爬行式智能焊接机器人与应用试验研究  

Research on a wall-climbing welding robot for the experimental application

作　　者：邓勇军[1] 桂仲成[1] 盛仲曦[1] 李永龙[1] 肖唐杰[1] 张帆[1] 邓超[1] 董娜[1] 吴建东[1] 

机构地区：[1]中国东方电气集团中央研究院智能装备与控制技术研究所,四川成都611731

出　　处：《电焊机》2013年第12期14-19,共6页Electric Welding Machine

摘　　要：介绍了一种适用于大型钢结构件自动化焊接的爬行式焊接机器人系统,机器人本体由移动平台和三自由度操作机构组成,控制硬件和软件系统都采用分层设计。基于激光传感器和码盘数据融合设计焊缝跟踪算法。在工厂现场环境下,对机器人系统开展了工艺评定试验,通过焊接模拟件研究了焊接工艺,并针对实际产品开展了立焊应用试验。试验结果表明,该机器人系统能够稳定地工作,焊接质量和成型效果达到实际产品焊接标准。A wall-climbing welding robot system for large-scale steel-structure manufacture is introduced in this paper,the software and hardware system is described in details,the robot's main body is composed of a mobile platform and a three DOFs manipulators, the control hardware and software system both use hierarchical designed. A new seam track algorithm is designed based on laser sensor and encoder data.In welding factories,procedure qualification experiment is carried out,welding processes are researched through the welding of simulated sample,and vertical welding for actual product is carried out.The experimental results demonstrate that the robot system can steadily work and the welding quality and molding effect can reach the standard of the products welding.

关 键 词：焊接机器人 爬行式 焊缝跟踪 自动焊 焊接工艺 

分 类 号：TG409[金属学及工艺—焊接]