移动焊接装备机械臂设计与分析

发布时间：2018-06-10 18:48

本文选题：移动焊接机器人 + 机构分析　；参考：《沈阳理工大学》2015年硕士论文

【摘要】：焊接是机械制造中的重要生产工艺。随着国民经济的快速发展,越来越多的机器人被用于焊接生产。机器人代替工人进行焊接工作不仅改善了工人的工作环境,而且可以保证生产质量的稳定性。针对船舶、工程机械和机床等大型结构件的焊接机器人设备却较少。这类大型结构件的焊缝通常长达数十米,焊缝直线度及坡口加工质量较差。现有基于大型机器人工作站的生产模式,不仅设备成本及生产成本高昂,而且设备适应性较差,也逐渐不能满足国内的市场需求。与传统的大型机器人工作站相比,移动焊接具有设备成本低,操作灵活和适应性强等优点。为此,本文面向大型结构件直线焊缝移动焊接设备,根据生产需求,对机械臂类型进行综合。在此基础上,基于三维软件,设计并优化机械臂结构。该项研究对移动焊接机器人的原理设计及工程化应用具有现实意义。本文具体包括以下几个组成部分:首先,本文分析总结了焊接工业机器人以及移动焊接机器人的国内外发展现状,根据移动焊接机器人的研究现状,确定本文的研究内容。其次,根据焊接工艺需求分析,以及机构自由度分析,提出了三种适合本设计的机构形式,分别对上述三种机构进行了运动学理论分析以及运动学仿真验证,根据分析结果确定了适合本设计的机构形式。再次,基于工艺需求分析以及仿生学原理对机构进行尺度综合,确定各连杆尺寸;确定该机器人的驱动方式,对各关节几种传动方案进行比较,确定了合理的传动方式,最终完成了该机械臂的结构设计,并在三维软件中完成了焊接机械臂的虚拟装配。最后,基于有限元分析方法对本设计中机械臂的各部件进行了静力学分析,分析了各结构部件应力和应变情况,验证结构设计的合理性;结合虚拟样机技术,在给定各关节速度的情况下,观察各关节在运动过程中受力情况,完成了该机械臂的动力学分析。
[Abstract]:Welding is an important production process in mechanical manufacturing. With the rapid development of national economy, more and more robots are used in welding production. Robot welding instead of workers not only improves the working environment but also ensures the stability of production quality. The welding robot equipment for large structural parts such as ships, construction machinery and machine tools is less. The welds of this kind of large structures are usually tens of meters long and the welds straightness and groove machining quality are poor. The existing production mode based on large robot workstation is not only expensive in equipment cost and production cost, but also poor in adaptability, and can not meet the domestic market demand gradually. Compared with the traditional robot workstation, mobile welding has the advantages of low cost, flexible operation and strong adaptability. For this reason, this paper synthesizes the type of manipulator according to the production demand for the moving welding equipment of large structural parts. On this basis, the structure of the manipulator is designed and optimized based on three-dimensional software. This research has practical significance for the principle design and engineering application of mobile welding robot. This paper includes the following parts: firstly, this paper analyzes and summarizes the development of welding industry robot and mobile welding robot at home and abroad, according to the research status of mobile welding robot, determines the research content of this paper. Secondly, according to the requirement analysis of welding process and the analysis of the degree of freedom of the mechanism, three kinds of mechanisms suitable for this design are put forward, and the kinematics theory analysis and kinematics simulation of the three mechanisms are carried out respectively. According to the analysis results, the mechanism form suitable for this design is determined. Thirdly, based on the process requirement analysis and bionics principle, the dimensions of each linkage are determined, and the driving mode of the robot is determined. The reasonable transmission mode is determined by comparing several transmission schemes of each joint. Finally, the structure design of the manipulator is finished, and the virtual assembly of the welding manipulator is completed in three-dimensional software. Finally, based on the finite element analysis method, the static analysis of the mechanical arm components in this design is carried out, and the stress and strain of the structural components are analyzed to verify the rationality of the structure design, and the virtual prototyping technology is used to verify the rationality of the structure design. Given the velocity of each joint, the dynamic analysis of the manipulator is completed by observing the force of each joint in the course of motion.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG43;TP241

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