Research On Welding Technology Of Robot Welding Orthogonal Pipe WeldSeam

With the development of industrialization and progress,and the use of welding automation welding robot has become an increasingly important part in industrial production,in the face of the task has been complex,6 axis welding robot monomer has not been able to complete the welding of similar orthogonal pipe this kind of complex space curve welding seam.In order to improve the efficiency of the welding robot and improve the adaptability of the robot to the space curve welding seam,it is necessary to control the welding torch's walking posture and the position of the welding seam of the workpiece to be welded.Generally speaking,the path and trajectory of the robot walking completely realized by its own axis of rotation joint welding,but the welding robot in the process of movement of the joint due to the impact of its own institution and has certain limitation,a lot of complex space curve welding robot is difficult to achieve.So based on the research on single robot welding,configure a set of welding positioner system for robot,through the calculation of the Mathematical Sciences,using homogeneous coordinate transformation matrix method,the welding robot with CO control of trajectory welding positioner.The system can automatically extract and track the weld trajectory under the system off-line programming,so that the welding robot and the welding positioner can cooperate with each other to complete the welding of the complex curve welding seam.In this paper,the SIASUN SR10 welding robot and welding positioner as the main body,image extraction and processing system as the auxiliary of the automatic welding system of traffic control.The control system of welding robot and its cooperating positioner is designed,fully explains the development environment and the data structure of control system,welding robot and positioner for path planning design,through visual sensing technology to make path planning to improve.The welding robot and positioner and other parts of the coordinate conversion to welding together with the coordinate system,SolidWorks will create a structure model for welding workpiece welding automatic welding seam tracking system based on simulation experiment,extraction and orthogonal pipe is conducted under the environment of SIASUNRobotStudio,and by using mathematical methods of welding robot and positioner movement the relationship between the description of homogeneous coordinate equation transform,get control method of mutual conversion.The proposed adaptive robot welding technology,through the visual sensing technology to collect the weld image containing the laser lines using CMOS sensor,Halcon programming software,can enhance the weld trajectory profile obtained from the experimental realization of welding seam detection initial welding point endpoint and welding process of the track,which is automatic orthogonal pipe the weld is completed.