68014b982f50d27b64af03cb9e7c58356bf5ac4b6ac&idx=1&mid=2652810518&sn=30defca6e31bc19018e573eccab3a867.(in Chinese)
[23] 张晓鸣.上海地铁5号线6号线部分区段停运整治,确保节后运行更加安全畅通如虎添翼,智能焊接机器人助力隧道维修[N/OL].(2022-02-04)[2022-06-09] . http://culture.yunnan.cn/system/2022/02/04/031904863.shtml. ZHANG X M. Some sections of Shanghai Metro Line 5 and Line 6 have been closed for renovation to ensure more safe and smooth operation after the festival, and intelligent welding robots help tunnel maintenance[N/OL].(2022-02-04)[2022-06-09] . http://culture.yunnan.cn/system/2022/02/04/031904863.shtml.(in Chinese)
[24] 袁莲.工程建设公司:储罐机器人"焊工""上岗"新疆吉木萨尔页岩油田[N/OL].(2020-05-19)[2022-06-09] . http://news.cnpc.com.cn/system/2020/05/19/001775385.shtml. YUAN L. Engineering construction company:Tank robot "welder" and "post" in Jimsar Shale Oilfield, Xinjiang[N/OL].(2020-05-19)[2022-06-09] . http://news.cnpc.com.cn/system/2020/05/19/001775385.shtml.(in Chinese)
[25] 高聪.以前沿科技助力项目高质量建设茂名地区首例!茂名港博贺新港区东区化工仓储项目使用无轨道爬行机器人焊接技术[Z/OL].(2022-05-13)[2022-06-09] . http://static.nfapp.southcn.com/content/202205/13/c6491999.html. GAO C. Supporting high-quality construction of projects with cutting-edge technologyThe first case in Maoming!The chemical storage project in the East District of Bohe Xingang District, Maoming Port uses trackless crawling robot welding technology[Z/OL].(2022-05-13)[2022-06-09] . http://static.nfapp.southcn.com/content/202205/13/c6491999.html.(in Chinese)
[26] 长风合睿空间.博清科技爬行焊接机器人在大型储罐自动化焊接成功应用[Z/OL].(2020-06-02)[2022-06-09] . https://www.shangyexinzhi.com/article/1933334.html. Changfeng Herui Space. Successful application of Beijing Botsing Technology Co., Ltd. crawling welding robot in automatic welding of large storage tanks[Z/OL].(2020-06-02)[2022-06-09] . https://www.shangyexinzhi.com/article/1933334.html.(in Chinese)
[27] 长风合睿空间.博清科技进入新加坡市场,助力新加坡CFE海工建造工程公司行业智能升级[Z/OL].(2022-01-26)[2022-06-09] . https://www.shangyexinzhi.com/article/4555595.html. Changfeng Herui Space. Beijing Botsing Technology Co. Ltd. entered the Singapore market and helped Singapore CFE Offshore Construction Engineering Company to upgrade its industry intelligence[Z/OL].(2022-01-26)[2022-06-09] . https://www.shangyexinzhi.com/article/4555595.html.(in Chinese)
[28] 焊接之家.博清科技无轨导全位置爬行焊接机器人亮相第25届埃森展[Z/OL].(2021-06-24)[2022-06-09] . https://www.sohu.com/a/473589982_694777. Weldhome. Beijing Botsing Technology's Co., Ltd. trackless guide all-position crawling welding robot appeared at the 25th Essen Exhibition[Z/OL].(2021-06-24)[2022-06-09] . https://www.sohu.com/a/473589982_694777.(in Chinese)
[29] 程龙根,高仙菊.中石化五建公司"牵手"中科院潘际銮院士团队[Z/OL].(2018-01-19)[2022-06-09] . https://www.sohu.com/a/217643874_119778. CHENG L G, GAO X J. Sinopec Fifth Construction Company "hold hands" the Team of Academician Pan Jiluan, Chinese Academy of Sciences[Z/OL].(2018-01-19)[2022-06-09] . https://www.sohu.com/a/217643874_119778.(in Chinese)
[30] 魏星,王司琦,辛亮仪.约4000吨钢结构花瓣拼装完成广州白云火车站"木棉花开"雏形显现[N/OL].(2022-06-06)[2022-06-09] . http://news.cnhubei.com/content/2022-06/06/content_14814832.html. WEI X, WANG S Q, XIN L Y. About 4000 t of steel structure petals were assembled. The prototype of "kapok blooming" in Guangzhou Baiyun Railway Station appeared[N/OL].(2022-06-06)[2022-06-09] . http://news.cnhubei.com/content/2022-06/06/content_14814832.html.(in Chinese)
[31] FENG X B, TIAN W, WEI R, et al. Application of a wall-climbing, welding robot in ship automatic welding[J]. Journal of Coastal Research, 2020, 106(S1):609-613.
[32] FENG X B, GAO L S, TIAN W, et al. Application of wall climbing welding robot in automatic welding of island spherical tank[J]. Journal of Coastal Research, 2020, 107(S1):1-4.
[33] 周勇,刘晓光,蒋晓明,等.面向大型结构件智能焊接的爬壁机器人系统[J].自动化与信息工程, 2019, 40(3):1-5. ZHOU Y, LIU X G, JIANG X M, et al. Wall climbing robot system for large component intelligent welding[J]. Automation&Information Engineering, 2019, 40(3):1-5.(in Chinese)
[34] 周依霖.轮腿复合爬壁焊接机器人研制与动力学特性研究[D].南昌:南昌大学, 2019. ZHOU Y L. Development of wheel-legged wall climbing robot for welding and dynamic characteristic research[D]. Nanchang:Nanchang University, 2019.(in Chinese)
[35] 王悦森.机器人MAG焊单面焊双面成形技术研究[D].镇江:江苏科技大学, 2011. WANG Y S. Study on one-side welding with back formation technique of robot MAG welding[D]. Zhenjiang:Jiangsu University of Science and Technology, 2021.(in Chinese)
[36] 杨东青.高强钢厚板双面双TIG打底焊缝成形影响因素研究[D].哈尔滨:哈尔滨工业大学, 2013. YANG D Q. Research on influencing factors of backing wled formation using double-sided double TIG for the thick plates of high-strength steel[D]. Harbin:Harbin Institute of Technology, 2013.(in Chinese)
[37] 王伟,周传昆,陈浩.错边量对不锈钢中厚板K-TIG焊接头性能的影响[J].热加工工艺, 2021, 50(5):160-162. WANG W, ZHOU C K, CHEN H. Effect of misalignment on properties of thick stainless steel plate K-TIG welding joint[J]. Hot Working Technology, 2021, 50(5):160-162.(in Chinese)
[38] 罗祥,王宗义,褚慧慧,等.基于形状先验活动轮廓的焊接图像熔池分割方法[J].焊接学报, 2017, 38(11):113-118. LUO X, WANG Z Y, CHU H H, et al. Weld pool image segmentation method based on active contour using shape priori[J]. Transactions of the China Welding Institution, 2017, 38(11):113-118.(in Chinese)
[39] 高飞,王克鸿,梁永顺,等.一种多尺度分形的弧焊熔池图像分割方法[J].焊接学报, 2011, 32(11):33-36. GAO F, WANG K H, LIANG Y S, et al. A multi-scale fractal image segmentation method for arc welding pool[J]. Transactions of the China Welding Institution, 2011, 32(11):33-36.(in Chinese)
[40] 姜天胜,薛龙,黄军芬,等.焊接电流作用下熔池形状特征与熔透状态的关系[J].焊接技术, 2017, 46(11):14-18. JIANG T S, XUE L, HUANG J F, et al. Relationship between weld pool shape features and penetration state at different currents[J]. Welding Technology, 2017, 46(11):14-18.(in Chinese)
[41] 黄军芬,薛龙,黄继强,等.基于视觉传感的GMAW熔透状态预测[J].机械工程学报, 2019, 55(17):41-47. HUANG J F, XUE L, HUANG J Q, et al. GMAW penetration state prediction based on visual sensing[J]. Journal of Mechanical Engineering, 2019, 55(17):41-47.(in Chinese)
[42] 燕旭.熔孔型TIG单面焊双面成形视觉检测及控制技术研究[D].济南:山东大学, 2021. YAN X. Study on visual inspection and control technology of fusion hole TIG single side welding with back formation[D]. Ji'nan:Shandong University, 2021.(in Chinese)
[43] 李传宗.预留间隙TIG薄板焊接熔孔视觉检测和熔透状态预测[D].济南:山东大学, 2020. LI C Z. Visual sensing of fusion hole and penetration state prediction in TIG thin plate welding with reserved gaps[D]. Ji'nan:Shandong University, 2020.(in Chinese)
[44] AN F P, GONG Q L, XU G X, et al. Simulation study on weld formation in full penetration laser+MIG hybrid welding of copper alloy[J]. Materials, 2020, 13(23):5307.
[45] WU D S, HUA X M, YE D J, et al. Understanding of the weld pool convection in twin-wire GMAW process[J]. The International Journal of Advanced Manufacturing Technology, 2017, 88(1-4):219-227.
[46] 周彦彬. MAG-TIG双电弧热源中厚板打底单面焊双面成形研究[D].大连:大连理工大学, 2018. ZHOU Y B. Study on one-side welding with back formation of medium or heavy plates by the MAG-TIG twin arc welding[D]. Dalian:Dalian University of Technology, 2018.(in Chinese)
[47] 胡啸,崔川,陈纬,等.厚板大坡口多层多道焊接轨迹规划算法[J].热加工工艺, 2022, 51(15):102-106. HU X, CUI C, CHEN W, et al. Trajectory planning algorithm for thick plate multi-layer multi-pass welding with large groove[J]. Hot Working Technology, 2022, 51(15):102-106.(in Chinese)
[48] 施浩.厚板窄间隙多层多道自动化激光填丝焊接及焊缝跟踪[D].上海:上海交通大学, 2015. SHI H. Automatic multi-pass narrow-gap laser welding with filler wire and seam tracking[D]. Shanghai:Shanghai Jiao Tong University, 2015.(in Chinese)
[49] CASALINO G, MINUTOLO F M C. A model for evaluation of laser welding efficiency and quality using an artificial neural network and fuzzy logic[J]. Proceedings of the Institution of Mechanical Engineers, Part B:Journal of Engineering Manufacture, 2004, 218(6):641-646.
[50] 杨光远.多层多道焊路径自动规划及双机器人协调研究[D].哈尔滨:哈尔滨工业大学, 2008. YANG G Y. Automatic path planning of multipass welding and research on doublerobotic coordination[D]. Harbin:Harbin Institute of Technology, 2008.(in Chinese)
[51] 章锐,汪选国,刘伟,等.基于自定义填充策略的机器人中厚板多层多道焊离线编程与仿真[J].焊接技术, 2019, 48(12):69-73. ZHANG R, WANG X G, LIU W, et al. Off-line programming and simulation of multilayer-multipass welding for robot based on custom filling strategy[J]. Welding Technology, 2019, 48(12):69-73.(in Chinese)
[52] 吴海宏,周忠明.超大直径钢管单面焊双面成形全位置自动焊接技术试验[J].广东水利水电, 2019(2):44-47. WU H H, ZHOU Z M. Test of all position automatic welding technology for super large diameter steel pipe with one-sided welding and double face forming[J]. Guangdong Water Resources and Hydropower, 2019(2):44-47.(in Chinese)
[53] 黄继强,盖守新,薛龙,等.坡口偏差厚板机器人多道焊接方法[J].焊接学报, 2020, 41(6):60-66. HUANG J Q, GAI S X, XUE L, et al. Multi-pass welding strategy for thick plate with mismatched groove by robot[J]. Transactions of the China Welding Institution, 2020, 41(6):60-66.(in Chinese)
[54] 潘海鸿,李睿亮,刘冠良,等.基于激光视觉系统的多层多道焊接路径规划[J].组合机床与自动化加工技术, 2021(11):23-26, 30. PAN H H, LI R L, LIU G L, et al. Multilayer and multichannel welding path planning based on laser vision system[J]. Modular Machine Tool&Automatic Manufacturing Technique, 2021(11):23-26, 30.(in Chinese)
[55] CARY H B. Summary of computer programs for welding engineering[J]. Welding Journal, 1991, 70(1):40-45.
[56] 彭金宁,陈丙森.通用型弧焊工艺专家系统[J].焊接, 1995(11):2-5. PENG J N, CHEN B S. An expert system of arc welding procedure for general use[J]. Welding&Joining, 1995(11):2-5.(in Chinese)
[57] 武传松,徐健,吴林.制定铝合金焊接工艺方案的专家系统[J].焊接学报, 1991, 12(2):116-120. WU C S, XU J, WU L. Expert system for aluminum-alloy welding procedure specification[J]. Transactions of the China Welding Institution, 1991, 12(2):116-120.(in Chinese)
[58] 魏艳红,张玉莲.焊接工艺智能设计研究进展[J].电焊机, 2020, 50(9):213-220. WEI Y H, ZHANG Y L. Research progress on intelligent design of welding process[J]. Electric Welding Machine, 2020, 50(9):213-220.(in Chinese)
[59] 李永哲. GMA增材制造多层多道熔敷成形特性及尺寸控制[D].哈尔滨:哈尔滨工业大学, 2019. LI Y Z. Forming characteristics and dimensional control of multi-layer multi-bead deposition using gas metal arc additive manufacturing[D]. Harbin:Harbin Institute of Technology, 2019.(in Chinese)
[60] 朱传辉,朱志明,柯挚捷,等.基于组合激光结构光的视觉传感器内参一体化标定方法[J].清华大学学报(自然科学版)2022, 62(9):1516-1523. ZHU C H, ZHU Z M, KE Z J, et al. Integrated calibration of internal visual sensor parameters based on combined laser structured lights[J]. Journal of Tsinghua University (Science and Technology), 2022, 62(9):1516-1523.(in Chinese)
[61] 蔡志勇,陈荣,余伏章,等.小波变换的多层多道焊接拐角跟踪点的识别研究[J].中国图象图形学报, 2008, 13(12):2344-2350. CAI Z Y, CHEN R, YU F Z, et al. Study on multipass welding seam recognition based on wavelet transform[J]. Journal of Image and Graphics, 2008, 13(12):2344-2350.(in Chinese)
[62] 陈祺,闫海宁,陆安进,等.基于线结构光的铝合金对接焊缝特征提取方法研究[J].焊接技术, 2022, 51(4):13-18. CHEN Q, YAN H N, LU A J, et al. Research on feature extraction method of butt weld of aluminum alloy based on line structured light[J]. Welding Technology, 2022, 51(4):13-18.(in Chinese)
[63] 邹怡蓉,都东,曾锦乐,等.基于多视觉特征获取与信息融合的焊道识别方法[J].焊接学报, 2013, 34(5):33-36. ZOU Y R, DU D, ZENG J L, et al. Visual method for weld seam recognition based on multi-feature extraction and information fusion[J]. Transactions of the China Welding Institution, 2013, 34(5):33-36.(in Chinese)
[64] 张华军,张广军,蔡春波,等.机器人多层多道焊缝激光视觉焊道的识别[J].焊接学报, 2009, 30(4):105-108. ZHANG H J, ZHANG G J, CAI C B, et al. Laser-based visual recognition of multi-pass seam in robot arc welding[J]. Transactions of the China Welding Institution, 2009, 30(4):105-108.(in Chinese)
[65] 曹学鹏,脱帅华,张弓,等.焊接机器人焊缝跟踪方法及路径规划研究[J].工程科学与技术, 2022, 54(2):196-204. CAO X P, TUO S H, ZHANG G, et al. Research on welding seam tracking method and path planning of welding robot[J]. Advanced Engineering Sciences, 2022, 54(2):196-204.(in Chinese)
[66] 蒋宝,徐冬至,黄瑞生,等.基于视觉传感的焊接机器人焊缝识别跟踪技术研究现状[J].金属加工(热加工), 2022(1):10-17, 21. JIANG B, XU D Z, HUANG R S, et al. Research status of welding robot weld recognition and tracking technology based on visual sensing[J]. MW Metal Forming, 2022(1):10-17, 21.(in Chinese)
[67] 周律,蔡锦达,钱炜,等.弧焊机器人焊枪姿态的简便示教[J].机械工程学报, 2010, 46(8):73-77. ZHOU L, CAI J D, QIAN W, et al. Simple and convenient teaching of welding torch orientations for arc welding robot[J]. Journal of Mechanical Engineering, 2010, 46(8):73-77.(in Chinese)
[68] 袁海龙.中厚板焊接机器人焊接工艺专家系统设计[D].厦门:厦门理工学院, 2015. YUAN H L. The design of robot welding procedure expert system for thick plate[D]. Xiamen:Xiamen University of Technology, 2015.(in Chinese)
[69] 张天一,朱志明,朱传辉.基于视觉与重力融合传感的焊枪位姿反馈控制[J].焊接学报, 2021, 42(11):1-7. ZHANG T Y, ZHU Z M, ZHU C H. Position and pose feedback control of welding torch based on the fusion of vision and gravity sensing[J]. Transactions of the China Welding Institution, 2021, 42(11):1-7.(in Chinese)
[70] 温永策,卢庆亮,曹永华,等.厚板V形坡口焊接路径规划[J].矿山机械, 2020, 48(3):61-65. WEN Y C, LU Q L, CAO Y H, et al. Planning of thick plate V-shaped groove welding path[J]. Mining&Processing Equipment, 2020, 48(3):61-65.(in Chinese)
[71] 何涛.球罐多层多道自动焊接工艺参数及路径规划试验研究[D].重庆:重庆科技学院, 2019. HE T. Experimental research on process parameters and path planning of multi-layer and multi-channel automatic welding for spherical tank[D]. Chongqing:Chongqing University of Science and Technology, 2019.(in Chinese)
[72] KANTI K M, RAO P S. Prediction of bead geometry in pulsed GMA welding using back propagation neural network[J]. Journal of Materials Processing Technology, 2008, 200(1-3):300-305.