河北水利电力学院学报

河北水利电力学院学报 ›› 2025, Vol. 35 ›› Issue (3): 14-21.DOI: 10.16046/j.cnki.issn2096-5680.2025.03.003

• 人工智能与机器人 • 上一篇    下一篇

超声波焊接工业机器人结构和控制系统设计

周利杰1,2, 黄发1,2, 柴春林1,2, 孔竣1,2   

  1. 1.河北水利电力学院机械工程系,河北省沧州市运河区黄河西路49号 061001;
    2.河北省工业机械手控制与可靠性技术创新中心,河北省沧州市运河区黄河西路49号 061001
  • 收稿日期:2024-10-16 修回日期:2024-11-13 发布日期:2025-10-09
  • 作者简介:周利杰(1988-),男,河北沧州人,硕士,讲师,主要从事机器人技术、智能控制相关研究工作。E-mail:zhoulijie@hbwe.edu.cn
  • 基金资助:
    河北省教育厅科学研究资助项目(QN2021226)

Design of Structure and Control System of Ultrasonic Welding Industrial Robot

ZHOU Lijie1,2, HUANG Fa1,2, CHAI Chunlin1,2, KONG Jun1,2   

  1. 1. Department of Mechanical Engineering, Hebei University of Water Resources and Electric Engineering, 061001, Cangzhou, Hebei, China;
    2. Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei, 061001, Cangzhou, Hebei, China
  • Received:2024-10-16 Revised:2024-11-13 Published:2025-10-09

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摘要： 针对传统台架式超声波焊接设备焊头更换不便、不能实现空间多焊点作业、焊接压力控制精度差的问题,将超声波焊接模块与工业机器人进行结合,完成超声波焊接模块的机械结构设计,并对机器人的工作空间进行了分析,在此基础上开发了超声波焊接工业机器人的控制系统和人机交互系统。最后,利用汽车车门内饰板进行焊接实验。结果表明:超声波焊接工业机器人结构合理,能够快速便捷地更换焊头,在r<1500mm的工作空间内可达性较好;控制系统和人机交互系统工作可靠,焊接压力控制精度能够达到1N,人机交互系统清晰流畅,最大能够满足30个空间焊点的参数设置。该设备能够较好地完成车门内饰板的超声波焊接,同时具有更换焊头便捷、适合空间多焊点作业、焊接压力控制精度高、可集成性高等优点。

关键词: 超声波焊接, 工业机器人, 多焊点作业, 焊接压力控制

Abstract: To address the issues of inconvenient welding head replacement, inability to perform multi-welding spot operations in space, and poor welding pressure control accuracy of traditional bench-type ultrasonic welding equipment, a method of combining the ultrasonic welding module with an industrial robot was employed. Firstly, the mechanical structure design of the ultrasonic welding module was carried out, and the working space analysis of the robot was conducted. Secondly, the control system and human-computer interaction system of the ultrasonic welding industrial robot were designed. Finally, a welding verification experiment was performed using the interior panel of a car door. The results indicated that the structural design of the ultrasonic welding industrial robot was reasonable. It could rapidly replace the welding head. The ultrasonic welding industrial robot had good accessibility within a space with a radius of r<1500mm. The control system and human-computer interaction system of the ultrasonic welding industrial robot were reliable in operation. The welding pressure control accuracy can reach 1N. The human-computer interaction system was clear and smooth, and it could set parameters of up to 30 spatial welding spots at most. This equipment could realize the ultrasonic welding of the interior panel on a door. This equipment had the advantages of convenient welding head replacement, availability for multi-welding spot operations in space, high welding pressure control accuracy, and high integrability.

Key words: ultrasonic welding, industrial robot, multi-welding spot operation, welding pressure control

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