基于旋转电弧立焊装置设计与轨迹规划

设计了一种基于旋转电弧的竖直焊缝焊接机器人机构，采用了工业计算机与运动控制卡进行控制；水平和竖直滑块各采用一个步进电机进行控制，利用滚珠丝杠传动，竖直电机带有刹车，防止竖直滑块下滑，以此提高各滑块的精度和焊接跟踪质量；焊枪由步进电机控制旋转，因此可以在焊接过程中进行焊接姿态调节，能够焊接上下两端的角点，增加操作的灵活性，提高使用性能。焊接过程较为平稳，焊缝成形良好。

Design and Motion Planning of Vertical Seam Welding Device Based on Rotating Arc

A vertical seam welding robot mechanism was designed based on rotating arc, an industrial computer and a motion control card were used to control. Horizontal and vertical slider were controlled by a stepping motor respectively, and drove with ball screws. A vertical motor with brake was used to prevent the decline of vertical slide block. It might increase the accuracy of the slider, and improve welding tracking quality. The rotation of welding torch was controlled by a step motor, to realise welding gesture adjustment in welding process, and the upper and lower corner might be welded,and the flexibility and the performance were improved. Welding processes are more stable, the appearance of welding seam is excellent.