管道喷涂机器人:结构与位姿调整

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.

Pipeline spraying robot: structure and pose adjustment

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.