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    of 8
    36 2% 2H Wott Be KE GR Vol. 364No, 2 Dis 4A Jounal of Hebi sie f Sec nd Teche pn 2015 ‘MZ : 1008-1542(2015)02-0126-08 ‘doi: 10, 7535/hbkd, 2015yx02003 SILAS EE LIL EE BR BR TT TK EER OF WOR A ER aT CARLA PAL LAPD AL 10002952, Ae B she EOE MM A Re HRLAHL PSR 102617) HH EWAM AT ME 2013 FER SHARLEA GML ARAM ARP (GMAW) #6 fit AIR ARAL AA Sb oh 5 OL AEA ROS AR A BI TMC HRP AIAG BOR iS AG TEA EAR RM Be fe A POMEL, FAD CMG BE A EAI AER ER RR PIR, APLAR NRT ROOTES BOER BA RAL EO RHEE SS AR GRA SHERBET ATAMARE ALR RR, RAMEE Foe BH RANA RMI ARIS AAR ANG EO AR RAE T RAP EAR AR, RGAE Rp RUE LEA RAR MARR RAM SAE BS BO ACT AR TARR AR AR 2A nS IE MY ARR RRS S45 RS GMAW AEA ER IEA PRS: TP29 MARE BA Research status of seam tracking methods for orbital pipe welding robots HU Sheng!, LUO Yu", JIAO Xiangdong’, ZHOU Canfeng’, HAN Suxin’ 2, College of Mechanical and Electrical Engineering Beijing University of Chemical Technology Beiing 100029, Chinas 2, Institution Engincering Research Center of Energy Engineering Advanced Joining Technology. Beijing Institute of Petro chemical Technology. Beijing 102617, China) Abstract :This paper first outlines the worldwide oil and gas pipeline laying situation by 2013 and industrial applications. the working characteristics and advantages of orbital pipe welding robots using the gas metal arc metal(GMAW), Then the classifi cations of commonly used welding seam tracking sensors are comprehensively introduced, The sensor working principles, details, The studies show that are advantages and disadvantages and the application situation in pipeline welding are analysed ‘sensors and visual sensors have many advantages such as good real-time characteristcy informativeness and high tracking preci- sion, and are most widely used in pipeline welding. Using single sensor in diferent process can limit the tracking precision easi ys but a system with multiple sensors will grestly improve the tracking precision in oil and gas pipeline welding, A system using visual sensor and are sensor hes been used in the gas field pipeline welding in Japan and a good elfect has been achieved, {HCH 2018-09-18, E69 ML, 2016-20-25, BEER HEA FLASH (51805057) RERTSE

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