Research On Intelligent Automatic Stud Welding Technology Of Robot

In most membrane water wall stud welding factories,manual welding is still performed,and the welding quality is poor.There are many types of membrane water walls,different welding areas,and cumbersome welding work.Therefore,the research on robot intelligent automatic stud welding technology is imminent.According to the actual production status of Jianglian Heavy Industry Group,this paper designs and researches the robot intelligent automatic stud welding membrane water wall system.First of all,the current situation and shortcomings of the artificial stud welding membrane water wall are analyzed and studied,the overall scheme of the robot intelligent automatic stud welding membrane water wall is proposed,and the demand analysis of the system scheme is carried out.Divide the system function modules into two parts: hardware and software.The hardware part includes the mechanical structure and control hardware.The mechanical structure mainly includes two parts,the workpiece clamping module and the mobile welding module.The software part is the two-dimensional CAD drawing automatic recognition software,and the work and production process are rationally planned.Secondly,research and design the mechanical structure of the hardware part of the system,and make it clear that the mechanical structure is composed of a mobile welding module and a workpiece clamping module.From the three perspectives of water wall specification parameters,robot installation method,and stud welding efficiency,the layout of the mechanical structure scheme is determined,that is,the workpiece clamping module is distributed on both sides of the mobile welding module.Analyze the area and clamping position of the water wall where the studs need to be welded,and carry out detailed design of the movable column,the intermediate column and the fixed column in the workpiece clamping module.Design the control system and select the key equipment.Third,use the C++ programming language and QT application development framework to develop and apply the automatic recognition software for two-dimensional CAD drawings,analyze the data format and analysis process of the DXF file,and use the DXF file of the two-dimensional CAD drawing of the workpiece as the operating object,and choose to pass Specify the layer and the method of identifying the color of the primitives,use the Autolisp language to write to realize the image recognition function,read the stud angle th,the stud horizontal spacing dy,the number of round pipes m,the round pipe spacing l,and the round pipes stored in the DXF file The 6 key welding data of outer circle radius r and welding area data are saved in external files.Finally,this paper analyzes the stud welding path on each tube,the stud welding path on the whole water wall,and the double station water wall stud welding path,and plans the overall stud welding path.The 3D laser camera is selected,and the distance between the welding gun port and the round tube is measured in real time using visual inspection technology to reduce the influence of welding deformation on welding quality.Using modular programming ideas,the robot stud welding algorithm is written.The various technologies in the system have been well applied in the actual welding of the factory.In summary,the system realizes robot intelligent automatic stud welding membrane water wall,meets actual application needs,improves welding quality,reduces labor intensity,and can continue to optimize and improve in future engineering practice.