Research On The Full Surface Strengthening Process Of Plasma Beam Robot

With the rapid development of the manufacturing industry,the requirements for the surface quality and mechanical properties of industrial products are getting higher and higher.Plasma beam surface strengthening technology has become an important technique for surface heat treatment of materials due to its low cost,high efficiency and easy maintenance.It is the main research content of this paper to combine industrial robot technology with plasma technology to realize the full surface strengthening process of plane,outer circle or curved surface of large parts by using the motion flexibility of jointed robot.In this paper,the D-H method is firstly used to analyze the kinematics of IRB4600 industrial robot,construct the mathematical model of the robot,and establish the kinematics equation of the robot.The jacobian matrix of the robot is derived to analyze the singular configuration of the robot.For processing in the process of plasma gun body posture requirements relative to the workpiece surface,using the Robot kinematic simulation research studio software to strengthen Robot trajectory,simulation of plasma beam surface strengthening and the machining process,the simulation results verify the stability of the designed trajectory and feasibility,which provides the theoretical foundation of plasma beam surface intensifying test.It is difficult to directly measure the real-time temperature of the workpiece due to the high temperature of the plasma beam and the characteristics of rapid heating and cooling during the processing.In this paper,the finite element software ANSYS APDL is used to set the initial conditions and thermal physical parameters of materials,establish the transient temperature field in the surface strengthening process of plasma beam,and obtain the temperature field distribution cloud map.The effects of plasma arc power and scanning speed on the transient temperature field and the effects of different process parameters on the depth and width of the hardened layer were studied.The influence law of process parameters,the change law of workpiece surface and the distribution law of hardened layer are obtained.Finally,according to the parameters of plasma beam scanning speed and arc power determined by numerical simulation,the test program was developed,and IRB4600 industrial robot and femaert plasma quenching system were used to strengthen the surface of no.45 steel workpiece.The results of surface strengthening test show that the surface hardness of the workpiece treated by plasma beam surface strengthening technology has been significantly increased to more than 42 HRC,and the wear resistance of the workpiece has been improved.The feasibility of using six-axis robot technology combined with plasma beam surface strengthening for large and complex curved workpiece is verified.