基于工业机器人的焊缝参数自适应控制方法  

Research on Welding Seam Parameter Adaptive Control Method Based on Industrial Robot

作　　者：丁晟 赵大兴[1] 许万[1] 刘拉 DING Sheng;ZHAO Daxing;XU Wan;LIU La(School of Mechanical Engineering,Hubei Univ.of Tech.,Wuhan 430068,China;Hubei New Ruide Defense Technology Co.,Ltd.,Shiyan 442000,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430000 [2]湖北纽睿德防务科技有限公司,湖北十堰442000

出　　处：《湖北工业大学学报》2023年第5期19-24,共6页Journal of Hubei University of Technology

基　　金：湖北省2019年揭榜制项目(2019AEE014)。

摘　　要：针对焊接机器人作业过程中焊接参数不能实时调整的问题,提出一种自适应焊接系统,能根据不同的焊缝间隙实时改变焊机的电流电压及焊接速度。探讨焊缝间隙的实时测量,分别对不同间隙情况的DC03板材进行不同焊接速度以及不同送丝速度下的焊接实验,,并对其对接焊缝进行抗拉强度分析,得到了最佳参数。试验验证,自适应系统在焊接过程中能自动调整相关参数,找出不同间隙板材与送丝速度、焊接电流与焊接电压变化的最佳值,获得最优焊接质量。Aiming at the unity of welding parameters in the current welding process,this paper proposes an adaptive welding system that enables the welding system to change the current,voltage,and robot of the welding machine according to different weld gaps in real time for the butt weld during the welding process.Welding speed.The adaptive welding system is composed of industrial robots,welders,and laser vision sensors,and the software is composed of Robotware,ADAP,and VISUS.This article discusses the real-time measurement of the weld gap,conducts welding process tests on the DC03 steel for the current and voltage of the welding machine and the welding speed of the robot under different gaps,and conducts tensile strength analysis to obtain the best parameters.The adaptive system automatically adjusts the relevant parameters during the welding process and,through experimental certification,finds out the best values of different gap plates and wire feeding speeds,welding current,and welding voltage changes to achieve the best welding quality.

关 键 词：焊接工艺 DC03钢材 自适应焊接系统 对接焊缝 

分 类 号：TG409[金属学及工艺—焊接]