| 小型移动焊接机器人结构设计 |
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| 引用本文： | 叶艳辉,张华,王帅.小型移动焊接机器人结构设计[J].焊接学报,2016,37(7):101-104. |
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| 作者姓名： | 叶艳辉 张华 王帅 |
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| 作者单位： | 1.南昌大学 江西省机器人与焊接自动化重点实验室, 南昌 330031 |
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| 基金项目： | 国家863高技术研究发展计划资助项目(2013AA041003)；江西省科技支撑计划项目(20133BBE50030) |
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| 摘 要： | 针对狭窄空间自动焊接问题，设计了一种小型移动焊接机器人机构.根据机器人结构的运动特点，运用模块化设计方法，把机器人机构分为轮式移动平台、焊炬调节机构和电弧传感器三部分.其中，轮式移动平台采用三轮式差速驱动结构形式，底部安装一可调磁吸附力装置，且控制器集成于移动平台上；焊炬调节机构由十字滑块和焊炬连接装置组成，十字滑块由两电机分别驱动，实现焊缝水平和高低方向精确跟踪；电弧传感器采用圆锥摆形式，且与焊枪设计成一体，使用方便.同时，建立机器人运动学方程，并对直角焊缝不同的转弯中心进行分析，确定水平滑块的行程参数，为机器人的焊缝跟踪控制提供参考.结果表明，该机器人机构满足弯曲焊缝跟踪要求，焊接质量良好.
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| 关 键 词： | 移动焊接机器人 狭窄空间 结构设计 |
| 收稿时间： | 2014/9/4 0:00:00 |
Structure design of small mobile welding robot |
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| YE Yanhui,ZHANG Hua and WANG Shuai.Structure design of small mobile welding robot[J].Transactions of The China Welding Institution,2016,37(7):101-104. |
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| Authors: | YE Yanhui ZHANG Hua and WANG Shuai |
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| Affiliation: | 1.Key Lab of Robot & Welding Automation of Jiangxi Province, Nanchang University, Nanchang 330031, China2.Key Lab of Robot & Welding Automation of Jiangxi Province, Nanchang University, Nanchang 330031, China;Jiangxi Changda Innovation and Technology Development Co., Ltd., Nanchang 330029, China |
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| Abstract: | A small mobile welding robot was designed to solve the problem during automatic welding in narrow space. According to motion characteristics of robot structure, the welding robot was divided into three parts by using the modular design method. And the differential drive method was used in three wheeled mobile platform which had an adjustable magnetic force device at the bottom, and the controller was integrated in the platform. The welding gun regulating mechanism was composed of a cross slider and a welding gun connecting device, and the cross slider was driven by two motors respectively which could track welding seam in level and height directions. A conical pendulum form was adopted in the arc sensor, and it was integrated with the welding gun for easy to use. At the same time, the kinematics equation was built, and the different turning centers for a right-angle fillet welding were also analyzed to determine the parameters of horizontal slider distance. This will provide references for the control of welding robot. The experimental results show that the design requirements for tracking curved seam were satisfied and good welding quality was acquired. |
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| Keywords: | mobile welding robot narrow space structure design |
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