摘要
管道插接相贯线焊缝是典型的、复杂的空间焊缝.针对管道插接焊缝的特殊焊接工艺要求,采用串并联混合方式设计了一种新型的5自由度焊接机器人,实现了机器人锚固、运动机构、焊枪姿态调节机构和送丝机构的一体化设计.设计了2自由度的自动定心手腕机构,实现了焊枪位置和焊枪姿态的独立控制,建立了专用焊接机器人的运动学模型.针对通用型的相贯线模型,建立了焊枪位置、焊枪姿态和焊接速度的实时控制数学模型.结果表明,该焊接机器人锚固牢固、定位准确,焊接过程可控性好,控制模型能够满足空间相贯线焊缝的焊接工艺要求.
The welding seam of intersecting pipes is typical and complicated space welding seam.A new welding robot with 5-degree of freedoms robot is designed with the mixed method of series and parallel for special welding technological requirements of welding seam of intersecting pipes,which realized the one integrated design of organization for robot anchor,motion mechanism,welding gun adjusting mechanism and wire feeder.An automatic centering robot trick with 2-degree of freedom is designed,which realized control to gun position and pose separately.The kinematics model of the welding robot is build,and the real-time control mathematical model of welding gun position,welding gun pose and welding speed is build too for the general welding seam of intersection.The welding result indicates that the anchor is secure and accurate,the controllability during the welding is good,and the control method can satisfy the technological requirement of welding seam of intersection.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2009年第6期59-62,共4页
Transactions of The China Welding Institution
基金
北京市教育委员会科技计划重点项目(KZ200910005003)
关键词
焊接机器人
相贯线焊缝
锚固
自定心手腕
arc welding robot
intersection welding seam
anchor
automatic centering trick
