非完整约束水下焊接机器人运动控制及工艺参数协同机制研究

发布时间：2018-02-08 13:30

本文关键词： 水下焊接机器人运动学分析局部干法排水罩全位置焊接　出处：《北京化工大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着海洋活动及开发日益频繁,水下结构物种类繁多,有些钢构部件在水下长期服役中会出现失效损坏,需要及时修复。针对此种需求,本文提出了水下移动平台搭载焊接操作臂形式的水下焊接机器人模型,水下移动平台通过永磁体车轮吸附在钢结构表面并在其上移动行走,移动平台上搭载焊接操作臂,操作臂末端安装有局部排水罩,焊枪位于排水罩内,采用局部干法的焊接方式进行全位置焊接操作。本文分别对机器人的运动学和局部干法水下焊接所用的关键部件排水罩及焊接工艺进行研究,主要研究内容为：(1)对非完整约束的移动焊接机器人进行运动学建模,分别建立轮式移动平台和焊接操作臂的运动学模型,并计算运动学正逆解,进行轨迹控制研究,给出移动平台和焊接操作臂的规划轨迹和运动时间,通过逆解计算相应的运动参数,然后把计算的运动参数导入ADAMS进行仿真,模拟移动机器人大范围全位置的焊接轨迹。(2)针对水下全位置焊接对矩形排水罩的排水要求,利用FLUENT对典型空间位置角度的排水过程进行模拟,并根据模拟结果对排水罩结构形式进行优化,同时确定相应的排水速度和管路布置。按照模拟优化结果制作排水罩进行排水实验,验证了其可行性。(3)利用干式高压舱模拟水下干法焊接环境,在高压舱内进行了全位置焊接实验,获得典型位置的焊接参数,并基于获得的焊接参数进行数值拟合,得到焊接参数与位置的关系,为水下机器人焊接操作提供基础数据。(4)利用研制的水下移动焊接机器人,采用局部干法焊接方式进行平焊位置的焊接实验,获得成形良好焊缝。通过上述理论分析、仿真模拟及实验研究,验证水下移动焊接机器人能够满足全位置焊接的轨迹要求,更适合采用梯形结构排水罩进行局部干法焊接,同时初步具备进行水下大型钢结构焊接的可行性。
[Abstract]:With the increasing frequency of ocean activities and development and the wide variety of underwater structures, some steel components may be damaged during long service under water and need to be repaired in time. In this paper, a model of underwater welding robot in the form of welding manipulators is proposed. The underwater mobile platform is attached to the surface of steel structure by permanent magnet wheel and moved on the surface of the steel structure, and the moving platform carries the welding manipulator. A partial drain cover is installed at the end of the operating arm, and the welding torch is located in the drain cover. In this paper, the kinematics of the robot and the drainage cover and welding process of the key components used in the underwater welding of the robot are studied respectively. The main contents of this paper are: (1) Kinematics modeling of non-holonomic constrained mobile welding robot is carried out. The kinematics models of wheeled mobile platform and welding manipulator are established, and the kinematics inverse solution is calculated, and the trajectory control is studied. The planning trajectory and motion time of the moving platform and the welding manipulator are given. The corresponding motion parameters are calculated by inverse solution, and then the calculated motion parameters are imported into ADAMS for simulation. Aiming at the drainage requirement of underwater all-position welding to rectangular drainage cover, the drainage process of typical spatial position angle is simulated by FLUENT. According to the simulation results, the structure of the drainage cover is optimized, and the corresponding drainage speed and pipeline layout are determined. The feasibility of this method is verified by using dry high-pressure chamber to simulate the underwater dry welding environment. The all-position welding experiment is carried out in the high-pressure chamber, and the welding parameters of typical position are obtained, and the numerical fitting is carried out based on the obtained welding parameters. The relationship between welding parameters and position is obtained, which provides basic data for underwater vehicle welding operation. Through the theoretical analysis, simulation and experimental study, it is proved that the underwater mobile welding robot can meet the requirements of all position welding trajectory, and is more suitable for local dry welding with trapezoidal drain cover. At the same time, it is feasible to weld large steel structure under water.
【学位授予单位】：北京化工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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