首页|管道全位置焊接机器人结构设计与运动学分析

管道全位置焊接机器人结构设计与运动学分析

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现有管道全位置自动焊接设备自由度少,无法模仿高级焊工运条手法,从而影响到焊接质量.针对这一问题,设计了一款基于协作机械臂的管道全位置焊接机器人,并进行了运动学分析.首先,根据焊接机器人的结构特点,采用模块化思想对机器人进行了功能模块划分,功能模块包括柔性导轨、行走底盘、六轴协作机械臂和模块间的快锁机构四个部分;然后,根据 D-H法建立了运动学方程,结合 Robotic Toolbox和 MATLAB完成了焊接机器人的建模和运动学仿真;最后,采用蒙特卡洛法对焊接机器人的工作空间进行了可视化分析.研究结果表明:理论上,基于协作机械臂的管道焊接机器人可完成管道壁厚为755 mm、焊缝宽度为310 mm的焊接任务,并且运动学模型正确、结构设计合理,可以满足管道全位置焊枪姿态调整的功能需求.
Structural design and kinematics analysis of pipeline all-position welding robot
Aiming at the limitations of existing automatic welding equipment for all positions of pipelines,which have restricted freedom and are unable to replicate the advanced techniques employed by skilled welders,a full-position welding robot for pipelines based on collaborative robotic arms was designed to enhance the welding quality and overcome the challenges faced during the welding process.Firstly,the structural characteristics of the welding robot were carefully analyzed in order to achieve modularization,the functional modules of the robot were divided into four parts:flexible guide rails,walking chassis,six-axis collaborative manipulator arms,and quick lock mechanisms between modules.Then,according to the D-H method,the kinematic equation was established,and the modeling and kinematic simulation of the welding robot were completed by combining Robotic Toolbox and MATLAB.Finally,the Monte Carlo method was used to visualize the working space of the welding robot.The research results indicate that a collaborative robotic arm-based pipeline welding robot can complete the welding task with a pipe wall thickness of 755 mm and a weld width of 310 mm,and the kinematic model is correct and the structural design is reasonable.It can meet the functional requirements for adjusting the welding gun posture for full-position welding of pipelines.

full-position welding robotcollaborative robotic armspipe welding qualitystructural designkinematics simulationworkspace validationDenavit-Hartenberg(D-H)method

冯传智、罗雨、许耀波、王庆林、任飞燕、于俊杰、苏佳毅、焦向东

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北京石油化工学院 机械工程学院,北京 102617

全位置焊接机器人 协作机械臂 管道焊接质量 结构设计 运动学仿真 工作空间验证 D-H法

国家自然科学基金资助项目国家自然科学基金资助项目

5130503752175286

2024

10.3969/j.issn.1001-4551.2024.08.019

机电工程
浙江大学　浙江省机电集团有限公司

机电工程

CSTPCD北大核心
影响因子：0.785
ISSN：1001-4551
年,卷(期)：2024.41(8)