Research And Simulation On Special Welding Robot For Driller Gear Reducer Case

The development of advanced manufacturing technology in the 21st century shows that welding automation is an inevitable trend. To use the robot technology in the welding production may enhance the productivity, improve the work condition, stabilize and guarantee the welding quality and realize welding automation of the small batch of products. It has become the main symbol of the modernity of the welding automation technology to use the robot welding.Mainly aimed at the driller gear reducer case components structure similar, the size respectively different, welded joint long, characteristic and so on single scroll welded joint width, carried on has specially aimed at the special-purpose welding robot plan design which the driller gear reducer case welded, the design special-purpose robot uses the modular design, had the versatility strongly, the efficiency was good and so on the characteristic, then puts forward the structural design scheme which is specially aimed at the arc welding robot of the reduction gear box body welding, separately adopting the D-H law and the Lagrange method, analyzing the robot kinematics and dynamics, establishing the kinematics and dynamics model of the robot overall construction ,building the entity model of robots by using the Pro/E software, conducting the actual models into the dynamics software - ADAMS of technological system dynamics by means of the MECHANISM/Pro software, carrying on the kinematics, dynamics simulation of the welding process through forming the robot simulation model after increasing restraint and actuation, and studying the changing situation of the robot kinematics and dynamics target during the simulation process.Through the simulation, it has been confirmed that the robot structural design is rational and that the kinematics and dynamic equation is standard and accurate, which will provide real and effective simulation empirical datum for further studies on the structural design of robot main body, the stable research, the path plan and design of the control system .The use of the virtual prototypical technology has offered adequate data for the research on physical prototype so as to cut the design costs, shorten the design cycle and improve the design quality.