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。
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. Under 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.
作者
李文强
阳云华
李湘文
洪波
Li Wenqiang Yang Yunhua Li Xiangwen Hong Bo(Xiangtan University , Hunan Provincial Key Laboratory of Welding Robots and Applications, Xiangtan 411105 China Zoomlion Heavy Industry Science and Technology Co, Changsha 410013 ,China)
出处
《机械制造文摘（焊接分册）》
2016年第6期15-19,共5页
Welding Digest of Machinery Manufacturing
基金
湖南省战略性新兴产业重大科技成果转化资助项目(2014GK1010)
湖南省自然科学联合基金资助(2015JJ5013)
