管道全位置焊接机器人导轨设计优化

发布时间：2018-03-26 02:30

本文选题：环形导轨　切入点：卡氏定理　出处：《机械设计与制造》2017年01期

【摘要】：管道全位置焊接机器人环形导轨的刚度与质量是一对矛盾,刚度不足会影响焊接小车运行的稳定性,要保证刚度就可能增加导轨质量,从而降低设备的易用性,通过提出一种轨道厚度和支撑个数的选择表法,来解决这一问题。首先运用能量法中的卡氏定理和虚功原理建立了导轨的径向的变形和所受应力与导轨厚度和支撑个数的解析模型。其次通过考量实际制造加工的成本和精度要求,绘制导轨厚度和支撑个数的选择表,为轨道厚度和支撑数的选取提供依据。最后基于ANSYS与ADAMS刚柔耦合仿真平台,对依据此选择表选取相应设计参数的导轨模型进行仿真验证,证明本设计方法对于指导环形导轨的设计有一定参考价值。
[Abstract]:The stiffness and mass of the circular guide rail of the pipeline welding robot is a pair of contradictions. The lack of stiffness will affect the stability of the welding trolley operation. To ensure the stiffness, the quality of the guide rail may be increased, thus the ease of use of the equipment will be reduced. In this paper, a method of selecting track thickness and number of supports is presented. In order to solve this problem, the radial deformation, stress, thickness and number of support of the guide rail are established by using the Carson theorem and the virtual work principle in the energy method. Secondly, by considering the actual manufacture and processing, the analytical model of the radial deformation of the guide rail and the thickness of the guide rail and the number of supports are established. Cost and precision requirements, The selection table of guide rail thickness and support number is drawn to provide the basis for the selection of track thickness and support number. Finally, based on the ANSYS and ADAMS rigid-flexible coupling simulation platform, the guide rail model which selects the corresponding design parameters according to this selection table is simulated and verified. It is proved that this design method has certain reference value for guiding the design of annular guideway.
【作者单位】：中国科学院沈阳自动化研究所;中国科学院大学;
【基金】：江苏省自然科学基金-青年基金项目(SBK201241514)
【分类号】：TG457.6;TP242

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