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小型移动焊接机器人结构设计

叶艳辉, 张华, 王帅

叶艳辉, 张华, 王帅. 小型移动焊接机器人结构设计[J]. 焊接学报, 2016, 37(7): 101-104.
引用本文: 叶艳辉, 张华, 王帅. 小型移动焊接机器人结构设计[J]. 焊接学报, 2016, 37(7): 101-104.
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YE Yanhui, ZHANG Hua, WANG Shuai. Structure design of small mobile welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2016, 37(7): 101-104.
Citation: YE Yanhui, ZHANG Hua, WANG Shuai. Structure design of small mobile welding robot[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2016, 37(7): 101-104.
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小型移动焊接机器人结构设计

  • 1.

    南昌大学 江西省机器人与焊接自动化重点实验室, 南昌 330031

  • 2.

    南昌大学 江西省机器人与焊接自动化重点实验室, 南昌 330031;江西昌大创新科技发展有限公司, 南昌 330029

基金项目: 国家863高技术研究发展计划资助项目（2013AA041003）；江西省科技支撑计划项目（20133BBE50030）

Structure design of small mobile welding robot

  • 1.

    Key Lab of Robot & Welding Automation of Jiangxi Province, Nanchang University, Nanchang 330031, China

  • 2.

    Key Lab of Robot & Welding Automation of Jiangxi Province, Nanchang University, Nanchang 330031, China;Jiangxi Changda Innovation and Technology Development Co., Ltd., Nanchang 330029, China

摘要

    摘要
  • 摘要: 针对狭窄空间自动焊接问题，设计了一种小型移动焊接机器人机构.根据机器人结构的运动特点，运用模块化设计方法，把机器人机构分为轮式移动平台、焊炬调节机构和电弧传感器三部分.其中，轮式移动平台采用三轮式差速驱动结构形式，底部安装一可调磁吸附力装置，且控制器集成于移动平台上；焊炬调节机构由十字滑块和焊炬连接装置组成，十字滑块由两电机分别驱动，实现焊缝水平和高低方向精确跟踪；电弧传感器采用圆锥摆形式，且与焊枪设计成一体，使用方便.同时，建立机器人运动学方程，并对直角焊缝不同的转弯中心进行分析，确定水平滑块的行程参数，为机器人的焊缝跟踪控制提供参考.结果表明，该机器人机构满足弯曲焊缝跟踪要求，焊接质量良好.
    Abstract: A small mobile welding robot was designed to solve the problem during automatic welding in narrow space. According to motion characteristics of robot structure, the welding robot was divided into three parts by using the modular design method. And the differential drive method was used in three wheeled mobile platform which had an adjustable magnetic force device at the bottom, and the controller was integrated in the platform. The welding gun regulating mechanism was composed of a cross slider and a welding gun connecting device, and the cross slider was driven by two motors respectively which could track welding seam in level and height directions. A conical pendulum form was adopted in the arc sensor, and it was integrated with the welding gun for easy to use. At the same time, the kinematics equation was built, and the different turning centers for a right-angle fillet welding were also analyzed to determine the parameters of horizontal slider distance. This will provide references for the control of welding robot. The experimental results show that the design requirements for tracking curved seam were satisfied and good welding quality was acquired.
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    • 参考文献(5)
  • [1] Marcelo H,Ang Jr,Lin Wei,et al.A walk-through programmed robot for welding in shipyards[J].Industrial Robot:An International Journal,1999,26(5):377-388.
    [2] Lee Donghun,Ku Namkug,Kim Tae-Wan,et al.Development and application of an intelligent welding robot system for shipbuilding[J].Robotics and Computer-Integrated Manufacturing,2011,27(2):377-388.
    [3] 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 Ke,Lu Xueqing,Wu Yixiong,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.
    [4] 毛志伟,张华,郑国云.旋转电弧传感弯曲焊缝移动焊接机器人结构设计[J].焊接学报,2005,26(11):51-54.Mao Zhiwei,Zhang Hua,Zheng Gouyun.Structure design of mobile welding robot based on rotating arc sensor for bending weld[J].Transactions of the China Welding Institution,2005,26(11):51-54.
    [5] 潘际銮.现代弧焊控制[M].北京:机械工业出版社,2000.
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  • 期刊类型引用(2)

    1. 张凉. 移动焊接机器人弯曲焊缝跟踪控制研究. 现代制造技术与装备. 2021(09): 192-193 . 百度学术
    2. 毛志伟，陈记超，周少玲. 差动轮系移动焊接机器人机构运动学分析与仿真. 热加工工艺. 2020(21): 111-116 . 百度学术

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出版历程
  • 收稿日期:  2014-09-03

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