管—管相贯线焊接机器人运行轨迹及焊接工艺的研究

发布时间：2018-01-03 00:41

本文关键词：管—管相贯线焊接机器人运行轨迹及焊接工艺的研究　出处：《上海工程技术大学》2015年硕士论文　论文类型：学位论文

【摘要】：本文针对管-管相贯线的机器人全位置焊接进行了研究,研究内容主要包括管-管相贯线机器人焊接理论上的关键技术的研究、全位置焊接工艺实验的研究和全位置焊接成形质量的研究三个方面的内容。两空心圆管垂直相贯组成的管-管相贯线,为典型的马鞍形空间曲线,空间曲线的机器人焊接包括平焊、立焊、仰焊等焊接过程,需采用全位置焊接的焊接方式。本文从分析管-管相贯线焊接接头的特点出发,研究了相贯线机器人焊接焊接方式的选择,通过建立拟合函数并使用MATLAB分段拟合的方法拟合出了工件坐标系坐标与其对应的机器人坐标系下六个轴的轴坐标之间的曲线关系,即为管-管相贯线机器人焊接的枪体姿态方程,然后从理论上分析了全位置焊接上坡焊和下坡焊的特点以及焊接过程中熔滴过渡形式的选择,为管-管相贯线机器人焊接的工艺实验部分奠定了理论基础。本研究采用CLOOS ROMAT 350六轴焊接机器人对管-管相贯线进行全位置焊接,焊接机器人的工艺参数表中共有22个焊接工艺参数,文章针对管-管相贯线机器人的全位置焊接,首先对这22个焊接工艺参数的含义做了详细阐述,并分析了每个焊接工艺参数对焊接过程及焊缝成形方面的影响,为焊接实验中工艺参数的设定提供了依据。机器人焊接之前要对管-管相贯线焊缝的接头形式以及焊枪枪体姿态进行设计,首先针对未开坡口的接头形式,制定合适的焊接工艺参数对其进行焊接,焊后从焊缝成形外观和焊缝形状尺寸进行焊缝成形质量的分析,并分析其存在的焊接缺陷及产生的原因,进而优化焊接工艺参数,改善焊缝成形质量。然后针对60°坡口和1.5mm钝边、无间隙接头形式的管-管相贯线焊缝,进行焊接工艺实验,制定合适的焊接工艺参数,焊后从焊缝成形外观和焊缝形状尺寸对焊缝成形质量进行评估,以优化焊接工艺参数,得到更好的焊缝表面成形。对管-管相贯线机器人焊接进行运行轨迹及焊接工艺的研究,不仅可以使焊接机器人按照最优路径进行施焊,还可节约生产成本、提高焊接效率、改善焊接质量,对实际的工业生产具有重要意义。
[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 掳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.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG409

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