机械科学与技术2024，Vol.43Issue(3)：457-465,9.DOI:10.13433/j.cnki.1003-8728.20220225
弧焊机器人针对V形坡口的焊接路径规划设计与仿真分析
Welding Path Planning Design and Simulation Analysis of Arc Welding Robot for V-shaped Groove
摘要
Abstract
In order to solve the welding deformation problem of the arc welding robot facing the V-shaped groove of the medium and thick plate,by analyzing the characteristics of traditional layer-by-layer stacking welding,which is easy to cause heat accumulation and leads to welding deformation,a combination of V-shaped cross-section projection trajectory,spatial parallel reciprocating trajectory(SPRT)and spatial contour offset trajectory(SCOT)are combined to establish V-shaped welding layer to achieve rapid heat dissipation during welding process.At the same time,on the basis of establishing the analytical expressions of the trajectory equations,the advantages and disadvantages of the SPRT and the SCOT and the traditional layer-by-pass welding are compared and analyzed by Simufact Welding and MATLAB simulation software.To further verify the feasibility,the FANUC industrial robot was used for experiments.The simulation and test results show that based on the deformation of the parts in the y and z axis directions,the SPRT and SCOT are better than the traditional layer-by-layer welding method,and the SCOT is better than the SPRT.However,in the SPRT,the spatial pose adjustment of the robot end effector is relatively simple,the introduction error is small,and the control precision is high during the orbit transformation process,which is more suitable for narrow and short V-grooves;and the SCOT is more suitable for the wider and longer V-grooves.关键词
V形坡口/空间平行往复轨迹/空间轮廓偏置轨迹/焊道堆积/路径规划Key words
V-shaped grooves/spatial parallel reciprocal trajectory/spatial contour offset trajectory/weld stacking/path planning分类
矿业与冶金引用本文复制引用
刘志诚,康辉民,刘厚才,欧阳普仁,崔正杰,段良辉..弧焊机器人针对V形坡口的焊接路径规划设计与仿真分析[J].机械科学与技术,2024,43(3):457-465,9.基金项目
国家自然科学基金项目(51875198)与湘潭市联合基金项目(2021JJ50118) （51875198）
