狭小空间直角角焊缝移动焊接机器人系统研制  

Mobile Welding Robot System Applied for a Right-angle Fillet Welding in Narrow Space

作　　者：毛志伟[1,2] 潘际銮[1] 张华[2] 

机构地区：[1]清华大学,北京100084 [2]南昌大学,南昌330031

出　　处：《中国机械工程》2010年第17期2040-2043,2049,共5页China Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2007AA04Z242);江西省科技厅科技计划资助项目(S00043)

摘　　要：针对大型结构件中狭小空间角焊缝焊接,提出了一种基于旋转电弧传感的新型移动焊接机器人系统。系统包括轮式移动本体、二维运动平台、旋转电弧传感器和超声传感器;系统采用二级跟踪策略——机器人本体粗跟踪和二维运动平台精确跟踪,采用旋转电弧传感器作为焊缝跟踪传感器,采用超声传感器作为避障传感器;建立了运动学模型,设计了参数自调整模糊控制器。实验表明该机器人系统能实现小空间中大折角角焊缝的自动焊接。Aimed at welding requirements for fillet welding in narrow space of large scale structures,this paper put forward one new kind mobile welding robot system based on rotating arc sensor,which included wheeled mobile body,two-dimensional motion platform,rotating arc sensor and ultrasonic sensor.The system used two stage track strategies,one was the robot body rough tracking,the other was the two-dimensional motion platform accurate tracking.Rotating arc sensor was used as the seam tracking sensor,ultrasonic sensor was used as obstacle avoidance sensors.The kinematic model was established and the parameter self-tuning fuzzy controller was designed.Experimental results show that the robot system can achieve automatic welding for big fillet welding in narrow spaces.

关 键 词：移动焊接机器人 角焊缝 旋转电弧传感 焊缝跟踪 

分 类 号：TG404[金属学及工艺—焊接]