机器人搅拌摩擦焊接力-位混合控制的应用研究

doi:10.3901/JME.2023.08.091

机械工程学报 ›› 2023, Vol. 59 ›› Issue (8): 91-98.doi: 10.3901/JME.2023.08.091

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机器人搅拌摩擦焊接力-位混合控制的应用研究

辛杨桂^1,2, 高世一^1,2, 赵运强^1,2, 李苏^1,2, 徐望辉^1,2, 余陈^1,2

1. 广东省科学院中乌焊接研究所广州 510651;
2. 广东省现代焊接技术重点实验室广州 510651

收稿日期:2022-01-09 修回日期:2022-10-29 出版日期:2023-04-20 发布日期:2023-06-16
通讯作者: 高世一,男,1973年出生,博士,教授级高级工程师。主要研究方向为机械自动化,焊接装备开发及控制软件系统开发。E-mail:gaosy@gwi.gd.cn
作者简介:辛杨桂,男,1986年出生,高级工程师。主要研究方向为机器人自动化焊接装备开发、智能化控制和控制系统软件开发。E-mail:13922775455@163.com
基金资助:
国家重点研发计划资助项目(2020YFE0205300)

Research and Application of Force-position Mixed-control of Robotic Friction Stir Welding

XIN Yang-gui^1,2, GAO Shi-yi^1,2, ZHAO Yun-qiang^1,2, LI Su^1,2, XU Wang-hui^1,2, YU Chen^1,2

1. China-Ukraine Institute of Welding, Guangdong Academy of Sciences, Guangzhou 510651;
2. Guangdong Provincial Key Laboratory of Advanced Welding Technology, Guangzhou 510651

Received:2022-01-09 Revised:2022-10-29 Online:2023-04-20 Published:2023-06-16

摘要/Abstract

摘要： 阐述了机器人搅拌摩擦焊接力-位混合控制系统的组成、上位机系统和数据总线控制系统,并分别详细地介绍了下压力控制、位置控制和力-位混合控制的原理和方法。利用机器人提供的RSI接口,基于C++语言开发了一套适用于机器人搅拌摩擦焊接的上位机系统,实现了上位机系统、机器人系统、PLC控制系统和焊缝跟踪系统的数据通信,并对机器人系统和焊缝跟踪系统进行二次开发。开发的力-位混合控制系统,力控精度达到±10%以内,位置控制精度大于0.5mm/m,实现了焊接过程恒力的控制和焊接位置的自动纠正,较好地解决了由于抖动和机器人刚度差引起的焊缝质量差的问题。应用结果表明,开发的上位机系统使得编程更简单,设备监控和数据管理更全面,应用力-位混合控制的焊接过程具有下轧平稳、下压力控制精度高和焊缝跟随性好等优点。

关键词: 机器人搅拌摩擦焊, 二次开发, 力-位混合控制, 焊缝跟踪, 控制系统

Abstract: The composition, PC system and data bus control system of force-position mixed-control of robotic friction stir welding were studied, and the principles and methods of down-force control, position control and force-position mix-control were introduced in detail. Based on the RSI interface of robot and C++ language, a host computer and control system for robotic friction stir welding was developed, the data communication of PC system, robotic system, PLC control system and seam tracking system was realized,and the second developed of robotic system and seam tracking system was realized. The force accuracy and the position accuracy of this force-position mixed-control were up to ±10% and 0.5 mm/m respectively. The constant force control and position auto-correction of welding-process was realized, which solved the problem of poor weld quality caused by jitter and poor rigidity of the robot. The application results show that the developed PC system makes the programming easier, the equipment monitoring and data management more comprehensive, and the welding process with force-position mixed-control has the advantages of smooth down rolling, high control accuracy of down-pressure and good seam following.

Key words: robot friction stir welding, secondary developed, force-position mixed-control, seam tracking, control system

中图分类号:

TG439

辛杨桂, 高世一, 赵运强, 李苏, 徐望辉, 余陈. 机器人搅拌摩擦焊接力-位混合控制的应用研究[J]. 机械工程学报, 2023, 59(8): 91-98.

XIN Yang-gui, GAO Shi-yi, ZHAO Yun-qiang, LI Su, XU Wang-hui, YU Chen. Research and Application of Force-position Mixed-control of Robotic Friction Stir Welding[J]. Journal of Mechanical Engineering, 2023, 59(8): 91-98.

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机器人搅拌摩擦焊接力-位混合控制的应用研究

Research and Application of Force-position Mixed-control of Robotic Friction Stir Welding

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