全位置管道焊接机器人机头结构设计与运动仿真

Structure Design and Motion Simulation of All Position Pipe Welding Robot Head

从全位置管道焊接工艺对焊枪自由度的控制需求出发,设计了一种集焊枪摆动、升降、倾仰运动为一体的焊接机器人机头。机头组成包括摆动机构、升降机构和倾仰机构,其中倾仰机构控制焊枪角度,可为焊接工艺中使用电弧推力控制熔池成形提供机械结构基础。在Simcenter软件中对所设计的机头结构进行运动仿真。结果表明:在多轴插补联动下,该结构可以实现焊枪所需的自由度控制,机头结构设计良好。

From the torch freedom control requirement of all position pipe welding process,a welding robot head was designed,which integrated the swing,lifting and tilting movements of the welding gun.The head of welding robot consists of swing mechanism,lifting mechanism and tilting mechanism.The tilting mechanism controls the angle of welding gun,which can provide mechanical structure basis for using arc force to control molten pool forming in welding process.The motion simulation of the designed welding robot head structure was carried out in Simcenter software.The results show that under the multi-axis interpolation linkage,the structure can realize the degree of freedom control required by the welding gun,and the welding robot head structure is well designed.