| Gate valve is still the most widely used in the current valve industry,the sealing performance of the flashboard determines the operational life span of gate valve directly.the abrasion of flashboard is fast,by overlaying a layer of wear-resistant metal on the surface of the flashboard in practical application,it can not only increases the wear resistance of the flashboard,but also makes it easier to loading and unloading for overlaying again,As a result,it saves a lot of time,increases the economic benefit and the service life of gate valve is also prolonged.The traditional manual surfacing is still adopted at present in China.The operating environment is bad and the labor intensity is great,so it affects the production efficiency.Therefore,study on the technology of overlaying on the sealing surface of the flashboard by using welding robot has significant importance for Valve industry.In this paper,we use ABB1410 welding robot in Yalong corporation and take the flashboard produced by a valve company as the research object,combined with traditional manual welding process,Using the robot to complete the trajectory planning and complete the surfacing task.Specific research contents are as follows:(1)Study on technologies of the gate surfacing,According to the type of gate structure,determine the width and thickness of DN100 type gate sealing surface in this paper,which provides surfacing parameters for robot path planning.(2)Research on the technology index of ABB1410 robot and welding equipment and the realization method of software programming.(3)Study the trajectory planning algorithm of robot and determine the most suitable algorithm for the robot in this paper,and to write the special program for the sluice surfacing of robot welding.(4)Combined with RobotStudio and SolidWorks to establish mathematical model,build automated welding robot simulation system,the simulation system configuration parameters and RAPID off-line programming,visualization simulation system simulation and optimization,finally,rewrite the program to make RAPID from proprietary type into a universal program.The final results show that the welding robot can successfully complete the surfacing task according to the trajectory planning,and the welding effect conforms to the requirements of the sealing surface.This provides references for the study by using welding robot for the study of flashboard overlaying. |
