机器人在电弧焊过程中协助作用研究

Research on the robot-assisted role in the process of arc welding

利用具有交互作用的机器人协助人工焊接,提出了交互式控制方案来抑制焊接新手在焊接时焊枪的振动影响。焊枪被连接到触觉机器人的端部执行器上,人和机器人一起控制焊枪。人控制焊接方向和焊接速度,机器人会抑制焊接新手多余或者生硬的焊接动作。该控制方案是在空气画笔的基础上进行试验的,用绘画过程模拟实际焊接。这种模拟能克服实际焊接试验所带来的诸多问题。研究了控制方案的阻抗参数影响,应用可变阻抗控制方案可以使焊枪操作变得容易。分析对比了新手在有机器人协助和没有机器人协助下实际焊接的结果,在有机器人协助的情况下焊接操作稳定性得到了很大提升。

In this paper, the interactive robot was used to assist manual welding, and an interactive control scheme was presented to suppress the vibration of the welding gun when the welding of novice welders. Welding gun was connected to the end-effector of a robot, and the welder controls welding gun together with the robot: the welder controls the direction and the speed of the welding and the robot will inhibit the sudden and abrupt motions. This control scheme was tested by a air-paint-brush device, and used this testing process to simulate the actual welding.The simulation experiment can overcome many of the problems of actual welding experiment. Analyzed the influence of the impedance parameters of the control scheme, application variable impedance control scheme could make operation of the welding torch become simple and easy. Compare analyzed the novice welder with robot assistance and without robot assistance by the results of actual welding, The stability of the welding operation in the case with the help of the robot had been improved.