虑及刚度特性的管内机器人高精度焊缝打磨方法  

High Precision Weld Grinding Method of In-pipe Robots Considering Stiffness Characteristics

作　　者：王永青[1] 艾靖超 李特[1] 兰天[1] 刘海波[1] WANG Yongqing;AI Jingchao;LI Te;LAN Tian;LIU Haibo(Dalian University of Technology,State Key Laboratory of High-performance Precision Manufacturing,Dalian,Liaoling,116024)

机构地区：[1]大连理工大学高性能精密制造全国重点实验室,大连116024

出　　处：《中国机械工程》2025年第2期351-358,368,共9页China Mechanical Engineering

基　　金：国家重点研发计划(2022YFB3404704)。

摘　　要：针对管内机器人高精度加工难题,以管内焊缝余高修整打磨为例,提出了一种虑及刚度特性的管内机器人高精度磨削方法。首先基于轮式管内加工机器人建立了考虑气动支撑装置刚度特性的有限元仿真模型,获得了不同加工载荷和位姿下的变形关系;然后建立了基于高度特征的焊缝识别方法,采用三次B样条模型建立了焊缝母线参数方程,从而提出了融合刚度补偿量的加工轨迹点生成方法;最后通过机器人样机实验验证了所提方法对于管内焊缝打磨的有效性。结果表明:该方法可将约1 mm的焊缝余高精确修整至0.2 mm以内,加工后焊缝平均余高与设计余高的误差不超过5%,能够实现焊缝高精度加工。In response to the difficulty of high-precision machining by in pipe robots,a high-precision grinding method was proposed for in pipe robots considering stiffness characteristics,taking the example of repairing and polishing the residual heights of the weld seams in the pipe.Firstly,based on the wheeled pipe machining robots,a finite element simulation model was established considering the stiffness characteristics of the pneumatic support devices,and the deformation relationship was obtained under different machining loads and poses.Secondly,a weld seam recognition method was established based on height features,and a cubic B-spline model was used to establish the parameter equation of the weld seam busbar,thereby a machining trajectory point generation method was proposed to integrate stiffness compensation;Finally,the effectiveness of the method proposed for polishing weld seams inside pipes was verified through robot prototype experiments.The results show that the method may accurately trim the seam residual height of about 1 mm to less than 0.2 mm,and the error between the average seam residual height and the design residual height after machining is less than 5%.

关 键 词：管内机器人 机器人加工 刚度 焊缝打磨 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]