Research On Key Technology Of Delta Robot Seam Tracking System Based On Corrugated Plate Welding

Driven by the "intelligent manufacturing 2025",China's welding industry has gradually entered the stage of automation and intelligence.In the current domestic market,intelligent welding robots have been widely used because of their stable operation conditions,which can improve the working atmosphere,greatly liberate productivity and accelerate work efficiency.However,most of the welding robots in the market today are series robots.Because the series robots are of cantilever structure,the small errors of each robot arm in the welding process will accumulate and amplify the errors of the end effector,and the motion inertia is large,which has a great impact on the accuracy of welding.In addition,the installation requirements of series robots are high,which takes up a lot of space Based on the above problems,this paper proposes to apply delta parallel robot to the welding field and build a weld tracking system platform based on Delta welding robot:(1)In the development of delta welding robot,firstly,the kinematics and dynamics simulation of delta mechanism is carried out,the position solution in forward and inverse kinematics is deduced,and the deviation position is solved.At the same time,the speed,acceleration,equivalent stress of each delta branch chain in operation are studied,so as to ensure that each branch chain meets the load conditions under welding operation,and better control the welding trajectory The optimization lays a necessary prerequisite for the research of weld tracking system.(2)According to the welding current characteristics,Butterworth filter is used to filter the welding current waveform The analysis of location.(3)According to the arc characteristics of welding torch,the arc model is established,and the welding seam deviation is calculated by using the integral difference of adjacent periods.A delta robot cycle adaptive correction method is proposed for the obtained welding seam deviation.The method is used for compensation,and the compensation signal is communicated with the controller to control the delta robot servo axis for position correction,so as to realize the requirements of automatic seam tracking.(4)The delta robot welding seam tracking test platform is built,and the delta robot welding seam tracking system is used to carry out the welding test on the corrugated plate.The collected current waveform is analyzed.The high-speed camera is used to record the image in the test process.The experimental results show that the welding process is stable and the weld quality is beautiful.The multi-level filtering method has a certain practical value The results show that the algorithm is effective and the tracking accuracy is good,and the delta robot is suitable for seam tracking.