无轨导全位置爬行式弧焊机器人系统  

TRACKLESS CRAWL TYPE ALL-POSITION ARC WELDING ROBOT SYSTEM

作　　者：张华[1] 潘际銮[1] 徐健宁[1] 刘国平[1] 刘伟力[1] 刘正文[1] 阎炳义[2] 高力生[2] 

机构地区：[1]南昌大学机电工程学院,南昌330029 [2]清华大学机械工程学院,北京100084

出　　处：《机械工程学报》2006年第7期85-91,97,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50075037);国家863计划(2001AA422220)资助项目。

摘　　要：介绍了一种采用新型轮履复合式爬行机构的全位置爬行式弧焊机器人系统,详细地阐述了系统的组成和工作原理。该系统由爬行机构、焊接系统、视觉跟踪系统以及控制系统组成,是一种既无需轨道也无需导向的自动焊接系统。爬行机构具有负重能力强、运动灵活等特点,满足机器人在大型工件上全位置爬行焊接要求。通过大量试验对爬行机构进行了运动分析,建立了机器人运动模型。针对系统的复杂性设计了开关控制器,实现了爬行机构及十字滑块的协调控制,达到焊缝精确跟踪的目的。进行了焊接条件下的跟踪性能试验、全位置多层多道焊接试验,取得了满意的效果,实现了大型工件焊接过程自动化。One new kind of robot system which adopts a new wheeled-pedrailed mobile machine is introduced and the constitution of the system and operating principle are developed thoroughly. The robot system is composed of mobile machine, welding system, visual sensor system and control system, which is a kind of automatic welding system neither use track nor navigation. The mobile machine has strongly load capacity and move agility, which is satisfactory to the request of the all position on the large workpiece. Through abundance experimentation, the moving ability of mobile machine is analysis and it＇s kinematics model is built up. A kind of switch controller is designed aim at the complexity of the robot system. Then the cooperative control between mobile machine and crosshead is obtained to achieve seam tracking accurately. The trackability experiment and the all position multilayer and multipass welding experiment are proceeded, the satisfactory result is obtained. The automation welding process of the large workpiece is realized.

关 键 词：爬行式机器人 焊缝跟踪技术 大型工件焊接 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]