箱型钢结构焊接机器人系统机构设计与研究  

Design and study of steel structure welding robot system

作　　者：朱志明[1] 马国锐[1] 刘晗[1] 王尧[1] 倪真[2] 周桂云 

机构地区：[1]清华大学机械工程系,北京市100084 [2]北京工业大学建筑工程学院,100022 [3]中铁建设集团有限公司北京分公司,北京市100093

出　　处：《焊接》2014年第3期2-7,69,共6页Welding & Joining

摘　　要：箱型钢结构在建筑、桥梁等领域的应用愈来愈广泛,针对安装现场迫切需要解决的自动化焊接问题,提出了一种箱型钢结构焊接机器人系统。在对其总体结构进行了功能分析和论证的基础上,进行了机械结构详细设计。在焊接机器人系统水平安装和垂直安装两种极限使用位置下,对所设计的轨道机械结构进行了力学有限元分析,结果表明:该机构设计合理,力学性能完全满足使用要求。该机器人系统具有使用灵活、可适用于不同尺寸的钢结构焊接、有助于获得良好的焊接质量和较高的焊接效率、适应条件恶劣的现场焊接工况等优点。Box- type steel structure becomes more and more widely applied in the field of buildings,bridges,etc.A welding robot system for box- type steel structure was proposed in dealing with the urgent problems existed in automatic welding.The mechanical structure was designed in detail based on the overall structure function analysis and argumentation.Finite element mechanics analysis was applied on the mechanical structure of the designed track in consideration of the horizontally and vertically limiting install position of welding robot system.The results show that the mechanism design is reasonable that the mechanical performance fully meets the requirement.The welding robot system has the advantages of flexibility,applied to welding of the steel structure with different size,helps to obtain the good welding quality and high welding efficiency,adapts to the harsh conditions for field welding condition,etc.

关 键 词：箱型钢结构 焊接机器人 轨道及其安装机构 行走机构 焊接执行机构 

分 类 号：TG409[金属学及工艺—焊接]