Development and application of automatic VPPA welding equipment to space curve weld of spacecraft

To develop automatic VPPA perforated vertical welding equipment for the space curve weld,positioner with large load,high precision and 2 degrees of freedom,three dimensional linear guide with high precision and welding robot with six degrees of freedom were adopted to constitute multi-axis linkage welding robot system. Through integration of robot arm with six degrees of freedom,positioner with 2 degrees of freedom and three dimensional mobile device,a macro-micro control strategy of space curve weld welding system under the circuit control of machine and human was put forward to realize the real-time control of the relative position of welding gun and weld by making the relative position of VPPA welding gun and weld be always vertical upward to achieve perforation vertical upward welding in the welding process of space curve weld. It is of great significance to realize the application to the welding production of large aluminum alloy seals,which can realize the direct import substitution and fill the blank in China.