遥控焊接机器人工具转换接口的对接试验  

Joining test of telerobotic welding rapid tool changing interface

作　　者：董娜[1] 李海超[1] 陈有权[2] 高洪明[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001 [2]中国人民解放军装甲兵技术学院机械工程系,长春130117

出　　处：《焊接学报》2010年第8期33-36,共4页Transactions of The China Welding Institution

基　　金：新世纪优秀人才支持计划基金资助项目(NCET-07-0233);国家自然科学基金资助项目(50905043)

摘　　要：针对极限环境下的设备维修任务,遥控焊接机器人不仅需要完成焊接操作,还需要完成焊前准备和焊后处理.通过工具转换接口可以使遥控焊接机器人连接各种作业工具,提高了其通用性,但是增加了操作复杂性.因此,验证遥控焊接机器人工具转换接口对接操作的可行性是保障其实际应用的重点.利用视频反馈、力觉反馈、操纵杆和人机交互界面等组成遥操作试验环境.根据反馈信息,通过手动遥操作,利用遥示教的方式完成了遥控焊接机器人工具转换接口的对接试验,分别记录遥操作时间和对接过程中力和力矩的变化.结果表明,工具转换接口可以完成遥控焊接机器人的对接任务.According to the equipment maintenance in dangerous environment, the remote welding robot has to prepare much more than the welding task for the welding and process after welding. Rapid tool changing interface meets the requirement of kinds of tools changing in the remote maintenance, which improves the generability of the remote welding robot but enhances the complexity of teleoperation. So the practical application key of rapid tool changing interface is feasibility verification of interface joining operation. The testing environment is composed of the video feedback, force feedback, teleoperation joy stick and human-robot interface etc. According to the feedback information, the tool joining was tele-handled by the control mode of tele-teaching. The teleoperation time and the changing of the force and force moment was recorded. Results show that the rapid tool changing interface is competent in the tool joining task.

关 键 词：遥控焊接机器人 工具转换接口 遥示教 力觉反馈 

分 类 号：TG409[金属学及工艺—焊接]