U形板焊接机器人设计与运动仿真
Design and Motion Simulation of Welding Robot for U-Type Steel Structure
郎志勇 1高延峰 1周依霖 1张华1
作者信息
- 1. 上海工程技术大学机械与汽车工程学院,上海 201620
- 折叠
摘要
针对船舱狭小空间U形板角焊缝焊接工况,设计了一款类轨道悬挂式移动焊接机器人.该焊接机器人由移动机器人本体、两自由度机械臂及焊炬组成,三自由度实现焊接位置调节.首先,介绍了焊接机器人的结构设计;其次,分析了U形板最小转弯半径与机器人各变量之间的参数关系,确保转弯要求;最后,利用ADAMS仿真机器人移动过程,研究多个变量对焊炬末端在Y、Z方向偏移及振动的影响.结果表明:移动过程中,焊炬在机器人中间时的焊接轨迹最易控制;夹紧轮Z向位置为24.25mm,移动过程中Z方向偏移稳定,Y、Z方向振动微小;满足结构安装前提下,应选择刚度较大的弹簧;弹簧预紧力为20N时,Y、Z方向偏移、振动均得到较大改善.
Abstract
Aiming at the welding condition of U-type steel structure plate fillet weld in narrow space of cabin,a kind of sus-pended mobile welding robot with similar track is designed.The welding robot is composed of a mobile robot body,a two degree of freedom manipulator and a welding torch.Firstly,the structure design of welding robot is introduced;Secondly,the parameter relationship between the minimum turning radius of U-type steel structure and the variables of the robot is analyzed to ensure the turning requirements;Finally,ADAMS is used to simulate the movement process of the robot,and the influence of multiple vari-ables on the offset and vibration of the welding torch end in Y and Z directions is studied.The results show that:in the moving pro-cess,the welding trajectory of the torch in the middle of the robot is the easiest to control;the Z-direction position of the clamping wheel is 24.25mm,the offset in Z direction is stable,and the vibration in Y and Z directions is small;under the premise of meet-ing the structural installation,the spring with larger stiffness should be selected;when the spring preload is 20N,the offset and vibration in Y and Z directions are greatly improved.
关键词
移动焊接机器人/U形板/ADAMS仿真/偏移/振动Key words
Mobile Welding Robot/U-Type Steel Structure/ADAMS Simulation/Offset/Vibration引用本文复制引用
出版年
2024
NETL
NSTL
维普
万方数据