柔性轨道全位置焊接机器人研究  

Research on flexible rail type all-position welding robot

作　　者：梁亚军[1] 薛龙[1] 邹勇[1] 张卫义[1] 黄继强[1] 蒋力培[1] 杨海亮[2] 

机构地区：[1]北京石油化工学院光机电装备技术北京市重点实验室,北京102617 [2]北京化工大学,北京100029

出　　处：《电焊机》2008年第6期23-26,共4页Electric Welding Machine

基　　金：光机电装备技术北京市重点实验室开放课题资助(KF2007-03;KF2006-02)

摘　　要：针对钢结构现场焊接的工程实践,开发出系列柔性轨道全位置焊接机器人,可选用直导轨、圆导轨、柔性轨道,实现各种复杂曲面的全位置焊接;设计出在线焊缝轨迹示教、在线全位置焊接参数控制、离线焊接参数设置等智能控制程序,并开发出自主学习开放式专家系统,可适应不规则焊缝的轨迹跟踪,实现多层多道焊及全位置焊的自动化焊接。实践表明,该焊接机器人能够较好完成复杂工件的多种焊缝的现场焊接工艺要求。According to engineering practice of the steel structure for site welding,a series of flexible rail type all-position welding robot was developed.Straight rails,round rails,flexible track can be chosen to achieve the all-position welding of the complex surface. Intelligent control procedures for online teaching of seam track,online control of an=position welding parameters and off-line set of welding parameters were designed.Open expert system was also developed that has independent learning.It can adapt to the irreguiar seam tracking and realize muhi-layer and multi-channel welding and automatic welding for all-position.The practice proves that welding robot can be able to complete site welding technology for various seam of complex workpiece.

关 键 词：柔性轨道 焊接机器人 全位置焊接 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG409[自动化与计算机技术—控制科学与工程]