机器人型TIG焊自动化工作站的设计与研究

Design and research of automatic TIG welding robot workstation

航天运载系统中的一些小尺寸薄壁件对焊缝质量要求较高,目前大多采用手工TIG焊,焊缝质量不稳定,易受人为因素影响。焊接机器人具有故障率低、焊接质量稳定的特点,设计了一种机器人型TIG焊自动化工作站,可实现自动化焊接、焊接参数可调,并具有弧长跟踪功能,能够自动调整焊枪高度,保证焊缝稳定。介绍工作站的总体设计和自动焊接功能的实现,详述弧长跟踪功能的实现方式,并通过直焊缝、环焊缝、方焊缝的焊接实验验证了自动焊接功能和弧长跟踪功能。

In the spaceflight delivery system,some small size thin-walled parts have high requirements for the weld quality. Manual TIG welding is usually used for these parts. The weld quality is unstable and is easily affected by human factors. Welding robot has the characteristics of low fault rate and stable welding quality. An automatic TIG welding robot workstation is designed. This workstation can realize automatic welding and adjustable welding parameters,and has the arc length tracking function and can automatically adjust the height of the welding gun to ensure the stability of the weld. The overall design of the machine and the realization of the automatic welding function are briefly introduced. The realization of the arc length tracking function is described in detail. The workstation performance is verified through welding experiments of straight weld,circumferential weld and square weld.