Research On Design And Application Of Welding Robot System About Automotive Three-way Catalytic Converter

Welding robot is the intelligent automatic welding equipment,has many advantages,such as simple and stable operation.It can be applied in automotive parts welding technology,which has great significance to improve the issues caused by traditional plane welding or manual welding,such as troublesome operation,low productivity and poor welding quality.Aiming at the automobile three-way catalytic converter welding process,the overall design of welding robot workstation is completed,the kinematic characteristics of welding robot and positioner are analyzed,and coordination motion algorithm is proposed.The mian contents are as follows:(1)In view of the actual demand and application environment of three-way catalytic converter welding process,the welding robot system of the three-way catalytic converter is built;and according to the security requirements and standards,the safety protection system of welding robot establish.The overall design of welding robot workstation is carried out.(2)The D-H parameter method and homogeneous coordinate transformation method are used to analyze the kinematics of the arc welding robot and the positioner.Based on the analysis of the kinematics,the workspace and error ofrobot are studied,and correctness of the kinematics is verified.(3)Based on the least square method,the coordinate system of the robot and the arc welding robot is calibrated to determine the position relation.The control algorithm of coordinated motion is studied by using the method of kinematic chain coupling and decoupling,and the kinematic relationship between the welding robot and the positioner is obtained.This will be a continuous weld seam discretization,established mathematical model of discrete points in the best welding position.The coordinated motion planning method of the welding robot and the positioner is studied systematically.And the three-way catalytic converter is used as the welding object,through the software ADAMS to simulate the welding movement of welding robot and the displacement machine.(4)The fault tree analysis method is used to analyze the reliability of the welding robot system.The fault tree analysis model is constructed,and the fuzzy fault theory is introduced.The system failure rate is quantitatively analyzed by using the triangular ambiguity function.The design of the automobile three way catalytic welding robot system can effectively reduce the labor intensity,improve production efficiency,and realize high speed and quality automation welding,it has an important guiding significance to the actual welding operation.