【作者】 管新勇；

【导师】 陈树君；

【作者基本信息】 北京工业大学 ， 机械电子工程， 2010， 硕士

【摘要】 随着焊接机器人的推广,越来越多的自动化设备代替工人完成焊接任务。然而对于管道插接相贯线的焊接,由于空间相贯线焊缝的结构复杂,现有的焊接机器人系统很难满足使用的要求,在一些情况下仍然需要通过工人来完成焊接任务。为了降低工人的劳动强度,提高焊接质量和劳动效率,需要研制一种专门用于相贯线焊缝焊接机器人专机。本文在分析国内外管道自动焊机研究状况的基础上,深入分析了管道插接相贯线的特征,建立了斜交偏置下的相贯线模型以及相贯线方程。针对相贯线的特点,细化机器人每个自由度的功能。通过比较关节型坐标机器人和圆柱型坐标机器人,建立两种类型机构的运动方程式,求出它们的正解和逆解的方程,比较方程的形式,选择单变量方程来描述机器人运动,确定了一种相贯线轨迹运动解耦的机构形式,采用圆柱坐标型机构作为操作机。通过分析焊枪与焊缝的姿态关系,并结合焊接工艺涉及的焊枪工作角和行走角,研发了两自由度反球型机器人手腕机构。该手腕具有两个圆弧运动的自由度,分别由角转台和连杆机构来实现。安装在手腕机构上的焊枪可以实现焊枪末端固定的运动,从而实现对焊枪工作角与行走角的解耦控制。在确定硬件的系统基础上,建立电机与运动控制PMAC卡的连接。在Boland c++ builder开发环境下,通过与PComm32PRO动态链接库,设计出实用直观的操作界面,对一些变量参数可以进行修改与储存。使用PRO/E三维绘图软件对焊接机器人进行设计。在“机构”模式下进行机器人的运动仿真,校验各个关节运动方程的正确性以及机器人结构的合理性。通过实际的焊接实验,验证机器人的实际焊接效果。实验过程中,机器人能够很好地执行上位机发出的运动程序指令,实现焊缝轨迹、焊枪姿态的独立控制,完成焊接任务。更多还原

【Abstract】 With the development of welding robot, more and more automated equipments replace the workers to complete welding tasks. However, the existing welding robot system can’t satisfy the requirement of pipe inserting welding for the complex structure of the intersecting line, even in some case, welding tasks is completed by handwork. In order to reduce the labor intensity and to improve the welding quality, a new type of intersecting line welding robot is needed.Based on the analysis of civil and abroad research condition of intersecting line welding machine, this paper analyzes the characteristic of the intersecting line, and established the intersection model and intersecting line equation under the bias offset. According to the features of intersection, the paper refined the robot function at each degree of freedom. By comparing the joint coordinate robot and cylindrical coordinate robot, the paper established the equations of two types of structure, and then obtained a positive solution and inverse solution of the equations. Compared with the equation form, the single variable equation is chosen to describe the robot movement, and determined one kind of transversal path movement decoupling organization form by using the circular cylindrical coordinate organization to be the operation machine.By analyzing the relationship between welding torch and weld profile, combined with the torch welding work angle and walk angle, two degree-of-freedom anti-spherical robot wrist mechanism is researched. The new type of wrist consists of two circular tracks, which is realized by rotate mechanism and link mechanism. The torch installed at the end of the wrist can move at the fixed point to satisfy the independent control of the torch angle and travel angel.On the basis of the hardware’s foundation, PMAC card is connected with motors. Under the developed environment of Boland c++ builder, by link with PComm32PRO dynamic link storehouse, we designed the practical direct-viewing operation contact interface, which can revise and store some variable parameter.The robot was designed by using PRO/E software. Kinematics simulation is realized in the mode of“mechanism”, the accuracy of motion equations is checked to make sure the structure of the robot is reasonable.Through the welding experiment, the robot is tested when it works. The result of the experiment showed that the robot performed well when the computer sends the program to the robot system. The robot moved with gun control and weld path control independently.更多还原