爬壁机器人焊缝高效修形技术研究

doi:10.3901/JME.2023.09.012

机械工程学报 ›› 2023, Vol. 59 ›› Issue (9): 12-19.doi: 10.3901/JME.2023.09.012

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爬壁机器人焊缝高效修形技术研究

陈咏华¹, 孙振国^1,2, 张文¹, 陈强^1,2

1. 清华大学先进成形制造教育部重点实验室北京 100084;
2. 浙江清华长三角研究院嘉兴 314006

收稿日期:2022-06-13 修回日期:2022-10-24 出版日期:2023-05-05 发布日期:2023-07-19
通讯作者: 陈强(通信作者),男,1956年出生,博士,教授,博士研究生导师。主要研究方向为机器人技术及工程应用,焊接自动化及智能化等。E-mail:chenq@tsinghua.edu.cn E-mail:chenq@tsinghua.edu.cn
作者简介:陈咏华,男,1977年出生,博士研究生。主要从事焊接特种机器人研究。E-mail:chen-yh15@mails.tsinghua.edu.cn
基金资助:
苏州-清华创新引领行动专项资助项目(2016SZ0218)。

Research on High Efficiency Weld Modification Technology for Wall-climbing Robot

CHEN Yonghua¹, SUN Zhenguo^1,2, ZHANG Wen¹, CHEN Qiang^1,2

1. Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Tsinghua University, Beijing 100084;
2. Yangtze Delta Region Institute of Tsinghua University, Jiaxing 314006

Received:2022-06-13 Revised:2022-10-24 Online:2023-05-05 Published:2023-07-19

摘要/Abstract

摘要： 针对大型容器建造过程中焊缝余高打磨效率低、质量不稳定、自动化程度低等问题,首先应用力学原理探讨了加工力大小及方向对爬壁式焊缝修形机器人影响,优化了爬壁机器人焊缝修形刀具姿态等条件。在此基础上进一步通过切削反力及修形效率的建模分析,提出了一种适用于爬壁机器人的焊缝修形"锉铣"新技术,设计并研制了相应的"锉铣"刃具和焊缝修形爬壁机器人系统;实验结果表明,机器人系统能对焊缝余高进行高效切削,且加工质量优于国家和行业标准的相关规定,同时还较传统加工方法显著改善了生产环境。

关键词: 爬壁机器人, 焊缝修形, 力学分析, 切削刀具

Abstract: In order to improve the efficiency, quality and automation of weld reinforcement grinding in the process of large vessels manufacturing, the influence of the amplitude and direction of machining force on the wall-climbing robot for weld modification is discussed by using the principle of mechanics, and the conditions such as the posture of the weld cutting tool are optimized. Then, through the modeling and analysis of cutting reaction force and modification efficiency, a novel "filing-milling" weld modification technology suitable for wall-climbing robot is proposed, and the corresponding "milling-filing" cutting tools and the wall-climbing robot system are designed and developed. The experimental results show that the robot system can cut the weld reinforcement efficiently, and the machining quality is better than the relevant provisions of national and industrial standards. Moreover, the production environment has been significantly improved compared with the traditional methods.

Key words: wall-climbing robot, weld modification, mechanical analysis, cutting tool

中图分类号:

TP242

陈咏华, 孙振国, 张文, 陈强. 爬壁机器人焊缝高效修形技术研究[J]. 机械工程学报, 2023, 59(9): 12-19.

CHEN Yonghua, SUN Zhenguo, ZHANG Wen, CHEN Qiang. Research on High Efficiency Weld Modification Technology for Wall-climbing Robot[J]. Journal of Mechanical Engineering, 2023, 59(9): 12-19.

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爬壁机器人焊缝高效修形技术研究

Research on High Efficiency Weld Modification Technology for Wall-climbing Robot

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