全位置相贯线自动焊接新型焊枪设计
Design of new welding torch for automatic welding of all position intersecting line
-
摘要: 在焊接复杂的空间曲线或进行全位置焊接操作时，传统焊接机器人关节耦合、系统干涉现象较为普遍，焊接局限性明显. 为了克服焊枪位姿改变时的干涉现象，基于各位置焊缝角度和深度均动态变化的特征，设计出一款能调节自身工作角的新型焊枪，使焊枪自身能够具有一定的实时调节能力，在自动焊接过程中通过调节焊枪工作角配合机器人完成全位置焊接，增强机器人的实用性和可行性，满足较为复杂相贯曲线的焊接要求，使用OpenGL对焊枪运动学模型和焊接过程进行了仿真，仿真结果证明了所设计的自动焊接焊枪的有效性.Abstract: The joint coupling and system interference of the traditional welding robot are common in complex intersecting line welding and all position welding, resulting in obvious welding limitation. To overcome the system interference generated by the position adjustment of welding torch, a new type of welding torch which can adjust the working angle is designed on the basis of the dynamic variation of the welding angle and depth at different positions. The torch presents a certain real-time adjustment capability. In the process of automatic welding, the all position welding can be completed by adjusting the working angle of the welding torch with the robot, to enhance the practicability and feasibility of the robot and meet the welding request with complex intersection curve. The kinematics model and welding process of welding torch were simulated by OpenGL. The simulation results prove the validity of the designed automatic welding torch.
-
Keywords:
- all position /
- automatic welding /
- intersecting line /
- robot
-
-
[1] 刘廷顺. 相贯线全位置焊接机器人构型及结构的最优化[D]. 北京: 北京工业大学, 2011.[2] 石 磊, 田新诚. 主管旋转式相贯曲线自动焊接模型与仿真[J]. 焊接学报, 2015, 36(6): 5-8.Shi Lei, Tian Xincheng. Model and simulation of automatic intersecting curve welding with main pipe rotating welding scheme[J]. Transactions of the China Welding Institution, 2015, 36(6): 5-8.[3] 任福深, 陈树君, 管新勇, 等. 管道插接相贯线专用焊接机器人[J]. 焊接学报, 2009, 30(6): 59-62.Ren Fushen, Chen Shujun, Guan Xinyong,et al. Special-purpose welding robot for intersection welding seam[J].Transactions of the China Welding Institution, 2009, 30(6): 59-62.[4] 任福深, 陈树君, 殷树言, 等. 管道插接焊缝位置及焊枪位姿建模[J]. 焊接学报, 2008, 29(11): 33-36.Ren Fushen, Chen Shujun, Yin Shuyan,et al. Modeling on weld position and welding torch pose in welding of intersected pipes[J]. Transactions of the China Welding Institution, 2008, 29(11): 33-36.[5] 樊绍巍, 宗 华, 邱景辉, 等. 机器人灵巧手柔性关节自适应阻抗控制[J]. 电机与控制学报, 2012, 16(12): 78-86.Fan Shaowei, Zong Hua, Qiu Jinghui,et al. Adaptive impedance control for dexterous robot hand with elastic joint[J]. Electric Machines and Control, 2012, 16(12): 78-86.[6] Chen Yu, Xia Fayin. Study on kinematics and dynamics simulation of three-fingered dexterous hand[J]. Journal of Chongqing University of Arts and Sciences, 2016, 35(2): 79-83.[7] 刘慧杰, 靳海亮. 基于VC++的OpenGL三维图形开发设计[J]. 计算机与数字工程, 2009, 37(7): 122-124.Liu Huijie, Jin Hailiang. Development anddesign of three-dimensional graphics based on VC++ and OpenGL[J]. Computer & Digital Engineering, 2009, 37(7): 122-124.[8] Wang Zhengqiang. The programming of OpenGL in the VC++6.0 development environment[J]. Shanxi Electronic Technology, 2011, 66(1): 89-90. -
期刊类型引用(3)
1. 田晓羽，张志伟，周晨，赵连清，田洋光，付伟，宋晓国. 钎焊温度对BNi-2非晶钎料钎焊1Cr18Ni9Ti不锈钢组织和性能的影响. 焊接学报. 2024(06): 61-67 . 
本站查看
2. 李姗珊，李晓延，张伟栋，杨刚力，张虎. 不同取向Cu/Cu_3Sn界面处原子扩散行为的分子动力学模拟. 电子元件与材料. 2023(04): 467-475 . 百度学术
3. 任二花，李晓延，张虎，韩旭. 空位对Cu/Sn焊点中Cu_3Sn层元素扩散的影响. 电子元件与材料. 2022(04): 381-386 . 百度学术
其他类型引用(2)
计量
- 文章访问数: 595
- HTML全文浏览量: 2
- PDF下载量: 8
- 被引次数: 5
下载:
