爬壁机器人焊缝高效修形技术研究  

Research on High Efficiency Weld Modification Technology for Wall-climbing Robot

作　　者：陈咏华[1] 孙振国[1,2] 张文 陈强 CHEN Yonghua;SUN Zhenguo;ZHANG Wen;CHEN Qiang(Key Laboratory for Advanced Materials Processing Technology of Ministry of Education,Tsinghua University,Beijing 100084;Yangtze Delta Region Institute of Tsinghua University,Jiaxing 314006)

机构地区：[1]清华大学先进成形制造教育部重点实验室,北京100084 [2]浙江清华长三角研究院,嘉兴314006

出　　处：《机械工程学报》2023年第9期12-19,共8页Journal of Mechanical Engineering

基　　金：苏州-清华创新引领行动专项资助项目(2016SZ0218)。

摘　　要：针对大型容器建造过程中焊缝余高打磨效率低、质量不稳定、自动化程度低等问题,首先应用力学原理探讨了加工力大小及方向对爬壁式焊缝修形机器人影响,优化了爬壁机器人焊缝修形刀具姿态等条件。在此基础上进一步通过切削反力及修形效率的建模分析,提出了一种适用于爬壁机器人的焊缝修形“锉铣”新技术,设计并研制了相应的“锉铣”刃具和焊缝修形爬壁机器人系统;实验结果表明,机器人系统能对焊缝余高进行高效切削,且加工质量优于国家和行业标准的相关规定,同时还较传统加工方法显著改善了生产环境。In order to improve the efficiency,quality and automation of weld reinforcement grinding in the process of large vessels manufacturing,the influence of the amplitude and direction of machining force on the wall-climbing robot for weld modification is discussed by using the principle of mechanics,and the conditions such as the posture of the weld cutting tool are optimized.Then,through the modeling and analysis of cutting reaction force and modification efficiency,a novel"filing-milling"weld modification technology suitable for wall-climbing robot is proposed,and the corresponding"milling-filing"cutting tools and the wall-climbing robot system are designed and developed.The experimental results show that the robot system can cut the weld reinforcement efficiently,and the machining quality is better than the relevant provisions of national and industrial standards.Moreover,the production environment has been significantly improved compared with the traditional methods.

关 键 词：爬壁机器人 焊缝修形 力学分析 切削刀具 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]