| 付晓龙，何建萍*，王付鑫.管-管相贯线机器人焊接枪体姿态的拟合[J].轻工机械,2015,33(3): |
| 管-管相贯线机器人焊接枪体姿态的拟合 |
| Fitting of Welding Gun Pose of Pipe-Pipe Intersection Line Welding by Robot |
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| DOI：I0. 3969/j . issn. 1005 -2895. 2015. 03. 007 |
| 中文关键词: 焊接机器人 相贯线焊缝 全位置焊接 MATLAB拟合 焊枪姿态 |
| 英文关键词:welding robot intersection line welding all-position welding MATLAB fitting welding gun pose |
| 基金项目:国家自然科学基金资助项目(51275283)；上海市科委基础研究重点资助项目(14JC1402700) |
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| 中文摘要: |
| 针对管一管相贯线机器人焊接焊缝，提出了其具有不一致的角焊缝和焊接接头深度的特点，指出了管一管相贯线
的全位置焊接对焊接机器人的要求，通过MATLAB分段拟合的方法得到机器人坐标系下6个轴的坐标与工件坐标系坐
标的关系曲线，即焊接机器人的枪体姿态，为后续通过对焊接机器人焊枪姿态的合理设定和工艺参数的优化来保证相贯
线焊缝的成形质量的研究奠定基础。 |
| 英文摘要: |
| The characteristics of the intersection line welding were presented in this paper, including inconsistent fillet
weld and inconsistent depth of welding joint. The requirement of all-position welding of the pipe-pipe intersecting line for
welding robot was put forward. The method of fragmented curve-fitting by MATLAB was used to fit the relation curve
between the coordinates of robot six axises in robot coordinate system and the coordinates in workpiece coordinate system
which was the welding gun pose of welding robot. This lay a foundation for the follow-up study that welding gun pose of
welding robot should be setted reasonablely and welding procedure parameters should be optimized to guarantee the
forming quality of intersection line welding. |
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