本文選題：激光填絲焊 + 多層多道規(guī)劃��； 參考：《上海交通大學(xué)》2015年碩士論文

【摘要】：傳統(tǒng)上,窄間隙激光填絲焊主要以人工示教為主,人為因素對焊接質(zhì)量影響較大,焊接效率低。針對以上問題提出厚板窄間隙多層多道自動化激光填絲焊接及焊縫跟蹤。首先研究了厚板激光填絲焊的工藝參數(shù)。實驗結(jié)果表明,影響填絲焊焊縫成型的主要因素有激光功率、送絲速度、焊接速度、離焦量以及保護氣流量。隨激光功率的增加,單道焊縫的填充量下降,熔寬增加;隨著送絲速度增大,焊縫填充量與堆高均增大;焊接速度的增加導(dǎo)致焊縫填充量與堆高下降,熔寬因熱輸入減小而下降;離焦量對熔深的影響較大,隨著離焦量增大,焊縫熔深下降;保護氣體流量過大,會影響焊縫成型的質(zhì)量。其次建立單道填絲焊的焊縫幾何與焊接輸入?yún)?shù)之間的關(guān)系。本文通過響應(yīng)曲面法分別建立了焊縫填充橫截面積、熔寬、堆高、熔寬與堆高的比值與激光功率、送絲速度以及焊接速度之間的數(shù)學(xué)關(guān)系。驗證實驗結(jié)果表明,所建立的模型均能準(zhǔn)確的對焊縫的幾何參數(shù)進行預(yù)測。繼而建立了基于單道填充橫截面積的多層多道焊縫軌跡規(guī)劃方法,包括焊接道數(shù)、焊槍端點坐標(biāo)的算法、填充順序等,使得焊道規(guī)劃更加準(zhǔn)確。隨后利用KUKA機器人編程實現(xiàn)多道焊焊接程序。最后結(jié)合焊縫跟蹤傳感器實現(xiàn)了多層多道焊縫跟蹤。該激光掃描式傳感器能夠?qū)崟r調(diào)整焊縫跟蹤軌跡,避免焊接過程中因焊接變形或者工裝移位導(dǎo)致焊槍端點偏離原焊接軌跡的問題。驗證實驗結(jié)果表明,采用上述方法,能夠準(zhǔn)確的對焊縫幾何、焊接道數(shù)、焊槍端點坐標(biāo)偏移量進行預(yù)測。對于多層多道焊接接頭缺陷的分析表明,熱輸入P/Vw以及送絲速度與焊接速度的比值Vf/Vw是影響接頭質(zhì)量的主要因素。另外,單道焊縫熔寬Ww與被填充層寬度Wt的比值會影響多層-單道填充時缺陷的形成。
[Abstract]:Traditionally, narrow gap laser wire filling welding is mainly manual teaching, and human factors have great influence on welding quality and low welding efficiency. Aiming at the above problems, a multi-layer multi-channel automatic laser wire filling welding and seam tracking for thick plate with narrow gap is proposed. The technological parameters of thick plate laser wire filling welding are studied. The experimental results show that the main factors affecting the weld formation are laser power, wire feeding speed, welding speed, defocusing amount and protective gas flow rate. With the increase of laser power, the filling amount of single-pass weld decreases and the weld width increases; with the increase of wire feeding speed, the filling amount and stack height of weld increase; the increase of welding speed results in the decrease of weld filling and pile height. The width of weld decreases because of the decrease of heat input, the influence of defocusing on weld penetration is greater, and the weld penetration decreases with the increase of defocusing, and the quality of weld formation is affected if the flux of protective gas is too large. Secondly, the relationship between weld geometry and welding input parameters is established. In this paper, the mathematical relations between the cross section area, weld width, stack height, the ratio of weld width to stack height and laser power, wire feeding speed and welding speed are established by the response surface method. The experimental results show that the established models can accurately predict the geometric parameters of the weld. Then, a multi-layer and multi-pass weld trajectory planning method based on single-pass cross-sectional area is established, including the number of welding passes, the algorithm of torch endpoint coordinates, filling sequence and so on, which makes the welding path planning more accurate. Then the KUKA robot is used to realize the multi-pass welding program. Finally, multi-layer and multi-track seam tracking is realized with weld tracking sensor. The laser scanning sensor can adjust the track track of welding seam in real time, and avoid the problem that welding torch ends deviate from the original welding track due to welding deformation or tooling shift during welding process. The experimental results show that the above method can accurately predict the weld geometry, the number of weld passes and the offset of welding torch endpoint coordinates. The analysis of defects in multi-layer and multi-pass welded joints shows that the heat input P/Vw and the ratio of wire feeding speed to welding speed Vf/Vw are the main factors affecting the joint quality. In addition, the ratio of weld width W _ w to W _ t will affect the formation of defects during multi-layer and single-pass filling.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG409

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本文編號：1830391