Design Of Robot Welding Station For Multi–Axis Coordinated Motion

The quality and efficiency of traditional manual welding for large size workpiece are difficult to meet the requirements because of its large welding range,difficult operation and large size specifications.Although the welding quality and efficiency can be improved by using welding robots,the motion range of welding robots is small due to the limitation of their own structure and singular posture,which can not meet the requirements of large-scale workpieces such as large welding range,difficult operation and multiple size specifications.To solve the above problems,a welding workstation composed of six-axis industrial robot body and two external axes is designed.In the workstation,the robot track walking system is the seventh axis,and the servo positioner is the eighth axis.The robot control cabinet controls eight axes at the same time,realizing eight axes coordinated welding operation.The robot body is mounted upside down on the traveling track.The center of gravity of the robot is always above the workpiece,which further enlarges the welding range of the robot and enables the robot to choose the best posture according to the welding process.The servo positioner's driven end is designed as an adjustable mechanism.By adjusting the position of the driven end and changing the distance between the active end and the driven end,the clamping and fixing requirements of workpieces with different sizes can be satisfied,and production of workpieces with multiple specifications can be realized.The workstation control system takes the PLC controller as the upper computer,and the robot control cabinet and peripheral auxiliary equipment as the lower computer to realize the control of the workstation.When working,the operator can realize the functions of robot startup,welding procedure dispatch and welding procedure operation through the man-machine interface outside the workstation.It is safe and convenient to realize automatic production.This paper introduces the composition,basic working principle,multi-axis coordinated control,automatic production,installation and debugging of the welding workstation.The field operation results show that the workstation can coordinate multiaxis movement,can be accurately parked in the designated position,and has good automatic production effect,which meets the high requirements of welding technology for large-scale workpieces.