狭小空间旋转电弧传感四轮驱动全轮转向移动焊接机器人关键技术研究

项目名称： 狭小空间旋转电弧传感四轮驱动全轮转向移动焊接机器人关键技术研究

项目编号： No.51265036

项目类型： 地区科学基金项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 毛志伟

作者单位： 南昌大学

项目金额： 49万元

中文摘要： 移动机构和焊缝跟踪传感器是实现移动焊接的首要关键技术。针对大型焊件中存在的大量狭小空间焊缝难以焊接问题，在所研发的多个移动焊接机器人及国内外移动机器人基础上，提出一种以旋转电弧传感的新型四轮驱动全轮转向磁吸附式全位置移动机器人机构。首先对机器人机构进行运动学和动力学分析,无滑移运动参数；其次对提出的新型磁吸附系统进行磁场与力场分布规律研究，并通过三维数值仿真与优化及磁吸附试验，提高磁能利用率的同时解决磁吸附时间隙增大后吸附力迅速下降问题。针对运动准确性、灵活性与负载力的难点，提出一种复合橡胶磁轮结构，通过三维磁场数值仿真与优化及轮子动力试验，研究其磁场分布、轮子结构与其摩擦力、灵活性关系，为设计最优轮子结构提供依据。 考虑焊接熔池受重力影响，研究高速旋转电弧传感器全位置焊的数学模型及特征平面法焊枪空间姿态检测修正算法，进行全位置焊旋转电弧传感焊枪空间姿态识别。

中文关键词： 旋转电弧传感器；轮式移动焊接机器人；焊接工艺参数优化；焊缝跟踪；焊接温度场与应力场

英文摘要： Mobile mechanism and seam tracking sensor is the primary and key technology in realization of mobile welding.There are a large number of welding seam in narrow space of large weldments. It is difficult for worker to weld these seams. Based on the research and development of mobile welding robots and mobile robots at home and abroad, a new type of four-wheel- drived mobile robot mechanism has been put forward. This robot adopts full-wheel steering and permanent magnetic adsorption technology. What's more, this robot takes rotating arc sensor as seam tracking sensor.Firstly, the analysis on kinematics and dynamics of the robot mechanism were carried on. Some motion parameters which make the robot move without slip will be figures out.Secondly, in order to resolve the problem of attractive force decreasing rapidly with the increase of the air gap and the improvement of magnetic utilization , the research on distribution law of the magnetic field and stress field about the new-type permanent magnetic adsorption system has been carried out. What's more, three-dimensional numerical simulation and optimization and relative experiment has been carried out. As to the difficulties of motion accuracy、flexibility and load force, a new magnetic wheel structure which mix with the rubber has been put forward. In order to lear

英文关键词： rotating arc sensor；wheeled mobile welding robot；welding parameters optimization；weld seam tracking；welding temperature field and stress field