摘要
为了实现大型钢结构件的自动化焊接,尤其解决球罐三维曲面的自动化全位置焊接难题,需要设计一种可在球形表面上稳定行走的机构及适用于多种复杂工况的焊接跟踪控制系统。爬壁机器人将履带与轮式结合,解决了爬壁机构运行的灵活性与负载能力之间的矛盾,通过视觉跟踪系统自动识别焊缝位置,智能判断焊缝路径轨迹,实现机器人沿焊缝的自主运动和焊缝跟踪。无轨道、无导向的爬行机本体适应球罐的大曲率变化,可以实现在球罐表面的自由行走,满足球罐焊接高效化和智能化的自动焊接需求。
Automatic welding of large steel structures, especially three-dimensional spherical surfaces, requires a mechanism that can walk on the spherical surface and a stable welding tracking control system. This paper describes a wall-climbing robot that combines a crawler with a wheel to balance the required flexibility of the wall-climbing mechanism and the load capacity. The robot can automatically identify the weld position through a visual tracking system and intelligently determine the weld path to enable autonomous movement and tracking of the weld. The flexible, trackless crawler body adapts to large curvature changes in the spherical tank and can walk freely on the tank surface to provide efficient automatic welding of spherical tanks.
作者
冯消冰
潘际銮
高力生
田伟
魏然
潘百蛙
陈永
陈苏云
FENG Xiaobing;PAN Jiluan;GAO Lisheng;TIAN Wei;WEI Ran;PAN Baiwa;CHEN Yong;CHEN Suyun(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Beijing Bo Tsing Technology Co.,Ltd,,Beijing 100176,China)
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第10期1132-1143,共12页
Journal of Tsinghua University(Science and Technology)
关键词
爬壁焊接机器人
大型结构件
球罐
自动焊接
视觉跟踪系统
wall-climbing welding robot
large structural parts
spherical tank
automatic welding
visual tracking system
