机械制造文摘——焊接分册
专题研究
电弧传感移动式球头焊接机器人的运动学模型
李文强”，阳云华”，李湘文”，洪波”
摘要：大型塔吊的球头焊接主要是曲线焊缝，针对现有电弧传感移动式球头焊接机器人采用机构简化焊缝跟踪方法控制难度大、跟踪精度低等问题，提出一种焊缝切线法，该方法显著提高了曲线焊缝跟踪的精度。根据焊接机器人运动学和机构学的特点分别建立这二种方法的焊炬运动轨迹的数学模型和Matlab/Simulink仿真模型，在统一的标准下，分析比较两种方法的特点及适用条件。在此基础上，对实际的旋转电弧焊接机器人的焊炬运动进行优化。经过计算分析可得，在塔吊球头自动化焊接中采用焊缝切线法更好。
关键词：电弧传感；移动式焊接机器人；建模仿真；Simulink 中图分类号：TG156
Kinematicsmodelingof arc sensingmobile welding robot
Li Wenqiang , Yang Yunhua’, Li Xiangwen', Hong Bo
(1. Xiangtan University ,Hunan Provincial Key Laboratory of Welding Robots and Applications,Xiangtar 411105 China;2. Zoomlion Heavy Industry Science and Technology Co, Changsha 410013,China)
Abstract: Ball welding of large tower crane is mainly curve welded joint. This paper presented weld tangent method for the use of simplified weld seam tracking method for welding robot, tracking accuracy problems of ex-isting arc sensor for mobile robots. This method can significantly improve the accuracy of curved seam tracking-According to the welding robot kinematics and mechanical characteristic, respectively established these two methods of welding torch moving track of mathematical model and simulation of MATLAB/Simulink model.Un-der the unified standard, analyzing and comparing these two kinds of methods and application conditions. On this basis, optimizing practical rotating arc welding robot welding torch moving.Through calculation analysis,u-sing welding seam tangent method in ball welding of tower crane is better.
Key words: arc sensing; mobile welding robot; modeling simulation; Simulink
0前言
塔吊也称塔式起重机，属于非连续性搬运重型机械，是一种起重臂安置在塔身顶部、可回转的臂式起重
机。回转臂及塔架的生产采用大量的自动化焊接。文中分析了两种基于电弧传感的移动式塔吊球头焊接机器人的运动学模型，并作出了对比分析，指出其适用领域，对球头型自动化焊接具有一定指导意义。
基金项目：潮南省战略性新兴产业重大科技成果转化资助项目（2014GK1010）；潮南省自然科学联合基金资助（2015J5013）
2016年第6期15
万方数据