液压支架连杆机器人焊接工作站自动定心机构设计

Design of automaticcentering mechanism for link robot welding workstation of hydraulic support

针对现有液压支架连杆机器人焊接工作站中机器视觉拍照易受盖板切割熔边、氧化皮及车间粉尘影响,设计了一种替代机器视觉系统的长行程连杆盖板定心机构,主要有主体框架、驱动机构、定心模块、支撑模块、控制系统、护罩及周边附件组成,该机构采用单动力双向定心方式,并配合伺服控制系统实现连杆盖板的精确定心。通过实际焊接生产试验表明,不同外形尺寸的连杆盖板,定心机构的定心精度均≤0.5 mm,实测连杆盖板拼装后最大单边间隙为2 mm,满足焊接要求;随着盖板长宽比增大,盖板刚性逐渐减弱并出现了立弯现象,导致连杆盖板两侧最大拼装间隙差值有增大趋势;在拼装间隙≤2 mm时,机器人焊接过程稳定、焊缝成形美观;连杆盖板定心机构定心精度高、适应性强,具有很强的实用价值。

A kind of link long journey cover plate centering mechanism was designed to solve the difficulty,which the machine vision are susceptible to cover plate cutting edge,oxide skin and dust in workshop,in existing hydraulic support link robot welding workstation.It is mainly made up of the main body frame,driving mechanism,centering module,supporting module,control system,shield and peripheral accessories.It adopts a special mechanism which can achieve two directions centering by one direction power,with servo control system to achieve precise centering of link cover plate.The actual welding production test shows that the centering accuracy of centering mechanism is no more than 0.5 mm for link cover plates with different shapes and sizes,and the maximum unilateral clearance of link cover plates after assembly is measured to be 2 mm,meeting the welding requirements.With the increase of the length-width ratio of the cover plate,the rigidity of the cover plate gradually weakens and the phenomenon of vertical bending occurs,which leads to the increase of the maximum gap difference between the two sides of the link cover plate.At the assembly gap of 2 mm,the robot welding process is stable and the cover plate weld seam is good.The link cover plate centering mechanism has high centering accuracy,strong adaptability and high practical value.