管道插接焊缝位置及焊枪位姿建模  

Modeling on weld position and welding torch pose in welding of intersected pipes

作　　者：任福深[1,2] 陈树君[1] 殷树言[1] 管新勇[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100022 [2]大庆石油学院机械科学与工程学院,黑龙江大庆163318

出　　处：《焊接学报》2008年第11期33-36,共4页Transactions of The China Welding Institution

基　　金：北京市教育委员会科技计划重点项目

摘　　要：管道插接相贯线焊缝是典型的、复杂的空间焊缝。针对弧焊机器人工作的特殊要求,在不失一般性的基础上,建立了焊缝位置及焊枪位姿的数学模型,以坐标系的形式定量描述了焊缝及焊枪的位置和方向,确定了能够准确描述焊枪姿态的参数:工作角、行走角和自转角,并给出了计算方法。通过对相贯线焊缝特征的分析,发现相贯线上任意点的切线始终与过该点的两个圆柱切平面的交线重合,在此基础上提出了一种简单的建立焊缝特征矩阵的计算方法。该模型对管道插接具有通用性,对焊接工艺的建模与仿真以及机器人焊接的建模与离线编程具有重要意义。The welding seam of intersected pipes is a typical and complicated space welding seam. The models of weld position and welding torch pose were founded for arc welding robot, and their position and pose were described precisely and quantificationally by coordinates. Then, the welding torch orientations were described by work angle, traveling angle and rotation angle, and the calculation methods were presented. A new simple method of calculation is put forward to establish the coordinate system of welding seam according to the characteristic analysis that any tangent through the point on intersection line coincides with the intersection line of two cylinder sections at this point. The model is general to the intersected pipes and it has significance for modeling on weld position and welding torch pose, simulating and off line programming for robot welding.

关 键 词：弧焊机器人 相贯线焊缝 焊缝位置模型 焊枪位姿模型 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]