本文關(guān)鍵詞：管—管相貫線焊接機(jī)器人運行軌跡及焊接工藝的研究　出處：《上海工程技術(shù)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 管-管相貫線 焊接機(jī)器人 全位置焊接 槍體姿態(tài) 焊接工藝

【摘要】：本文針對管-管相貫線的機(jī)器人全位置焊接進(jìn)行了研究,研究內(nèi)容主要包括管-管相貫線機(jī)器人焊接理論上的關(guān)鍵技術(shù)的研究、全位置焊接工藝實驗的研究和全位置焊接成形質(zhì)量的研究三個方面的內(nèi)容。兩空心圓管垂直相貫組成的管-管相貫線,為典型的馬鞍形空間曲線,空間曲線的機(jī)器人焊接包括平焊、立焊、仰焊等焊接過程,需采用全位置焊接的焊接方式。本文從分析管-管相貫線焊接接頭的特點出發(fā),研究了相貫線機(jī)器人焊接焊接方式的選擇,通過建立擬合函數(shù)并使用MATLAB分段擬合的方法擬合出了工件坐標(biāo)系坐標(biāo)與其對應(yīng)的機(jī)器人坐標(biāo)系下六個軸的軸坐標(biāo)之間的曲線關(guān)系,即為管-管相貫線機(jī)器人焊接的槍體姿態(tài)方程,然后從理論上分析了全位置焊接上坡焊和下坡焊的特點以及焊接過程中熔滴過渡形式的選擇,為管-管相貫線機(jī)器人焊接的工藝實驗部分奠定了理論基礎(chǔ)。本研究采用CLOOS ROMAT 350六軸焊接機(jī)器人對管-管相貫線進(jìn)行全位置焊接,焊接機(jī)器人的工藝參數(shù)表中共有22個焊接工藝參數(shù),文章針對管-管相貫線機(jī)器人的全位置焊接,首先對這22個焊接工藝參數(shù)的含義做了詳細(xì)闡述,并分析了每個焊接工藝參數(shù)對焊接過程及焊縫成形方面的影響,為焊接實驗中工藝參數(shù)的設(shè)定提供了依據(jù)。機(jī)器人焊接之前要對管-管相貫線焊縫的接頭形式以及焊槍槍體姿態(tài)進(jìn)行設(shè)計,首先針對未開坡口的接頭形式,制定合適的焊接工藝參數(shù)對其進(jìn)行焊接,焊后從焊縫成形外觀和焊縫形狀尺寸進(jìn)行焊縫成形質(zhì)量的分析,并分析其存在的焊接缺陷及產(chǎn)生的原因,進(jìn)而優(yōu)化焊接工藝參數(shù),改善焊縫成形質(zhì)量。然后針對60°坡口和1.5mm鈍邊、無間隙接頭形式的管-管相貫線焊縫,進(jìn)行焊接工藝實驗,制定合適的焊接工藝參數(shù),焊后從焊縫成形外觀和焊縫形狀尺寸對焊縫成形質(zhì)量進(jìn)行評估,以優(yōu)化焊接工藝參數(shù),得到更好的焊縫表面成形。對管-管相貫線機(jī)器人焊接進(jìn)行運行軌跡及焊接工藝的研究,不僅可以使焊接機(jī)器人按照最優(yōu)路徑進(jìn)行施焊,還可節(jié)約生產(chǎn)成本、提高焊接效率、改善焊接質(zhì)量,對實際的工業(yè)生產(chǎn)具有重要意義。
[Abstract]:In this paper, the all-position welding of robot with pipe-tube intersecting line is studied. The research content mainly includes the research on the key technology of robot welding in pipe-tube intersecting line. The research of all-position welding process experiment and the research of all-position welding forming quality. The pipe-tube intersecting line composed of two hollow circular tubes vertically is a typical saddle shape space curve. The robot welding of the space curve includes the welding process of flat welding, vertical welding, back welding and so on. The welding method of all position welding should be adopted. This paper starts from the analysis of the characteristics of the welded joint of the pipe and tube intersecting line. The selection of welding mode for intersecting line robot is studied. By establishing the fitting function and using the method of MATLAB piecewise fitting, the curvilinear relationship between the coordinate system of the workpiece and the axis coordinates of the six axes in the corresponding robot coordinate system is obtained. That is, the attitude equation of the gun body for the robot welding of pipe and pipe intersecting line. Then, the characteristics of all position welding and downhill welding and the choice of droplet transfer mode in the welding process are analyzed theoretically. In this study, the CLOOS ROMAT 350 six-axis welding robot was used to weld the tube-pipe intersecting line in full position. There are 22 welding parameters in the process parameter table of welding robot. In this paper, the meaning of the 22 welding parameters is explained in detail for the whole position welding of the robot with pipe and tube intersecting line. The influence of each welding process parameter on welding process and weld forming is analyzed. It provides the basis for the setting of process parameters in welding experiment. Before robot welding, the joint form of pipe-tube intersecting line weld and the attitude of welding torch body should be designed, first of all, aiming at the unopened groove joint form. After welding, the welding quality is analyzed from the appearance and size of the weld, and the welding defects and causes are analyzed. Then the welding process parameters were optimized to improve the quality of the weld, and then the welding process experiment was carried out for the 60 擄groove and 1.5mm blunt edge, no gap joint form of tube-pipe intersecting line weld. To optimize the welding process parameters, the welding quality was evaluated from the appearance and size of the weld after welding. Better weld surface forming can be obtained. The research on the running track and welding process of the robot welding of pipe and pipe intersecting line can not only make welding robot according to the optimal path, but also save the production cost. Improving welding efficiency and welding quality is of great significance to actual industrial production.
【學(xué)位授予單位】：上海工程技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG409

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 梁亞軍;薛龍;鄒勇;張衛(wèi)義;黃繼強(qiáng);蔣力培;楊海亮;;柔性軌道全位置焊接機(jī)器人研究[J];電焊機(jī);2008年06期

2 張正兵;李曉娜;;機(jī)器人在焊接中的應(yīng)用[J];電焊機(jī);2008年06期

3 李天友;孟正大;趙嬌嬌;劉迎福;朱偉;劉少輝;;基于焊接機(jī)器人的關(guān)節(jié)空間軌跡規(guī)劃方法[J];電焊機(jī);2009年04期

4 薛龍;鄒勇;曹瑩瑜;郭遵廣;徐立力;;基于軌道焊接機(jī)器人的馬鞍形焊縫焊接技術(shù)研究[J];電焊機(jī);2010年01期

5 劉曉平;田西勇;莊未;;基于非對稱組合正弦函數(shù)的機(jī)器人軌跡規(guī)劃方法[J];電子機(jī)械工程;2008年01期

6 張文增,陳強(qiáng),孫振國,陳念;機(jī)器人焊接幾何約束工件焊槍偏角的預(yù)規(guī)劃[J];焊接學(xué)報;2004年01期

7 周律;陳善本;林濤;陳文杰;;基于局部視覺的弧焊機(jī)器人自主焊縫軌跡規(guī)劃[J];焊接學(xué)報;2006年01期

8 霍孟友;岳少劍;王新剛;;復(fù)雜相貫線接縫自動焊接的運動控制算法[J];焊接學(xué)報;2006年12期

9 王廣偉;蔡艷;華學(xué)明;吳毅雄;;氣體保護(hù)焊短路過渡熔滴成形的建模分析[J];焊接學(xué)報;2007年08期

10 任福深;陳樹君;殷樹言;管新勇;;管道插接焊縫位置及焊槍位姿建模[J];焊接學(xué)報;2008年11期

相關(guān)碩士學(xué)位論文 前6條

1 劉鑫;帶狀電極MAG焊熔滴過渡及焊縫成形研究[D];哈爾濱工業(yè)大學(xué);2010年

2 王悅森;機(jī)器人MAG焊單面焊雙面成形技術(shù)研究[D];江蘇科技大學(xué);2011年

3 劉敏;MAG單面焊雙面自由成形工藝與視覺控制方法研究[D];南京理工大學(xué);2012年

4 趙鵬飛;CO_2激光-MIG復(fù)合焊接碳鋼的熔滴過渡特性研究[D];哈爾濱工業(yè)大學(xué);2008年

5 仝維維;CO_2氣保焊短路過渡過程的熔滴與熔池行為的仿真研究[D];合肥工業(yè)大學(xué);2010年

6 宋加強(qiáng);熔化極氣體保護(hù)焊滴狀過渡熔滴行為的數(shù)值模擬研究[D];哈爾濱工業(yè)大學(xué);2012年

，

本文編號：1371645