管道喷涂机器人:结构与位姿调整

陈友东; 季旭东; 汤伟

doi:10.13700/j.bh.1001-5965.2014.0163

管道喷涂机器人:结构与位姿调整

doi: 10.13700/j.bh.1001-5965.2014.0163

1.
北京航空航天大学机械工程及自动化学院, 北京 100191
2. 合肥工业大学机械学院, 合肥 230051

基金项目: 国家科技支撑计划资助项目(2012BAF06B01); 北京市重大科技成果产业化项目(Z131100006413029)

详细信息

通讯作者:
陈友东(1973—), 男, 安徽庐江人, 副教授, chenyd@buaa.edu.cn, 主要研究方向为工业机器人.

中图分类号: TP242
计量
- 文章访问数: 1364
- HTML全文浏览量: 69
- PDF下载量: 783
- 被引次数: 0
出版历程
- 收稿日期: 2014-03-27
- 网络出版日期: 2015-02-20

Pipeline spraying robot: structure and pose adjustment

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. School of Mechanical, Hefei University of Technology, Hefei 230051, China

摘要

摘要: 针对工业上大型管道内壁喷涂的需求,设计了用于喷涂管道的机器人,该机器人采用串并联结构形式,由支撑平台和串联机械手组成.支撑平台采用几何的方法建立数学模型,串联机械手采用D-H参数法建模;并在数学模型基础上给出了逆解方程.位姿调整时,对机器人进行初定位,利用激光跟踪仪测量出管道和机器人的位姿,求解出调整量,对机器人进行位姿调整,使喷枪旋转轴和管道轴线重合.管道喷涂机器人在工厂进行试验测试,测试结果表明该装备可以很好地实现管道的喷涂,提高喷涂质量和效率.
- 异型管道 /
- 喷涂 /
- 机器人 /
- 位姿调整 /
- 串并联结构
Abstract: To meet the demand of large allotype pipelines inner wall spraying, a pipeline spraying robot with series and parallel structure was designed, which consisted of a support platform and a series manipulator. The support platform was modeled by geometric method. The manipulator was analyzed by D-H method. Based on the robot model, inverse equations were obtained. After the robot was positioned initially, the robot and pipeline poses were measured by laser tracker. The adjustments were calculated by the inverse equations. According to the adjustments, the robot was adjusted so that the axis of the pipeline coincided with the axis of the spray gun. Through the implemented by the manufacturing plant, the effectiveness of the pipeline spray robot and the method of the pose adjustment were confirmed, and the results show that the robot can improve the efficiency and the quality of spray.
- allotype pipelines /
- spray /
- robot /
- pose adjustment /
- series and parallel structure

HTML全文

参考文献(20)

[1]	陈雁,邵君奕, 张传清,等.复杂管道喷涂系统研制[J].机械设计与制造,2009(11):1-3. Chen Y,Shao J Y,Zhang C Q,et al.Development of spraying system for complex duct[J].Mechanical Design and Manufacturing,2009(11):1-3(in Chinese).
[2]	曾勇. 大型复杂自由曲面的喷涂机器人喷枪轨迹优化研究[D].兰州:兰州理工大学,2011. Zeng Y.The research of the spray gun's trajectory optimization of spraying robot which sprays large complex free surface[D].Lanzhou:Lanzhou University of Technology,2011(in Chinese).
[3]	Cho C S, Kim J D,Lee S G,et al.A study on automated mobile painting robot with permanent magnet wheels for outer plate of ship[J].Robotics(ISR),2013,44:1-4.
[4]	王站中,张大卫, 安艳松,等.非球形手腕6R串联型喷涂机器人逆运动学分析[J].天津大学学报,2007,40(6):665-670. Wang Z Z,Zhang D W,An Y S,et al.Inverse kinematics analysis of the 6R serial spraying manipulator with non-spherical wrist[J].Journal of Tianjin Univerity,2007,40(6):665-670(in Chinese).
[5]	李抗战,李培哲. FANUC机器人喷涂系统在重卡驾驶室上的应用[C]//第十四届全国涂料涂装技术信息交流会暨交通用涂料涂装技术研讨会,2011,5:105-124. Li K Z,Li P Z.The application of FANUC robotics spraying system in heavy card bridge[C]//The 14th National Paint Coating Technical Information Exchange and Traffic with Paint Coating Technology Seminar,2011,5:105-124(in Chinese).
[6]	张微微. 6-DOF串联机器人动力学性能指标分析与仿真[D].秦皇岛:燕山大学,2007. Zhang W W.6-DOF serial robot dynamics performance index analysis and simulation[D].Qinhuangdao:Yanshan University,2007(in Chinese).
[7]	Alessandro G,Renato V, Daniele P,et al.Automatic path and trajectory planning for robotic spray painting[J].Robotics,2012:1-6.
[8]	Okamoto J, Adamowski J C,Tsuzuki M S G,et al.Autonomous system for oil pipelines inspection[J].Meehatronics,1999,9(7): 731-743.
[9]	刘晓洪,郑毅, 高隽恺,等.新型蠕动式气动微型管道机器人[J].液压气动与密封,2007(1):16-18. Liu X H,Zheng Y,Gao J K,et al.New type of creeping type pneumatic micro in-pipe robot[J].Hydraulics Pneumatics & Seals,2007(1):16-18(in Chinese).
[10]	Chen Y, Shao J Y,Zhang C Q,et al.Redundant-robot-based painting system for variable cross-section S-shape pipe[J].Reconfigurable Mechanisms and Robots,2009:743-749.
[11]	Liu T, Zhang B,Jia J X.Electromagnetic navigation system design of the green house spraying robot[J].Mechanic Automation and Control Engineering(MACE),2011:2140-2144.
[12]	栾振兴. 一种S型管道喷涂机器人的结构设计与分析[D].北京:北京邮电大学,2010. Luan Z X.The design and analysis of an s-shaped pipe spraying robot structure[D].Beijing:Beijing University of Posts and Telecommunications,2010(in Chinese).
[13]	马青华,付大海. 船舶热力管道的腐蚀与防护[J].现代涂料与涂装,2004(1):10-12. Ma Q H,Fu D H.Corrosion and protection of heat distribution pipelines of ships[J].Modern Paint and Finishing,2004(1):10-12(in Chinese).
[14]	郑克敏,朱金荣, 沈良,等.椭圆异型管的研制和开发[J].上海煤气,2000(4):1-10. Zheng K M,Zhu J R,Shen L,et al.The research and development of elliptic section tube[J].Shanghai Gas,2000(4):1-10(in Chinese).
[15]	郭永鑫,杨开林, 郭新蕾,等.大型管道输水系统充水过程滞留气泡对输水能力的影响[J].水利学报,2013,3(3):262-267. Guo Y X,Yang K L,Guo X L,et al.Effect analysis of the detained air pockets to the conveyance capacity in large-scale pipelines[J].Journal of Hydraulic Engineering,2013,3(3):262-267(in Chinese).
[16]	Luo Z S, Wang X W,Yang H.Analytic study based on failure effects model of adjacent oil pipeline[J].Management Science and Engineering,2009:271-276.
[17]	陈雁,邵君奕, 张传清,等.复杂管道喷涂系统研制[J].机械设计制造,2009,11(11):1-3. Chen Y,Shao J Y,Zhang C Q,et al.Development of spraying system for complex duct[J].Machinery Design & Manufacture,2009,11(11):1-3(in Chinese).
[18]	Bennett T, Kakuda T,Kulkarni A,et al.Front surface thermal property measurements of air plasma spray coatings[J].Journal of Applied Physics,2009:105(8):083501.
[19]	安永植,安永辰. 机器人位姿误差校正方法[J].哈尔滨工业大学学报,1993,25(1):77-82. An Y Z,An Y C.The method of robot pose error correction[J].Journal of Harbin Institute of Technology University,1993,25(1): 77-82(in Chinese).
[20]	He C,Olds K, Iordachita I,et al.A new ENT microsurgery robot:error analysis and implementation[C]//Proceedings-IEEE International Conference on Robotics and Automation,2013:1221-1227.