新型相贯线焊接机器人设计与研究  

Design and Research of A New Type of Intersecting Line Welding Robot

作　　者：李向春 毛志伟[1] 陈记超 袁文剑 LI Xiangchun;MAO Zhiwei;CHEN Jichao;YUAN Wenjian(School of Mechanical and 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：《热加工工艺》2019年第5期226-230,共5页Hot Working Technology

基　　金：南昌大学研究生创新专项项目(cx2016061);国家自然科学基金资助项目(51265036)

摘　　要：为了适应一定范围管径的相贯线焊缝的自动化焊接,设计一种通用型相贯线焊接机器人。设计空间均布的梯形铰链结构来适应一定范围管径的安装,使用具有自定心功能的二自由度手腕,在ProE中建立了五自由度相贯线焊接机器人模型。根据设计的机构为机器人建立D-H连杆坐标系,推导出模型正逆解,然后通过机器人关节的范围确定解的唯一性。通过MATLAB Robotics Toolbox机器人工具箱对机器人进行分析,为机器人建立ADAMS虚拟样机模型并进行仿真,提取了焊丝末端的速度曲线。结果表明焊丝端点合成速度波动不大,满足自动化焊接要求。In order to adapt to automatic welding of intersection line weld of pipe diameter in a certain range,a kind of intersection line welding robot was designed.The trapezoidal hinge structure with spatial uniform distribution was designed to adapt to the installation of the pipe whose diameter was in a certain range.A two degree of freedom wrist with self-centering function was used.In ProE,a model of five degree of freedom intersecting line welding robot model was established.According to the design of mechanism,D-H(Denavit-Hartenberg)links’ coordinates was established for the robot,then the positive and inverse solutions of the model were deduced.Then the uniqueness of solution was determined through the range of robot joints.The robot was analyzed by MATLAB Robotics Toolbox,and the ADAMS virtual prototype model was established and simulated for robot.The speed curves of the wire end were extracted.The result shows that the fluctuation of resultant speed of the wire end is not large,which meets the requirement of automatic welding.

关 键 词：相贯线 焊接机器人 正逆解 运动仿真 

分 类 号：TG409[金属学及工艺—焊接]