| Based on the sealing,high pressure and explosive characteristics of pressure vessels,the manufacturing quality of pressure vessels has an important impact on the personal and property safety of workers.It is urgent to introduce laser welding equipment into the production process.The price of foreign related equipment is high and the operation and maintenance are poor.Therefore,building a robot automatic laser welding production line with independent intellectual property rights is of great significance to the production of pressure vessels.Based on the analysis of the production process of pressure vessel,this paper first carries out the overall layout design,obtains the corresponding motion space and performance requirements,carries out the selection of 6-DOF Industrial welding robot and the design of welding tooling,builds the robot control system and production line control system,and completes the relevant software and hardware design.Through the construction of prototype and trial production,the rationality and stability of the production line proposed in this paper are verified,and the manufacturing cost,quality and efficiency of relevant enterprises have been significantly improved.The specific research contents are as follows:(1)Firstly,the manufacturing process of spherical pressure vessel is analyzed.Under the constraints of plant layout,the workshop layout design of spherical pressure vessel robot automatic laser welding production line is completed.On this basis,the layout design of production line is preliminarily completed,including welding fixture,welding robot and production line control system.The robot selection is completed according to the performance parameters such as workspace,load and beat.(2)Secondly,through the analysis and Research on the basic design methods and ideas of welding fixture,and according to the production process and process of spherical pressure vessel,the welding production line is divided into gas nozzle welding station,handle welding station,base welding station and integrated welding station.According to the manufacturing process characteristics of each station,complete the design of motion mechanism and actuator,select the key parts such as cylinder,servo motor,reducer and ball screw,and use three-dimensional drawing software to design the specific model of welding fixture.(3)Then,the kinematics of the robot is analyzed by D-H parameter method to verify the kinematics of the welding robot.A robot motion control system based on motion controller + teaching Pendant + I / O board is studied and built.Based on the control system,programming and configuration are carried out.Integrate laser welding system and robot to realize automatic welding operation.(4)According to the hardware requirements and software requirements,the research and design of the production line control system scheme are carried out in detail,and the control logic of each station is designed according to the welding process and fixture positioning mode of each station.According to the control logic scheme,the I / O port function of PLC is allocated to the production line control system,the circuit schematic diagram of the whole control system is drawn by using the electrical software EPLAN,the physical assembly and wiring are carried out according to the circuit schematic diagram,and the PLC and touch screen control programs are designed and realized.(5)Finally,the prototype of automatic laser welding production line of spherical pressure vessel robot is built,and the automatic laser welding experiment of pressure vessel robot is carried out based on the prototype.The experiment verifies the rationality of the system layout of automatic laser welding production line of pressure vessel robot,the reliability of tooling and fixture,the feasibility of robot motion and control system and the stability of the whole control system. |
PDF Full Text Request