李文強(qiáng) 陽(yáng)云華++李湘文++洪波

摘要： 大型塔吊的球頭焊接主要是曲線焊縫，針對(duì)現(xiàn)有電弧傳感移動(dòng)式球頭焊接機(jī)器人采用機(jī)構(gòu)簡(jiǎn)化焊縫跟蹤方法控制難度大、跟蹤精度低等問題，提出一種焊縫切線法，該方法顯著提高了曲線焊縫跟蹤的精度。根據(jù)焊接機(jī)器人運(yùn)動(dòng)學(xué)和機(jī)構(gòu)學(xué)的特點(diǎn)分別建立這二種方法的焊炬運(yùn)動(dòng)軌跡的數(shù)學(xué)模型和Matlab/Simulink仿真模型，在統(tǒng)一的標(biāo)準(zhǔn)下，分析比較兩種方法的特點(diǎn)及適用條件。在此基礎(chǔ)上，對(duì)實(shí)際的旋轉(zhuǎn)電弧焊接機(jī)器人的焊炬運(yùn)動(dòng)進(jìn)行優(yōu)化。經(jīng)過計(jì)算分析可得，在塔吊球頭自動(dòng)化焊接中采用焊縫切線法更好。

關(guān)鍵詞： 電弧傳感；移動(dòng)式焊接機(jī)器人；建模仿真；Simulink

中圖分類號(hào)： TG156

Kinematics modeling of arc sensing mobile welding robot

Li Wenqiang1， Yang Yunhua2 ， Li Xiangwen1， Hong Bo1

（1.Xiangtan University ，Hunan Provincial Key Laboratory of Welding Robots and Applications，Xiangtan411105 China；2. Zoomlion Heavy Industry Science and Technology Co.[KG-*2]，Changsha 410013，China）

Abstract： Ball welding of large tower crane is mainly curve welded joint. This paper presented weld tangent method for the use of simplified weld seam tracking method for welding robot， tracking accuracy problems of existing arc sensor for mobile robots. This method can significantly improve the accuracy of curved seam tracking. According to the welding robot kinematics and mechanical characteristic， respectively established these two methods of welding torch moving track of mathematical model and simulation of MATLAB/Simulink model. Under the unified standard， analyzing and comparing these two kinds of methods and application conditions. On this basis， optimizing practical rotating arc welding robot welding torch moving. Through calculation analysis， using welding seam tangent method in ball welding of tower crane is better.

Key words： arc sensing； mobile welding robot； modeling simulation； Simulink