Parabolic trajectory directional tangent constant speed welding robot device

Abstract

The invention discloses a parabolic trajectory directional tangent constant speed welding robot device, and belongs to the technical field of welding robots. The device comprises a mechanical arm consisting of an X-axis translation component and Y-axis translation component, a Z-axis turntable, a controller, a welding power supply, a welding gun and the like. A workpiece with a parabolic trajectory welding seam rotates along with a workpiece mounting table under control, and the welding gun moves along with the X-axis and Y-axis translation components under control. An independently moving three-degree-of-freedom mechanism is used for realizing a high-quality welding function for the parabolic trajectory welding seam of the workpiece. During welding, the welding gun is always on a normal on a parabolic trajectory welding seam weld point, a welding direction is the tangential direction of a parabolic trajectory, a tangent always faces a certain preset fixed direction, welding speed is kept constant, welding quality and efficiency are high, and manufacture, maintenance and using cost are low. The relative position and posture of the welding gun and the welding seam weld point on the workpiece are always kept at each point during the welding, so that an optimal welding effect can be achieved.

Description

Technical field [0001] The invention belongs to the technical field of welding robots, and particularly relates to the structural design of a parabolic trajectory directional tangent constant-speed welding robot device. Background technique [0002] In aerospace, aviation, shipbuilding, petrochemical and other fields, there are a large number of parabolic arc-shaped equipment. In the production process of the equipment, the workpieces need to be welded along the parabolic arc trajectory. In order to obtain high-quality welds, the following multiple goals need to be achieved when welding the workpiece: the welding torch must always be in the flat welding position during welding, the welding torch is always straight down, and the welding direction is consistent with the tangent direction of the parabolic trajectory at this point , The tangent line must be a horizontal line, and the welding speed remains constant. At present, the welding of parabolic trajectories mostly uses manua...

AI Technical Summary

Problems solved by technology

The former has high requirements on the technical level of the workers and the labor intensity of the workers is high, the welding efficiency is low, and the welding quality is not easy to guarantee; the latter has complex equipment and high production and maintenance costs

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