基于船形焊的双机协作路径规划  

Dual Robot Coordinated Path Planning Based on Fillet Welding in the Flat Position

作　　者：李俊渊 廖伟东 高燕 黄昕 邓华健 LI Junyuan;LIAO Weidong;GAO Yan;HUANG Xin;DENG Huajian(SINOMACH Intelligence Technology Co.,Ltd.,Guangzhou Guangdong 510535,China)

机构地区：[1]国机智能科技有限公司,广东广州510535

出　　处：《机床与液压》2022年第5期62-65,共4页Machine Tool & Hydraulics

摘　　要：深入研究工业机器人通过协作与变位机进行船形焊接的路径规划。考虑到船形焊接工艺要求,设计在焊枪姿态约束下的机器人运动平稳性能评估指标,并作为评价焊接目标函数;利用灰狼优化算法对协作焊接路径进行目标寻优,使得焊缝中所有焊接点处于最优的船形焊接位姿且焊枪处于理想焊接姿态。结果表明:整个焊接过程中机器人与变位机的轨迹都十分平滑,可有效保障焊接质量并提高生产效率。The path planning of fillet welding in the flat position by industrial robot cooperating with positioner was studied.Considering the requirements of fillet welding in the flat position,the evaluation index of robot motion stability performance under the constraint of welding torch attitude was designed and used as the objective function of welding evaluation;the gray wolf optimization algorithm was used to optimize the cooperative welding path,to ensure that all welding points in the welding seam were in the optimal fillet weld in flat position and welding gun was in the ideal welding attitude.The results show that the trajectories of robot and positio⁃ner are very smooth in the whole welding process,which can effectively guarantees the welding quality and improves the production efficiency.

关 键 词：双机协作 路径规划 船形焊 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]