旋转电弧传感弯曲焊缝移动焊接机器人结构设计

设计了一种基于旋转电弧传感的弯曲焊缝轮式移动焊接机器人机构，采用中间两轮差速驱动，前后对称布置一万向轮的结构，增加了机构的灵活性并降低了控制的难度；用两个直流伺服电机控制十字滑块实现左右与上下运动，采用旋转电弧传感器使焊枪与传感器一体，不仅结构紧凑，而且具有实时性。支撑焊枪的支板采用组合装配方式，对于折角变化频繁或折角较大的焊缝使用增加一转动关节的支板。该机器人结构紧凑、灵活，可实现对平面弯曲船形焊缝及各种平面弯曲角焊缝的自动焊接。

Structure design of mobile welding robot based on rotating arc sensor for bending weld

A mobile welding robot based on rotating arc sensor for bending weld was introduced in this paper. Two middle wheels drove the robot, and two universal wheels were placed in front and the rear of the robot to balance the robot body. It not only enhances the quickness of the robot, but also decreases the difficulty of control. Two DC servomotors controlled the cross-slider. A rotating arc sensor was integrated into welding torch. The structure of sensor was compact and real-time. The connection block of the welding torch and cross-slider was the combination structure. A connection block with rotational joint was used when the angle of welding seam charged frequently or greatly. The robot' s structure was compact and agile, which can realize automatic welding of the planar bending weld and the planar fillet weld seam.