【摘要】 文中设计了一种环形轨道自动翻转开口机构的焊接机器人，该机器人可代替人工操作，大大提高焊接效率和焊接精度。根据机器人轨道翻转开口的动作要求，综合运用图解法和解析法完成了翻转开口机构的设计；运用Matlab建立其数学模型，并通过Solve函数计算出各杆长的参数数值。在Solid Works平台上建立翻转开口机构的三维模型，并运用ADAMS对其进行参数化建模及动力学分析。基于Ansys软件完成了整个自动翻转开口机构的八阶模态分析。结果表明，自动翻转开口机构可以使焊接机器人在施工现场对大型焊件进行灵活稳定的焊接作业。更多还原

【Abstract】 A welding robot with automatic turnover opening mechanism of circular track is designed, which can replace manual operation and greatly improve welding efficiency and welding accuracy. According to the action requirements of the track turnover opening by robots, the design of the turnover opening mechanism was completed by combining graphic method and analytical method. A mathematical model was established by Matlab, and parameters of each rod length were calculated by Solve function. A three-dimensional model of turnover opening mechanism was established on the Solid Works platform, and parametric modeling and dynamic analysis were carried out through Adams. Based on Ansys software, the eighth-order modal analysis of the whole automatic turnover opening mechanism was conducted. The results show that the automatic turnover opening mechanism allows the welding robot to perform flexible and stable welding operations on large weldments on the construction site.更多还原