| Along with the rapid development of manufacturing in 21st century, welding automation is the inevitable trend, which not only can greatly improve the welding efficiency, but mostly importantly is to ensure the welding quality, improve the operating environment. Modern welding process is developing to mechanization, automatization, intelligence. The use of welding robot has become the main symbol of modernization of welding automation technology.The paper, focuses on the welding characteristics of stainless steel pipe in sanitary industry, to design an automatic welding robot that can be applied to a variety of space complexity seam and combines cartesian structure and joint structure.And uses teaching/reproduction working mode, it not only has a good versatility, but also has the high efficiency of special welding machine. The main contents are as follows:In chapter 1, the welding automation technology and its development status and direction are briefly introduced.Then the main research contents and key technologys are put forward.In chapter 2, divides welding robot structure into position mechanism using cartesian structure and posture mechanism using joint structure for analysis and calculation,according to the design requirements of the welding robot.This structure not only combines the advantages of cartesian structure and joint structure,but also complements their own disadvantages. According to the economic requirements of welding equipment, a new cost-effective drive solution is proposed for the position mechanism:servo control system with brushless DC motor and magnetic grid ruler. Then, studies the feedback control of welding parameters, and introduces a simple power feedback closed-loop control mechanism. Finally, builds the 3D model of welding robot for virtual assembly with SolidWorks software.In chapter 3, firstly, establishs kinematic equations of the welding robot with the method of D-H.Utilized the mapping of position changes of the wrist caused by its posture changes and position mechanism, then uses analytical method to solve the inverse kinematics. This method not only doesn't require a large number of matrix inverse, but also simple, direct and efficient. Secondly, researchs on the weld trajectory planning according to welding characteristics of arc welding robot.In chapter 4, firstly, uses virtual prototyping technology to simulate the weld trajectory with ADAMS; Secondly, researchs on control theory and algorithm of the position servo control system, then does co-simulation on the servo control system with ADAMS and MATLAB software.In chapter 5, determines the hardware and software solutions of the control system according to the components of welding robot system.In chapter 6, the main work of this paper is summarized. Conclusions points are introduced. Finally, the subsequent research on the welding robot is prospected. |
PDF Full Text Request