重型压力容器马鞍形焊缝焊接机器人设计分析

Design Analysis of Saddle Weld Welding Robot for Heavy Pressure Vessels

设计和研究了一种适用于重型压力容器马鞍形焊缝焊接机器人。利用几何方法建立了马鞍形焊缝数学模型,为焊接机器人机构设计与运动学仿真提供了理论依据。介绍了焊接机器人本体机构组成与工作原理,并对机器人本体机构进行了设计。利用Solidworks软件建立焊接机器人虚拟样机,并将其导入Adams软件进行运动学仿真。对优化后的焊接机器人进行焊接试验,试验结果表明焊接机器人焊接质量稳定,能够满足重型压力容器马鞍形焊缝焊接作业要求。

A type of saddle weld welding robot suitable for heavy pressure vessels is designed and studied in this paper. The mathematical model of saddle weld is established with geometric method,which provides a theoretical basis for the design and kinematics simulation of welding robot mechanism. The composition and working principle of the welding robot body mechanism are introduced,and the robot body mechanism is then designed. The virtual prototype of the welding robot is built by using the Solidworks software and is then imported into the Adams software for kinematics simulation. The welding experiments on the optimized welding robot are carried out. The test results show that the welding robot has stable welding quality and can meet the requirements of the saddle weld welding operation of heavy pressure vessels.