本文選題：雙機(jī)器人協(xié)同 + CMT曲面堆焊工藝�。� 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：履帶式裝甲車是一種集火力、機(jī)動(dòng)、防護(hù)性等特點(diǎn)于一體的軍事車輛。履帶驅(qū)動(dòng)輪作為履帶式裝甲車行走系統(tǒng)的重要組成部分,其加工精度以及耐磨特性直接影響車輛的行走穩(wěn)定性和可靠性。在制造過(guò)程中,履帶驅(qū)動(dòng)輪需在齒形上堆焊上耐磨金屬材料。論文針對(duì)目前齒盤表面堆焊工藝多為手動(dòng)或半自動(dòng),焊接效率低下,加工精度不高,焊后需打磨等問(wèn)題,研究CMT曲面堆焊工藝,提出齒盤表面近凈成形堆焊加工方法,并集成雙機(jī)器人協(xié)同堆焊技術(shù)、CMT無(wú)飛濺焊接技術(shù)、焊接質(zhì)量在線檢測(cè)技術(shù)以及總線控制技術(shù),最終形成一套全自動(dòng)的雙機(jī)器人齒盤協(xié)同堆焊生產(chǎn)線,實(shí)現(xiàn)齒盤的自動(dòng)上料、協(xié)同焊接、焊后質(zhì)量檢測(cè)以及分料碼垛。首先,闡述了論文的研究背景與研究意義,綜述了堆焊技術(shù)的研究現(xiàn)狀以及焊接質(zhì)量檢測(cè)技術(shù)的研究現(xiàn)狀,簡(jiǎn)要概述了論文的主要研究?jī)?nèi)容與各章安排,隨后提出了論文的總體框架。然后,分析了熔化極氣體保護(hù)焊的熔滴過(guò)渡過(guò)程,闡述了 CMT可控短路過(guò)渡技術(shù),確定了基于田口方法和灰度系統(tǒng)理論的曲面堆焊工藝參數(shù)優(yōu)化流程,并概述了田口方法基本理論和灰色系統(tǒng)理論。接著,分析了齒盤堆焊加工要求,提出了雙機(jī)器人齒盤協(xié)同生產(chǎn)線的設(shè)計(jì)目標(biāo),在此基礎(chǔ)上給出了生產(chǎn)線的總體設(shè)計(jì)方案,并分別從上料工位、焊接工位、視覺(jué)檢測(cè)工位、碼垛工位和系統(tǒng)總控單元入手詳細(xì)設(shè)計(jì)了生產(chǎn)線各部分,搭建了基于PC的軟PLC系統(tǒng)的硬件平臺(tái),詳細(xì)設(shè)計(jì)了工業(yè)現(xiàn)場(chǎng)控制程序、焊接質(zhì)量檢測(cè)程序以及人機(jī)交互界面,形成一套完整的雙機(jī)器人齒盤協(xié)同堆焊生產(chǎn)線。最后,分析機(jī)器人齒面堆焊特點(diǎn),將曲面堆焊模型近似為平面堆焊模型,并在充分考慮工件堆焊技術(shù)要求的基礎(chǔ)上,采用田口方法和灰度系統(tǒng)理論獲得機(jī)器人CMT平面堆焊參數(shù),最終通過(guò)試驗(yàn)確定齒面堆焊參數(shù),實(shí)現(xiàn)齒盤表面近凈成形堆焊加工。論文研制了雙機(jī)器人齒盤協(xié)同堆焊生產(chǎn)線,經(jīng)試運(yùn)行檢驗(yàn)后,各項(xiàng)指標(biāo)均滿足設(shè)計(jì)要求。
[Abstract]:Tracked armored vehicle is a kind of military vehicle with the characteristics of firepower, maneuverability and protection. Caterpillar drive wheel is an important part of tracked armored vehicle walking system. Its machining accuracy and wear resistance directly affect the running stability and reliability of the vehicle. In the manufacturing process, the caterpillar drive wheel needs to surfacing on the tooth profile on the wear-resistant metal material. Aiming at the problems of manual or semi-automatic surfacing welding technology, low welding efficiency, low machining precision and need to be polished after welding, the paper studies the surfacing welding technology of CMT curved surface, and puts forward the method of surface surfacing welding. The technology of CMT without spatter welding, on-line inspection of welding quality and bus control technology are integrated. Finally, a set of automatic double-robot cooperative surfacing welding production line is formed to realize the automatic feeding of tooth disk. Cooperative welding, quality inspection after welding and stacking of separate materials. First of all, the research background and significance of the paper are described, the research status of surfacing technology and welding quality testing technology are summarized, and the main research content and the arrangement of each chapter are briefly summarized. Then the overall framework of the paper is proposed. Then, the droplet transfer process of gas shielded arc welding is analyzed, the CMT controlled short circuit transfer technology is described, and the optimization process of surface surfacing parameters based on Taguchi method and gray system theory is determined. The basic theory of Taguchi method and the theory of grey system are summarized. Then, the paper analyzes the requirements of tooth plate surfacing welding, and puts forward the design goal of the double robot tooth disk cooperative production line. On this basis, the overall design scheme of the production line is given, and the feeding, welding and visual inspection stations are given respectively. Each part of the production line is designed in detail, the hardware platform of the soft PLC system based on PC is built, and the industrial field control program, welding quality detection program and man-machine interface are designed in detail. To form a complete double robot tooth plate co-surfacing production line. Finally, the characteristics of robot tooth surfacing welding are analyzed, and the curved surfacing model is approximate to the plane surfacing welding model. On the basis of fully considering the technical requirements of workpiece surfacing welding, the parameters of robot CMT plane surfacing welding are obtained by using Taguchi method and gray scale system theory. Finally, the tooth surface surfacing parameters are determined by experiments, and the near net forming surfacing process of tooth disk surface is realized. In this paper, a double robot joint surfacing production line is developed, and the test results show that each index can meet the design requirements.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TJ810.5;TG409

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本文編號(hào)：1995669