90° Bend Welding Manipulator Structure Design And Motion Analysis

90° elbow is widely used in industrial production,especially in the pipelines used in mining,metallurgy and other industries.The 90° elbows used in these industrial applications usually need to work in a corrosive working environment.The problem of inner wall wear is easily caused and the replacement is difficult.In order to improve the working conditions of surfacing workers and reduce the requirements on the workers’ operating technology,To improve labor productivity,reduce the internal wear of the90° elbow and increase its service life,it is imperative to develop a special 90° elbow surfacing machine to complete the internal surfacing work of the 90° elbow.This project starts from the engineering practice and mainly focuses on the structural design and movement analysis of the 90° elbow surfacing machine arm.First of all,aiming at the technical problem that the inner wall of the 90°elbow is not easy to be welded,the method of obtaining the running trajectory of the surfacing welding manipulator based on the movement of the supporting table and its rotation is proposed,and a new type of 90° bend is designed.Inside the pipe,the manipulator arm is surfacing;the motion form and working space are determined according to the requirements of the actual application environment;the kinematics analysis of the surfacing manipulator is performed by the DH method,and corresponding kinematics equations are obtained,which lays a theoretical foundation for follow-up design;Secondly,the detailed design of the body structure of the build-up welding robot arm includes a sliding support portion of the base portion of the build-up welding robot arm,a mechanical body structure of a sliding support portion of the slide arm and the lift arm,and other parts of the build-up welding robot arm.The body structure design ofthe mechanism;Finally,the three-dimensional model of the whole machine is established by using the Pro/e three-dimensional design software and the 90° elbow support table and the surfacing robot arm,and the corresponding interference and constraint test are performed,and the movement of the fifth chapter is performed.Learn to lay the foundation for analysis.Finally,according to the motion trajectory requirements of the surfacing welding support table for each arm of the welding arm,combined with the trajectory equation of the end point of the welding arm,a parabola interpolation method was used to obtain the driving function;the MATLAB program was used to solve the solution.Each joint point corresponding to each key point in the trajectory planning of the surfacing welding manipulator drives the joint angle,and then the driving data corresponds to the time to obtain the driving spline curve for each connecting arm;the entire machine of the 90° elbow surfacing machine is simplified.The 3D model is saved as a specific format and imported into ADAMS software.The CUBSPL function(3rd spline curve fitting method)is used to control the 90° elbow support table and the robotic arm to move together.Finally,a series of simulation curves are obtained.The analysis results can be seen that the design of the welding machine manipulator can meet the trajectory requirements of the support transposition mechanism.It also validates the correctness of the kinematics analysis and lays a theoretical foundation for the further study of the surfacing robot arm.