管内锚固式相贯线专用焊接机器人  

Study on special welding robot of anchor inside pipeline for welding seam of intersection

作　　者：任福深[1,2] 陈树君[1] 管新勇[1] 殷树言[1] 白立来[1] 

机构地区：[1]北京工业大学,北京100022 [2]大庆石油学院,黑龙江大庆163318

出　　处：《电焊机》2009年第4期100-103,共4页Electric Welding Machine

基　　金：北京市自然科学基金资助项目(KZ200910005003)

摘　　要：管道插接相贯线焊缝是典型的、复杂的空间焊缝。针对管道插接焊缝的特殊焊接工艺要求,采用串并联混合方式设计了一种新型的5自由度焊接机器人。机器人以管道内壁为锚固对象,实现了机器人锚固、运动机构、焊枪姿态调节机构和送丝机构的一体化设计。机器人利用3个关节对焊枪位置进行控制,利用2自由度的自动定心手腕机构对焊枪进行姿态控制,实现了焊枪位置和焊枪姿态的独立控制。针对该专用焊接机器人,建立了焊接机器人的运动学模型,给出了机器人运动学模型解法。实际焊接试验表明,该焊接机器人锚固牢固、定位准确,焊接过程可控性好,控制模型能够满足空间相贯线焊缝的焊接工艺要求。The welding seam of intersecting pipes is typical and complicated space welding seam.A new kind of 5 degree of freedoms welding robot is designed with mixed method of series and parallel for special welding technological requirements of welding seam of intersecting pipes.The robot anchor inside the pipeline and realize one integrated design of organization for robot anchor and motion mechanism and welding torch adjusting mechanism and wire feeder.The robot control the position of toreh with three tricks of robot and control the pose with trick with 2 degree of freedom,and realize control to torch position and pose separately.The kinematies model of welding robot is build for the robot,and gave out the method of calculation.Tbe welding result indicates that the anchor is secure surely and accurately and the controllability during the welding is good,the control method can satisfy the technological requirement of welding seam of intersection.

关 键 词：焊接机器人 相贯线焊缝 锚固 自定心手腕 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG457.6[自动化与计算机技术—控制科学与工程]