為了保證自動焊接機器人能根據電弧(hu)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)的(de)偏差信息(xi)，跟(gen)蹤焊(han)縫(feng)自(zi)動(dong)(dong)(dong)焊(han)接，要求所設計(ji)的(de)機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)應該結(jie)構(gou)緊湊、移(yi)(yi)動(dong)(dong)(dong)靈活且工作穩定．針對(dui)狹窄空(kong)間特點(dian)，開發(fa)了一種小型移(yi)(yi)動(dong)(dong)(dong)焊(han)接機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)，根據機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)各(ge)結(jie)構(gou)的(de)運(yun)動(dong)(dong)(dong)特點(dian)，運(yun)用模塊(kuai)化設計(ji)方法，把機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)機(ji)構(gou)分為輪(lun)式(shi)移(yi)(yi)動(dong)(dong)(dong)平(ping)臺、焊(han)炬調(diao)節機(ji)構(gou)和電弧(hu)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)三部分。其(qi)中(zhong)，輪(lun)式(shi)移(yi)(yi)動(dong)(dong)(dong)平(ping)臺由于其(qi)慣性大，響應慢(man)，主(zhu)要對(dui)焊(han)縫(feng)進行粗(cu)跟(gen)蹤，焊(han)炬調(diao)節機(ji)構(gou)負責焊(han)縫(feng)準確跟(gen)蹤，電弧(hu)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)完成焊(han)縫(feng)偏差實時(shi)識(shi)別．另外，機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)控制器(qi)(qi)(qi)(qi)(qi)(qi)和電機(ji)驅動(dong)(dong)(dong)器(qi)(qi)(qi)(qi)(qi)(qi)集成安裝于機(ji)器(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)移(yi)(yi)動(dong)(dong)(dong)平(ping)臺上(shang)，使其(qi)體(ti)積更小。同時(shi)，為了減少(shao)惡劣焊(han)接環境下粉塵對(dui)運(yun)動(dong)(dong)(dong)部件影響，采用全封閉(bi)式(shi)結(jie)構(gou)，提高其(qi)系統可(ke)靠性。
