自动焊接装置凸轮连杆机构的多目标优化设计  

Multi-objective optimization design of the cam linkage mechanism of the automatic welding device

作　　者：宋志成 余凤 邓援超[1] 蔡宇飞 SONG Zhicheng;YU Feng;DENG Yuanchao;CAI Yufei(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Wuhan Yifi Laser Corporation Limited,Wuhan 430000,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068 [2]武汉逸飞激光股份有限公司,武汉430000

出　　处：《机械传动》2025年第2期79-88,110,共11页Journal of Mechanical Transmission

基　　金：科技部创新方法专项(2020IM020800-01)。

摘　　要：【目的】为提高钢柱与肋板的自动化焊接生产效率,设计了专用焊枪移动机构。【方法】首先,为满足焊枪的移动轨迹和速度,设计了凸轮连杆组合机构,并建立了机构的运动学模型;其次,基于NSGA-Ⅱ算法,以机构的传动性能和整体尺寸为优化目标,在限定条件下对连杆长度进行了多目标优化设计,使用熵权法从Pareto非劣解集中选取了最优连杆长度;再次,在最优杆长的二维平面中搜索最优滚子坐标,并使用Matlab编程获得凸轮廓线,验证了凸轮机构压力角满足设计要求;最后,基于优化结果,结合实际工况,对机构建模并使用Adams软件仿真获得机构工作轨迹、速度和加速度。【结果】结果表明,机构能如期满足焊接轨迹和匀速焊接的设计要求;同时,优化后的凸轮基圆半径相比优化前减小了29.79%,速度和加速度波动更小。验证了该机构的准确性和方法的可行性,为其他凸轮连杆机构的设计提供了一个可借鉴的设计方法。[Objective]To improve the automation welding production efficiency of steel columns and rib plates,a special welding torch moving mechanism has been designed.[Methods]Firstly,a cam linkage combination mechanism was designed to meet the moving trajectory and speed of the welding gun.Then a kinematic model of the mechanism was established.Secondly,based on the NSGA-II algorithm,taking the transmission performance of the mechanism and the overall size of the mechanism as the optimization goals,a multi-objective optimization design of the connecting rod length was carried out under limited conditions,and the entropy weight method was used to select the optimal connecting rod length from the Pareto non-inferior solution set.Thirdly,the optimal roller coordinates were searched in the two-dimensional plane with the optimal rod length,and Matlab programming was used to obtain the convex contour line to verify that the cam pressure angle meets the design requirements.Finally,based on the optimization results and combined with actual working conditions,the mechanism was modeled,and the Adams simulation was used to obtain the working trajectory,speed and acceleration of the mechanism.[Results]The results show that the mechanism can meet the design requirements of welding trajectory and uniform speed welding as scheduled.At the same time,the optimized cam base circle radius is reduced by 29.79%compared with before optimization,and the speed and acceleration fluctuations are smaller.The correctness of the mechanism and the feasibility of the method are verified,and it provides a reference design method for the design of other cam linkage mechanisms.

关 键 词：凸轮连杆组合机构 NSGA-Ⅱ算法 熵权法 许用压力角 

分 类 号：TH122[机械工程—机械设计及理论]