四轴联动马鞍形焊接系统的枪姿误差分析

Error analysis of the torch posture in the saddle-shaped welding with the four-axis linkage system

针对接管、筒体的正交马鞍形曲线焊接,为了定量分析五轴联动马鞍形焊接系统(θr,,h,α,β)简化为四轴联动系统(θr,,h,β)的焊枪姿态误差,建立了马鞍形焊接运动系统的数学模型,运用空间解析几何原理推导出了简化后的焊枪前后倾角的误差公式。利用Matlab进行作图分析,得到了最大焊枪前后倾角与接管、筒体筒径比以及焊枪旋转角度之间的关系曲线。结果表明,正交马鞍形曲线焊接时,焊枪旋转角度和筒径比对最大的枪姿误差有直接影响,可为生产中合理选用四轴联动马鞍形焊接系统提供参考。

For the orthogonal saddle-shaped welding of the connection pipe and cylinder,a mathematical model of the saddle-shaped welding motion system is established in order to quantitative analyze the error of the welding torch posture of four-axis linkage system wilieh simplified from the five-axis linkage system.An error formula of welding tangential slope for torch posture is derived by utilizing the principle of the space analytic geometry.The mapping analysis is carried out by MATLAB,and then a relationship curve among the maximum of welding tangential slope ,the diameter ratio of connection pipe and cylinder,and the rotation of the torch is obtained. The results show that the maximum of welding tangential slope for torch posture is directly influenced by the rotation of the torch and the diameter ratio in the orthogonal saddle-shaped welding system.It can provide a reference when making a reasonable selection of the four-axis linkage in welding saddle-shaped system in producing.