一种不规则焊缝自适应焊接机器人系统研究  

Study on an Adaptive Welding Robot System for Irregular Welding Seam

作　　者：陈海初[1] 羡浩博 CHEN Haichu;XIAN Haobo(School of Mechanical&Electrical Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031

出　　处：《压电与声光》2018年第2期227-230,共4页Piezoelectrics & Acoustooptics

基　　金：国家自然基金资助项目(51265034)

摘　　要：提出了一种基于摆动电弧传感器焊接系统的焊缝宽度自适应焊缝跟踪算法。焊接摆动控制器由步进电机驱动滚珠丝杠机构,实现焊枪的摆动。机器人主控制器基于ARM处理器开发,实现机器人的运动轨迹控制、运算求解、示教、再现。通过分析摆动电弧的信号和焊枪前一周期摆动数据,建立复函数自适应算法控制模型,计算出焊缝变化后的摆动参数反馈控制系统,完成焊缝宽度自适应跟踪焊接,并以x,y,z三轴直角坐标焊接机器人为运动平台进行模拟试验来验证算法的合理性。试验结果证明,焊接速度4mm/s、焊接频率0.5 Hz条件下,该算法能良好的适应焊接过程中焊缝宽度的变化,性能稳定,焊枪运动轨迹良好。A seam width adaptive seam tracking algorithm based on swing arc sensor welding system is proposed in this paper.The welding swing controller drives the ball screw mechanism by stepping motor to realize the swing of the welding gun.The main controller of robot is developed based on ARM processor to realize the control of motion trajectory,calculation,teaching and reproduction.By analyzing the signal of the swing arc and the previous cycle swing data of the welding torch,the complex function adaptive algorithm control model is established,the swing parameters after the change of the welding seam are calculated and fed back to the control system,then the weld width adaptive tracking welding is completed.The x,y,z three-axis orthogonal coordinate welding robot is used as the moving platform to verify the rationality of the algorithm.The experimental results with 4 mm/s of the welding speed and 0.5 Hz of the welding frequency show that the algorithm can well adapt to the change of weld width in welding process.The performance is stable and motion trajectory is good.

关 键 词：焊缝跟踪 焊接摆动器 自适应 

分 类 号：TG444[金属学及工艺—焊接]