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
李启伟 1薛瑞雷 1周建平 1吴立斌2
作者信息
- 1. 新疆大学 机械工程学院,新疆 乌鲁木齐 830046
- 2. 四川石油天然气建设股份有限公司,四川 成都 610213
- 折叠
摘要
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.
Abstract
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.
关键词
管道焊接/焊接机器人/结构设计/运动仿真/多轴插补Key words
pipe welding/welding robot/structural design/motion simulation/multi-axis interpolation引用本文复制引用
基金项目
新疆维吾尔自治区高等学校科研计划自然科学研究重点项目(XJEDU20181006)
出版年
2024
NETL
NSTL
万方数据