非理想相贯焊缝自动化焊接的运动控制研究  

Research on Motion Control of Automatic Welding of Non-ideal Intersecting Weld

作　　者：高胜[1] 程晓飞 李军[1,3] 潘云龙[1] 李海超 GAO Sheng;CHENG Xiaofei;LI Jun;PAN Yunlong;LI Haichao(College of Mechanical Science and Engineering,Northeast Petroleum University,Daqing 163318,China;State Key Laboratory of Advanced Welding and Connection,Harbin Institute of Technology,Harbin 150006,China;School of Mechanical Engineering,Harbin PetroleumUniversity,Harbin 150028,China)

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318 [2]哈尔滨工业大学先进焊接与连接国家重点实验室,黑龙江哈尔滨150006 [3]哈尔滨石油学院机械工程学院,黑龙江哈尔滨150028

出　　处：《热加工工艺》2024年第11期60-65,共6页Hot Working Technology

基　　金：船舶智能制造关键共性工艺研究项目(MC-201704-Z02)。

摘　　要：为了实现对加工装配存在误差的大构件相贯焊缝的多层多道自动化焊接,在介绍四轴联动焊接机器人结构及工作原理的基础上,建立了集斜交、偏置的通用相贯焊缝数学模型,提出一种连续控制焊枪位置参数及姿态调整值的计算方法,利用关键点示教+分段空间圆弧插补确定焊枪位置,主法面二分角法给出焊枪姿态,最后采用PC机+运动控制卡的方式构成伺服控制系统,驱动电机执行运动控制算法。该运动控制算法通用性较强,对管管焊缝工程化应用具有重要的参考价值。In order to realize the automatic welding for intersecting welds of large component with errors in processing and assembly,based on the brief introduction of the structure and working principle of the four-axis linkage welding robot,a general mathematical model of intersecting welds with skew and bias was established,and a calculation method for continuous control of the position parameters and attitude adjustment values of the welding torch was proposed.The position of the welding torch was determined by using the key point teaching and piecewise spatial arc interpolation,and the attitude of the welding torch was given by the princcipal normal surface bisection angle method.Finally,the PC+motion control card were used to constitute the servo control system to drive the motor to perform the motion control algorithm.The motion control algorithmhas strong universality,which has important reference value for the engineering application of pipe weld.

关 键 词：相贯焊缝 位姿插补 运动控制 四轴机器人 

分 类 号：TG409[金属学及工艺—焊接]