全位置相贯线自动焊接新型焊枪设计

在焊接复杂的空间曲线或进行全位置焊接操作时，传统焊接机器人关节耦合、系统干涉现象较为普遍，焊接局限性明显. 为了克服焊枪位姿改变时的干涉现象，基于各位置焊缝角度和深度均动态变化的特征，设计出一款能调节自身工作角的新型焊枪，使焊枪自身能够具有一定的实时调节能力，在自动焊接过程中通过调节焊枪工作角配合机器人完成全位置焊接，增强机器人的实用性和可行性，满足较为复杂相贯曲线的焊接要求，使用OpenGL对焊枪运动学模型和焊接过程进行了仿真，仿真结果证明了所设计的自动焊接焊枪的有效性.

Design of new welding torch for automatic welding of all position intersecting line

The joint coupling and system interference of the traditional welding robot are common in complex intersecting line welding and all position welding, resulting in obvious welding limitation. To overcome the system interference generated by the position adjustment of welding torch, a new type of welding torch which can adjust the working angle is designed on the basis of the dynamic variation of the welding angle and depth at different positions. The torch presents a certain real-time adjustment capability. In the process of automatic welding, the all position welding can be completed by adjusting the working angle of the welding torch with the robot, to enhance the practicability and feasibility of the robot and meet the welding request with complex intersection curve. The kinematics model and welding process of welding torch were simulated by OpenGL. The simulation results prove the validity of the designed automatic welding torch.