焊接机器人试制地锚导轨的作业轨迹设计  

Working Trajectory Design of the Ground Anchor Guide Rail Trial Production by Welding Robot

作　　者：徐洪亮[1] 刘文敏 XU Hongliang;LIU Wenmin(School of Electrical Engineering,Changchun Automobile Industry Institute,Changchun 130013,China;School of Automotive Applications,Changchun Automobile Industry Institute,Changchun 130013,China)

机构地区：[1]长春汽车工业高等专科学校电气工程学院,吉林长春130013 [2]长春汽车工业高等专科学校汽车运用学院,吉林长春130013

出　　处：《清远职业技术学院学报》2023年第4期61-67,共7页Journal of Qingyuan Polytechnic

基　　金：2023年度吉林省高教学会高教科研课题“数字赋能智能化汽车产线教培实训仿真平台开发研究”(JGJX2023D963);2023年度吉林省职业教育与成人教育教学改革研究课题“‘双链’融合背景下机器人系统集成‘嵌入式’教学研究与实践”(2023ZCY239);2022年度吉林省职业教育科研课题“基于智能制造产业学院重构机器人技术技能人才培养模式的实践研究”(2022XHY088);2022年度吉林省教育科学“十四五”规划课题“基于智能制造产业学院的产教一体化创新型人才培养模式研究与实践”(GH22260)。

摘　　要：随着高校“产学研”工作的逐步推进,高校与地方企业的合作越加紧密,校企合作项目愈加丰富,我校与吉林省本地企业联合开展的地锚导轨焊接试制加工项目便是其中一个较为成功的案例。针对本次地锚导轨焊接试制加工项目,由于地锚导轨的特殊性、现场量测工具精度低、夹具无定位功能等原因,导致地锚导轨定位难、预热难、施焊难等问题,本项目组成员以现有条件为基础、以作业轨迹为切入点,精研工艺方案,共同设计出“寻踪定位+多道焊+摆动焊+轨迹优化”的作业方案,即以寻踪定位解决焊缝位置与角度偏差;以“多道焊+摆动焊”进行施焊,并优化作业轨迹,提升焊接作业节拍和焊接质量,确保地锚导轨试制加工作业的高效性。With the gradual advancement of industry-teaching-research work in colleges and universities,the cooperation between universities and local enterprises has become closer and closer,and the school-enterprise cooperation projects have become more and more abundant,and the ground anchor guide rail welding trial processing project jointly carried out by our university and local enterprises in Jilin Province is one successful case.For this ground anchor guide rail welding trial production and processing project,due to the particularity of the ground anchor guide rail,the low accuracy of the on-site measurement tool,and the lack of positioning function of the fixture,etc.,the ground anchor guide rail is difficult to position,preheating and welding.Based on the existing conditions,the members of the project team took the operation trajectory as the starting point,refined the process plan,and jointly designed the operation scheme of“tracing and positioning+multi-channel welding+swing welding+trajectory optimization”,that is,solving the deviation of the position and angle of the weld by tracing and positioning;“Multi-pass welding+swing welding”is used for welding,and the operation trajectory is optimized,the welding operation beat and welding quality are improved,and the efficiency of the ground anchor guide rail trial production processing operation is ensured.

关 键 词：焊接机器人 地锚 导轨 作业轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]