Welding positioner is a kind of welding auxiliary equipment, it was known as the three planes in welding auxiliary equipment with welding manipulator, welding roller bed. Welding positioner was designed with the development of welding industry mechanization, and automation. As a welding auxiliary machine, welding positioner was used in pipe′s landscape orientation welding, pipe and flange′s inside and outside central linking welding, pipe welding in all location. Though the gyration and retroflexion of the workbench, the welding positioner can make the welding line to an ideal position, which can improve the quality of the welded joint, reduce welder’s workload. It is ideal equipment especially fit to weld the kinds of workpiece, just like the shaft, tray, canister, and so on.

By understanding the welding positioner′ s development in domestic and overseas, and the positioner used in welding robot is described in the paper. A small block 0.1 ton s of welding positioner is designed. The positioner easily achieve the gyration and the inclination of the workpiece, thereby changing welding seam to downhand position or “ship form” position. the count of driving power is calculated, the framework of the welding positioner is designed, especially the gearing.

This welding positioner used DC motor and slowdown plane to drive the workbench to gyration or inclination. It movement, inertia small, good braking and stability. It also can easily achieve stepless speed regulation, positive or negative turns. Because of its notables economic benefit, if it would been produced largely.

Key words: welding positioner，freedom of deflection，welding auxiliary machine，

welding automatic equipment.

目录

第一章 绪论 .......................................................... 1

1.1 设计焊接变位机的意义 .......................................... 1 1.2 国内外焊接变位机发展简介 ...................................... 1 1.3 我国焊接辅助设备简介 .......................................... 3

1.3.1 我国焊接辅助设备的发展历程 ............................... 3 1.3.2 焊接辅助设备的发展趋势 ................................... 4

1.4 关于焊接机器人 ................................................ 5

1.4.1 国内焊接机器人技术的发展 ................................. 5 1.4.2 我国焊接机器人的应用状况 ................................. 5 1.4.3 应用焊接机器人的意义 ..................................... 6 1.4.4 我国焊接机器人应用工程 ................................... 7 1.4.5 焊接机器人的最新应用技术 ................................. 8 1.5 关于焊接变位机的几个基本定义 .................................. 9

1.5.1 焊接变位机的定义 ......................................... 9 1.5.2 主自由度及全功能焊接变位机 ............................... 9 1.5.3 焊接变位机的变位自由度 .................................. 10 1.5.4 变位机的第一主参数 -- 额定负荷 .......................... 10 1.6 焊接变位机的分类 ............................................. 11

1.6.1 焊件变位机的类型 ........................................ 11 1.6.2 焊机变位机械的类型 ...................................... 13 1.6.3 焊工变位机的类型 ........................................ 14 1.7 几种常见的焊件变位机的类型及特点 ............................ 14 1.8 设计本焊接变位机的目的和意义 ................................. 16 第2章 总体设计 ...................................................... 17

2.1 本焊接变位机总体设计及适用范围 ............................... 17 2.2 设计方案的确定 ............................................... 17 第3章 传动部分设计 .................................................. 21

3.1 传动部分的总体设计要求 ....................................... 21 3.2 传动系统的分析和拟定 ......................................... 21 3.3 本焊接变位机传动系统的确定 ................................... 23

3.3.1工作台回转系统 .......................................... 23 3.3.2 工作台倾斜系统 .......................................... 23 3.4 电动机的选择 ................................................. 24

3.4.1 电动机类型的选择 ........................................ 24 3.4.2 电动机功率的确定 ........................................ 27

3.4.3电动机转速的验证 ........................................ 33 3.5 传动比的拟定及确定 ........................................... 34

3.5.1 总传动比的确定 .......................................... 34 3.5.2 各级传动装置传动比的分配 ................................ 34 3.5.3.计算传动装置的运动和动力参数 ............................ 36 3.6 蜗轮、蜗杆的选择及校核 ....................................... 38

3.6.1 蜗杆传动的特点 .......................................... 38 3.6.2 蜗杆头数和蜗轮齿数的选择 ................................ 39 3.6.3 蜗杆传动的强度计算 ...................................... 40 3.7 齿轮的设计与校核 ............................................. 42

3.7.1 工作台倾斜机构中的齿轮的设计与校核 ...................... 42 3.8 谐波齿轮减速器的选择 ......................................... 44 3.9 轴的设计与校核 ............................................... 47

3.9.1 轴的结构设计原则 ........................................ 47 3.9.2轴的初估 ................................................ 47 3.9.3 轴的强度校核 ............................................ 48 3.10 轴承的选择与校核 ............................................ 52

3.10.1 轴承的选择 ............................................. 52 3.10.2 轴承的校核 ............................................. 52

第4章 机架的设计 .................................................... 55

4.1 机架的设计 ................................................... 55 4.2 机架焊接结构设计 ............................................. 56

4.2.1 机架应用焊接结构存在的问题 .............................. 56 4.2.2 焊接结构的设计措施 ...................................... 57

结论 ................................................................ 58 致 谢 ............................................................... 59 参考文献 ............................................................ 60