Research On Cartesian Coordinates Welding Robot System

With the development of industry automation technology and the rising labor costs, in order to reduce production costs, improve product quality, increase productivity, more and more welding robots have been applied into welding production to replace the artificial production. At present, the welding robots on the market are mainly industrial joint arm welding robots, and they have powerful function and cost much. They are suitable for complex welding tasks. But to the small and medium sized enterprises, the use of multi-joint robots do not only increase the enterprise operation cost but also cause function waste. In order to solve this problem, we'll design a set of Cartesian coordinate robot welding system to complete the simple welding in this paper. The simple welding includes the line welding, arc welding , intersecting line welding and so on. The main listed in this paper as follows:Firstly, in order to meet the need welding of the customer, we proposed a scheme about the structural principle of four degree freedom Cartesian coordinates welding system.According to the requirements of robot system,we make the design of structure ,driven and control system design. After the design, we establish a three-dimensional model with PROE,and based on three-dimensional drawing die drawing of two-dimensionalSecondly, do the static and dynamic analysis of the CAE on the welding system using ANSYS Workbench12.0. The purpose of static structure analysis on Longmen framework is to propose a improvement scheme to reduce the impact deformation. Through the dynamic analysis of the robot host overall, we can get the first six order vibration frequency of the host,according to the results, we can choose a motor to avoid the resonance.Thirdly, do an analysis on the process of gas metal arc welding. Then we conclude how the welding parameters effect on the weld seam and the relationship between the weld seam and droplet transfer mode. We do an analysis on the droplet force,we know the influence on droplet transfer and conditions of melting drops about the surface tension and the electromagnetic force. We establish a mathematical model of the GMAW and do the simulation analysis.Lastly, according to the design, manufacture and assembly debug the prototype. A lot of experiments have been made include space motion experiments, velocity experiments,positioning precision experiments, typical weld and typical products experiments. The results demonstrate the performances of prototype can meet the expected design.