磨辊堆焊修复路径规划  

Repair path planning of grinding roller surfacing

作　　者：周奥博[1] 王微伟 王喜临 刘爱国[1] Zhou Aobo;Wang Weiwei;Wang Xilin;Liu Aiguo(Shenyang Ligong University,Shenyang 110159,China;Jiangsu Remick Metal Technology Co.,Ltd.,Changzhou 213172,Jiangsu,China)

机构地区：[1]沈阳理工大学,沈阳110159 [2]江苏瑞米克金属技术有限公司,江苏常州213172

出　　处：《机械制造文摘（焊接分册）》2021年第6期21-26,35,共7页Welding Digest of Machinery Manufacturing

摘　　要：在等高型和等面积型焊缝填充策略的基础上,提出了改进的磨辊堆焊焊缝填充策略,进行了磨辊堆焊焊道路径规划;在磨辊待焊区域焊道排布结果的基础上,通过对堆焊系统机械结构的分析,推导出了路径规划的焊接目标点公式与每一目标点所对应的磨辊转轴转动角度,以及焊接机械臂转动角度,并进行了焊接机械臂末端的运动学仿真。结果表明,所提出的焊缝填充策略和堆焊路径规划方案可以保证机械臂平滑稳定的地到达路径规划后的任意一点,机械臂可以稳定地启动和停止。焊缝填充策略合理,堆焊路径规划方案正确。Based on the equal-height and equal-area weld filling strategies,an improved grinding roll surfacing weld filling strategy was proposed,and the path planning of the grinding roll surfacing weld bead was carried out.On the basis of the result of welding pass arrangement in the area to be welded by grinding roller,the welding target point formula of the path planning and the rotation angle of the grinding roller shaft corresponding to each target point,as well as rotation angle of welding robot arm,were deduced through the analysis of the mechanical structure of surfacing system,and the kinematics simulation of the end of the welding robot arm was carried out.The results showed that the proposed weld filling strategy and surfacing path planning scheme could ensure that the robotic arm reached any point after the path planning smoothly and stably,and the robotic arm could start and stop stably.The weld filling strategy was reasonable,and the surfacing welding path planning scheme was correct.

关 键 词：焊接路径规划 焊接机械臂 联动机构 软件仿真 多层多道焊 

分 类 号：TG409[金属学及工艺—焊接]