Research On Key Technology Of Line Heating Based On Mechanical Arm

The technology of line heating is one of the most important processes in ship manufacturing.The heating effect and processing efficiency of the line heating directly affect the operation of the whole shipbuilding production line.Therefore,in order to realize the automation of the shipbuilding production line,it is necessary to realize the automation of the process of line heating.At the same time,the industrial manipulator plays a more and more important role in the production process of modern manufacturing industry,considering the complexity of the process during line heating process and poor processing environment,development of line heating manipulator has important significance for the realization of automatic line heating process.In this paper,ABB1410 industrial robot arm is chosen as the research subject,and the machining path,trajectory planning and impedance control of the arm are studied.Firstly,the heating trajectory of line heating is studied.According to the actual demand of line heating,the problem of the shortage of heat input in the existing line heating principle machine is analyzed.Based on the study of how to increase the heat input of single heating,a spiral heating trajectory is used to heat the heating line during the process of line heating mechanical arm.Furthermore,the heating effect of the spiral heating trajectory is verified by the ANSYS finite element analysis.Secondly,the dynamics and kinematics of the manipulator are studied and modeled.According to the characteristics of the industrial arm and the actual demand of the processing of the line heating,the kinematics and inverse kinematics of the manipulator are studied in two aspects,and the kinematic modeling of the industrial manipulator is carried out by the D-H method.Meanwhile,the Lagrange equation is used to analyze the dynamics of the line heating mechanical arm,and the dynamic equation of the hydro thermal mechanical arm is established.Then,the trajectory planning for machining of line heating mechanical arm is studied.The task-priority algorithm is used to deal with the priority problem of position and position control of different positions in the task process of line heating,and the spiral heating trajectory proposed in the Matlab software is simulated.In addition,considering the particularity of plate shape change in line heating process,and the collision between the end actuator and the steel plate that may occur unexpectedly,the impedance control algorithm is adopted to realize the compliant control of the manipulator and avoid the damage of the manipulator.Finally,the precision performance index of the manipulator is tested in the ABB industrial arm experimental platform,and the position accuracy and repetitive positioning accuracy of the ABB industrial manipulator are calculated.After the precision test of the manipulator is completed,in accordance with the processing flow of line heating,the test of the steel plate is made by using the manipulator,which lays the foundation for the follow-up study of the arm of line heating.