J形坡口焊接机器人运动控制系统设计  

Design of J-Groove Welding Robot Motion Control System

作　　者：胡绳荪[1,2] 王明建[1,2] 申俊琦[1,2] 陈昌亮[3] 谷文 李坚 

机构地区：[1]天津大学天津市现代连接技术重点实验室,天津300072 [2]天津大学材料科学与工程学院,天津300072 [3]天津职业技术师范大学天津市高速切削与精密加工重点实验室,天津300222 [4]中国第一重型机械集团核电石化事业部,大连116113

出　　处：《天津大学学报（自然科学与工程技术版）》2014年第4期371-376,共6页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(50975195);天津市应用基础及前沿技术研究计划资助项目(10JCYBJC06500)

摘　　要：核电压力容器的焊接制造中,半球形封头与圆管相贯形成空间曲线J形坡口焊缝,通用焊接机器人难以满足焊接要求.针对研发的悬挂式J形坡口专用焊接机器人,设计开发了机器人运动控制系统.介绍了机器人机械结构特点及运动控制算法.机器人控制系统核心采用工业控制计算机(IPC)与DMC数字运动控制器,交流伺服电机为执行端,利用三级控制结构实现作业管理,组织各轴协同运动完成焊接作业.进行了空间曲线J形坡口焊缝焊接实验.实验结果表明,设计开发的运动控制系统能够很好地控制机器人各轴协同运动,满足空间曲线J形坡口焊缝的焊接需求,可以提高核电压力容器焊接制造的自动化水平.In the welding process of nuclear reactor pressure vessel,J-groove weld will be formed by the intersection of the hemispherical head and pipe,and conventional welding robot can hardly meet the welding requirements. In order to solve this problem,a suspended-type welding robot which is designed especially for the welding of J-groove weld is developed,and a movement control system of the robot is also developed according to the mechanical structure characteristics of the robot. The mechanical construction characteristics and motion control algorithm of the robot are introduced. In the control system of this robot,industrial control computer（IPC）and DMC digital motion control card are adopted as the core controller,AC servo motor is chosen as the actuating station,and three levels of control structure are used for the operation management,so that all the axes can move cooperatively to complete the welding process. This welding robot is used for the welding experiment on the J-groove weld of nuclear reactor pressure vessel head. The results show that the designed motion control system can well control the multi-axis cooperative movement of the robot,and the motion control system can meet the welding requirements of J-groove weld,which can improve the automation level of welding process of nuclear reactor pressure vessel.

关 键 词：焊接机器人 控制系统 空间相贯线 J形坡口 线性插值 

分 类 号：TG409[金属学及工艺—焊接]