| 摘要: |
| 针对移动焊接机器人大折角角焊缝自动跟踪焊接过程中,因折角处的焊接速度难以保持恒定,导致折角顶点处焊缝不均匀问题,提出了根据焊接速度实时在线调整焊接电流的方法.首先对大折角处机器人焊缝跟踪进行运动学分析,在折角处焊接速度以余弦规律变化,保证焊接的正常进行.同时根据焊接过程焊接速度的变化,在线调整焊接电流的思想,通过试验进行焊接速度与焊接电流的匹配,获得了以一个与折角处平均焊接速度相匹配的焊接电流,实现了折角处焊缝的焊接.结果表明,该方法能有效改善折角顶点处的焊接成形质量. |
| 关键词: 旋转电弧传感 移动焊接机器人 角焊缝跟踪 焊接参数在线调整 |
| DOI： |
| 分类号: |
| 基金项目:国家863高技术研究发展基金资助项目(2007AA04Z242);江西省科技厅工业基金资助项目(S00043) |
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| Tracking and technique of large fillet weld seam of mobile welding robot |
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MAO Zhiwei1,2, LI Shuyang1, GE Wentao1, PAN Jiluan2, ZHANG Hua1
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1.Robot and Welding Automation Laboratory, Nanchang University, Nanchang 330029, China;2.Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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| Abstract: |
| For the problem that the uniform welding speed leads to bad shape at the peak of fillet weld seam during tracking the large fillet weld seam of mobile welding robots,the method of welding current adjusted on-line and in time according to the welding speed is presented.First,Kinematic analysis of the large fillet weld seam tracking is given,and the welding speed is changed follow cosine law to achieve the normal welding.Then,welding current is adjusted on-line according to the changes of welding speed in welding process.Welding current matched to welding speed is gained by experiments.By matching experiments,welding current at the fillet position matched to the average value of welding speed is obtained.The experiment results of 90 angle degree fillet welding seam tracking indicate that the method can improve welding quality at the peak of fillet weld seam effectively. |
| Key words: rotating arc sensor mobile welding robot fillet weld seam tracking welding parameter adjustment on-line |
