防护栏自动焊接系统的设计及误差分析补偿
彭博，熊瑞平，刘悦沆，陈贵全，侯俊逵
（四川大学 机械工程学院，四川 成都 610065）
摘要：针对防护栏焊接的劳动强度大、焊接效率低、焊接质量低等问题，基于PLC的控制，设计一种将防护栏进行定位装夹后再焊接的防护栏自动焊接系统。装夹机构和焊枪根据防护栏型号和尺寸的不同进行相应的调整，使得该系统能够对多种型号与尺寸的防护栏进行定位装夹和自动焊接。同时通过对焊接系统的机械结构进行误差分析，得出误差函数以及曲线，再通过控制系统对误差函数的处理和控制移动机构对误差进行补偿，保证系统能够精准焊接。实践证明，该系统具有焊接效率高、操作简单、焊接质量好等优点。
关键词：防护栏；自动焊接；误差补偿
中图分类号：TG439.9 文献标志码：A doi：10.3969/j.issn.1006-0316.2021.06.008
文章编号：1006-0316 (2021) 06-0048-06
Design and Error Analysis Compensation of Automatic Welding System for Guardrails
PENG Bo，XIONG Ruiping，LIU Yuehang，CHEN Guiquan，HOU Junkui
( School of Mechanical Engineering, Sichuan University, Chengdu 610065，China )
Abstract：In order to solve the problems of high labor intensity, low welding efficiency and low welding quality of protective fence welding, an automatic welding system for guardrails in which the guardrails are positioned and clamped before welding is designed based on the PLC. The clamping mechanism and welding gun are adjusted according to the different types and sizes of the guard rails, so that the system can position, clamp and weld the guard rails of various types and sizes automatically. At the same time, through the error analysis of the mechanical structure of the welding system, the error function and curve are obtained, and then the error is compensated through the error function processed by the control system and the control of the moving mechanism to ensure that the system can accurately weld. It shows that the system has the advantages of high welding efficiency, simple operation and good welding quality.
Key words：guardrails；automatic welding；error compensation
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收稿日期：2020-10-14
基金项目：四川省重点研发项目—智能涂装产线关键技术的开发与集成（2020YFG0119）；四川省智能制造与机器人重大专项课题—工业机器人成套装备研制与应用（2019ZDZX0019）
作者简介：彭博（1994－），男，四川德阳人，硕士研究生，主要研究方向为机器人自动焊接，E-mail：8804786@qq.com。
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