Structure Design And Simulation Study Of Welding Robot For Medical Hyperbaric Oxygen Tank

Medical hyperbaric oxygen chambers are usually manufactured by welding.In recent years,due to its many advantages such as high welding quality and efficiency,special welding robots have become a research hot spot and gradually replace artificial welding.In this paper,the elevating welding robot is proposed to solve the problem of short and unmovable welding strokes in traditional medical oxygen chamber welding.Analysis of vibration characteristics of elevating welding robot by numerical simulation.D-H parameter method was used to study the kinematics of elevating welding robots,and virtual simulation software was used to simulate the elevating welding robots.Using Virtual Simulation Software to Perform Welding Simulation of Lifting Welding Robot,The research results provide basic data support for structural design and application of elevating welding robots.The main research work and achievements are as follows:Taking the IRB2600 six-DOF welding robot as the research object,an elevating welding robot was designed.The three-dimensional software UG NX was used to improve the lifting mechanism of the elevating welding robot,and a three-dimensional solid model of the elevating welding robot was established.Finite element analysis method was used to analyze the lifting mechanism and key components of the elevating welding robot,and the rationality of the elevating mechanism was verified.The free-mode welding robot and constrained modal analysis were performed.The modal vibration mode and vibration frequency of the lifting mechanism provide basic data for the vibration control of an elevating welding robot.The D-H kinematics analysis method was used to establish the linkage coordinate system of the elevating welding robot,the elevating welding robot linkage model was established,and the positive kinematics solution of the elevating weldingrobot was solved based on MATLAB;For a 7-DOF redundant mechanism,a given variable value is converted into a 6-DOF inverse solution problem,and the inverse kinematics problem of the elevating welding robot is solved using an analytical method.According to the kinematics model of the elevating welding robot,its motion path is planned,combined with the trajectory of the end-effector and the speed of each connecting rod and joint,and the curve of the acceleration during the simulation time,Assess the reasonableness of the planned path and correctness.Based on the virtual reality technology,a three-dimensional solid model and working environment model of the elevating welding robot was established,and a virtual welding scenario for the elevating welding robot was established.The welding simulation of the welds in key parts of the hyperbaric oxygen chamber was performed by off-line program method.The welding parameters and attitude of the elevating welding robot were optimized and adjusted according to the welding process requirements.