摘要
结合自行研制的轨道式全位置焊接机器人,分析了马鞍形焊缝焊接运动轨迹及马鞍形焊接运动数学模型,探讨了其运动系统工作原理和四轴伺服驱动系统控制的柔性功能,提出了利用该机器人解决马鞍形坡口焊接的技术方案,并设计了基于示教功能和基于数学模型马鞍坡口控制器,成功应用于马鞍形坡口的现场焊接实验,取得了预期的结果。
A new rail-type all position welding robot has been developed.In this paper,saddle-shaped welding seam motion track and mathematical model are analyzed,the moving system principle and flexible functions of four-axle servo drive system are discussed, the technical scheme of using this robot to solve the saddle-shaped groove welding is proposed and saddle-shaped groove controller based on teaching functional and mathematical model is designed.The robot has been successfully applied in field saddleshaped groove weld experiments, and the results are the same as expected.
出处
《电焊机》
北大核心
2010年第1期19-23,共5页
Electric Welding Machine
基金
国家863计划资助项目(2009AA04Z208)
北京市优秀人才培养资助项目(2009D005005000008)
光机电装备技术北京市重点实验室开放课题资助项目(KF2008-04)
关键词
马鞍形
焊缝
焊接机器人
saddle-shaped
welding seam
welding robot
