多轴协同运动机器人焊接工作站设计

Design of Welding Station for Multi-Axis Coordinated Robot

为了满足大尺寸工件焊接范围大、作业困难、尺寸规格多等工艺要求,设计了由六轴工业机器人本体与两个外部轴相组合的焊接工作站。工作站中机器人轨道行走系统作为第七轴,伺服变位机作为第八轴,由机器人控制柜同时控制,实现八轴协同焊接作业。机器人本体采用倒挂式安装在行走轨道上,使机器人重心时刻处于工件正上方,从而以最佳姿态焊接工件。调节伺服变位机从动端,适应不同尺寸工件的夹紧固定要求,实现多规格工件的柔性生产。文中介绍了该焊接工作站的组成、基本工作原理、多轴协同控制等内容。现场实际运行结果表明:该工作站能够精准地实现多轴协同运动,较好地满足了大型工件对焊接工艺提出的高要求。

In order to meet the welding requirements of large-size workpieces,difficulty of operation and size requirements,a welding workstation consisting of a six-axis industrial robot with two external axes is designed. Robot track system is used as the seventh axis,the servo positioner is used as the eighth axis in the workstation,and the robot control cabinet is controlled at the same time to realize the eight-axis coordinated welding operation. The robot body is installed on the walking track in an upside-down manner,so that the robot’s center of gravity is just above the workpiece at the moment,so as to weld the workpiece in the best posture. Adjust the servo positioner driven end,to adapt to different sizes of workpiece clamping and fixing requirements,to achieve flexible multi-standard workpiece production. The paper introduces the composition of the welding station,the basic working principle,multi-axis coordinated control and so on. The actual operation of the site shows that the workstation can achieve multi-axis coordinated motion precisely and meets the high requirements of large workpieces for the welding process.