基于装备机械臂的移动焊接机器人设计与仿真模型构建

Design and simulation model construction of mobile welding robot based on ARM

为实现移动焊接机器人的通用化设计,使其满足多种焊接场景,该研究在履带式八轴移动机器人的基础上,增加两个摆臂伸缩控制轴,实现机器人的十轴控制。同时设计了机器人视觉、本体知觉系统提升机器人的控制精度。经过现场实测,与高级焊接技术工人组成人工焊接队伍相比,该机器人将焊接工时数压缩到4.10%,焊缝瑕疵率下降96.69%,焊点瑕疵率下降92.63%,焊条消耗量下降55.26%,在充分降低施工成本的同时,机器人焊接大幅度提升了焊接质量。

In order to realize the universal design of mobile welding robot and meet various welding scenarios,the research adds two swing arm expansion control axes to realize the ten axis control of the robot based on the track type eight axis mobile robot.At the same time,the robot vision and body perception system are designed to improve the control accuracy of the robot.Compared with the artificial welding team composed of advanced welding technicians,the robot compressed the welding hours to 4.10%,the weld defect rate decreased 96.69%,the welding spot defect rate decreased 92.63%,the welding rod consumption decreased by 55.26%.At the same time,the robot welding greatly improved the welding quality while fully reducing the construction cost.