第59卷第9期2023年5月机械工程学报JOURNALOFMECHANICALENGINEERINGVol.59No.9May2023DOI：10.3901/JME.2023.09.012爬壁机器人焊缝高效修形技术研究*陈咏华1孙振国1,2张文1陈强1,2(1.清华大学先进成形制造教育部重点实验室北京100084；2.浙江清华长三角研究院嘉兴314006)摘要：针对大型容器建造过程中焊缝余高打磨效率低、质量不稳定、自动化程度低等问题，首先应用力学原理探讨了加工力大小及方向对爬壁式焊缝修形机器人影响，优化了爬壁机器人焊缝修形刀具姿态等条件。在此基础上进一步通过切削反力及修形效率的建模分析，提出了一种适用于爬壁机器人的焊缝修形“锉铣”新技术，设计并研制了相应的“锉铣”刃具和焊缝修形爬壁机器人系统；实验结果表明，机器人系统能对焊缝余高进行高效切削，且加工质量优于国家和行业标准的相关规定，同时还较传统加工方法显著改善了生产环境。关键词：爬壁机器人；焊缝修形；力学分析；切削刀具中图分类号：TP242ResearchonHighEfficiencyWeldModificationTechnologyforWall-climbingRobotCHENYonghua1SUNZhenguo1,2ZHANGWen1CHENQiang1,2(1.KeyLaboratoryforAdvancedMaterialsProcessingTechnologyofMinistryofEducation,TsinghuaUniversity,Beijing100084;2.YangtzeDeltaRegionInstituteofTsinghuaUniversity,Jiaxing314006)Abstract：Inordertoimprovetheefficiency,qualityandautomationofweldreinforcementgrindingintheprocessoflargevesselsmanufacturing,theinfluenceoftheamplitudeanddirectionofmachiningforceonthewall-climbingrobotforweldmodificationisdiscussedbyusingtheprincipleofmechanics,andtheconditionssuchasthepostureoftheweldcuttingtoolareoptimized.Then,throughthemodelingandanalysisofcuttingreactionforceandmodificationefficiency,anovel"filing-milling"weldmodificationtechnologysuitableforwall-climbingrobotisproposed,andthecorresponding"milling-filing"cuttingtoolsandthewall-climbingrobotsystemaredesignedanddeveloped.Theexperimentalresultsshowthattherobotsystemcancuttheweldreinforcementefficiently,andthemachiningqualityisbetterthantherelevantprovisionsofnationalandindustrialstandards.Moreover,theproductionenvironmenthasbeensignificantlyimprovedcomparedwiththetraditionalmethods.Keywords：wall-climbingrobot；weldmodification；me...
