【摘要】：空腔類構(gòu)件的密封錫焊主要是通過人工軟釬焊工藝實(shí)現(xiàn)的,其焊接工序復(fù)雜,焊接質(zhì)量不穩(wěn)定,焊接效率低,廢品率高。隨著自動(dòng)焊接技術(shù)的發(fā)展,實(shí)現(xiàn)空腔類構(gòu)件焊接過程的自動(dòng)化將成為必然趨勢。本文以某類內(nèi)部安裝多功能電子器件的大型空腔類構(gòu)件的自動(dòng)密封錫焊系統(tǒng)構(gòu)建和焊接質(zhì)量為研究對象,以HP20D工業(yè)機(jī)器人為平臺,設(shè)計(jì)了末端執(zhí)行器和構(gòu)件工裝變位機(jī),研究了密封錫焊工藝參數(shù)對焊接質(zhì)量的影響,實(shí)現(xiàn)了對空腔類構(gòu)件的高質(zhì)量錫焊。建立了機(jī)器人的關(guān)節(jié)連桿坐標(biāo)系,獲得了機(jī)器人的D-H參數(shù)；對機(jī)器人進(jìn)行了運(yùn)動(dòng)學(xué)分析,確定機(jī)器人末端位置與六關(guān)節(jié)轉(zhuǎn)動(dòng)角度的空間關(guān)系,求得機(jī)器人運(yùn)動(dòng)學(xué)正解和逆解,對機(jī)器人運(yùn)動(dòng)學(xué)性質(zhì)進(jìn)行了仿真。對上位機(jī)控制功能進(jìn)行了二次開發(fā)；設(shè)計(jì)了機(jī)器人運(yùn)動(dòng)控制界面,實(shí)現(xiàn)了在上位機(jī)上控制機(jī)器人末端執(zhí)行器的插補(bǔ)方式和運(yùn)動(dòng)速度,并能夠?qū)崿F(xiàn)焊接程序文件的上傳與下載。設(shè)計(jì)了末端執(zhí)行器；該執(zhí)行器設(shè)計(jì)主要包括整體結(jié)構(gòu)、加熱裝置、溫度和功率控制系統(tǒng)的設(shè)計(jì),保證了末端執(zhí)行器與機(jī)器人的可靠連接、熱量的安全傳遞、功率可調(diào)和溫度可控。設(shè)計(jì)了構(gòu)件工裝變位機(jī),并對工裝變位機(jī)進(jìn)行了靜力學(xué)和模態(tài)分析；結(jié)果表明,主要變形部分是旋轉(zhuǎn)支撐架,但是最大變形量微小,可忽略不計(jì)；變位機(jī)固有頻率主要分布在50Hz到230Hz之間。建立了焊接溫度場有限元模擬模型,模擬結(jié)果表明,焊接速度為1mm/s～2mm/s時(shí),焊接質(zhì)量較好；熱源上各點(diǎn)的溫度沿焊接方向相繼達(dá)到峰值然后急劇下降,在準(zhǔn)穩(wěn)態(tài)條件下其溫度峰值達(dá)到并超過材料的熔點(diǎn),錫焊橫截面上各點(diǎn)的溫度變化趨勢相似。焊接速度越高,形成的焊接溫度場區(qū)域越小,而焊接溫度小于焊接速度低時(shí)的溫度。研究了焊接角度、邊界熱源、焊接速度、焊接次數(shù)和焊接溫度對焊接質(zhì)量的影響規(guī)律。結(jié)果表明,當(dāng)焊接角度為60°,使用熱風(fēng)槍對構(gòu)件進(jìn)行預(yù)熱并保持焊接溫度,焊接速度為1～2mm/s,采用二次走焊工藝,焊接溫度為350℃～450℃時(shí),構(gòu)件焊接質(zhì)量較好。
[Abstract]:Sealing tin welding of cavity components is mainly realized by manual soft brazing. The welding procedure is complex, the welding quality is unstable, the welding efficiency is low, and the scrap rate is high. With the development of automatic welding technology, it will become an inevitable trend to automate the welding process of cavity components. In this paper, the construction and welding quality of automatic sealing tin welding system for large cavity components with multifunctional electronic devices are studied, and the end actuator and component tooling positioner are designed on the platform of HP20D industrial robot. The effect of process parameters of sealed tin welding on welding quality was studied, and high quality tin welding for cavity components was realized. The coordinate system of the robot is established, and the D-H parameters of the robot are obtained. The kinematics analysis of the robot is carried out to determine the spatial relationship between the end position of the robot and the rotation angle of the six joints, and the forward and inverse kinematics solutions of the robot are obtained, and the kinematics properties of the robot are simulated. The control function of the upper computer is redeveloped, the robot motion control interface is designed, the interpolation mode and the motion speed of the robot end actuator are controlled on the upper computer, and the welding program file can be uploaded and downloaded. The end actuator is designed. The design of the actuator mainly includes the whole structure, heating device, temperature and power control system, which ensures the reliable connection between the end actuator and the robot, the safe transfer of heat, and the controllable power harmonic temperature. The static and modal analysis of the machine is carried out. The results show that the main deformation part is the rotating support frame, but the maximum deformation is small, which can be ignored. The natural frequency of the positioner is mainly distributed between 50Hz and 230Hz. The finite element simulation model of welding temperature field is established. The simulation results show that the welding quality is good when the welding speed is 1mm/s~2mm/s. The temperature of each point on the heat source reaches the peak along the welding direction and then drops sharply. Under the quasi-steady condition, the temperature peak reaches and exceeds the melting point of the material, and the variation trend of the temperature at each point on the cross section of the tin welding is similar. The higher the welding speed is, the smaller the welding temperature field is, and the smaller the welding temperature is when the welding speed is low. The influence of welding angle, boundary heat source, welding speed, welding times and welding temperature on welding quality was studied. The results show that when the welding angle is 60 擄, the hot air gun is used to preheat the component and the welding temperature is kept, the welding speed is 1 ~ 2 mm / s, and the welding quality is better when the welding temperature is 350 鈩，

本文編號：2299506