Design And Research Of A Four-axis Intersecting Line Automatic Welding Teaching Facility

Automatic welding servo control technology is more and more widely used in theindustrial field, duo to the advantages of automation equipment, there will be more and moreautomatic welding equipment to replace the traditional manual welding. As we know, tee-fitting is an important element of the pipe connections, this paper research and development ateaching device for Tee-fitting intersecting line automatic welding contract to the high cost oftraditional welding robot and poor performance of reconfigurable.By analyzing the research status of the pipeline welding equipment home and abroad, thispaper has established the intersecting line weld mathematical model, weld posture model, thetorch attitude model and torch velocity model combining with the space curve characteristicsof intersecting lines. From the coordinates of the type and structure of the type, this paperselect four-axis parallel transmission consolidated Cartesian coordinate system, with theadvantages of the cylindrical coordinates to ensure the structure of the intersecting linewelding teaching equipment.This paper completes the structure design by dividing the structure of the device intoseveral modules based on the reconfigurable machine characteristics. The intersecting linewelds can be seen as a synthesis of axial linear motion and rotary motion around the branchpipe. Based on this theory, the axis which completes horizontal movement, the shaft of thevertical movement and the welding torch swing axis complete the welding torch attitudeadjustment together, and complete intersecting line welding with the linkage of the workpiecerotation axis. This thesis also completes the calculation of the four axis motors selection.On the basis of the overall mechanical structure, this paper establishes the connectionbetween the motion control card PMAC and servo motor. A Friendly man-machine interfaceis also designed in VC++development environment combined with the PComm32PROdynamic link library, it is more convenient to modify the parameters and monitor the weldingprocess.After preliminary experiments in the teaching device prototype, this four-axis intersectingline automatic welding teaching equipment can complete the three-way pipe intersecting line welding tasks of qualified with good teaching performance.