Research On The Key Technology Of The Gear Welding Production Line With Dual-Robot Coordination

Tracked armored vehicle is a kind of military vehicle with the characteristics of firepower,mobility and protection.As an important part of the traveling system of tracked armored vehicle,the precision and wear-resistant have a direct impact on the stability and reliability of vehicle.The tooth surface of drive wheels need to be deposited by wear-resistant metal material during manufacturing.At present,the depositing process of tooth surface has many problems on manual or semi-automatic,low efficiency,low precision and inevitable polishing.Aiming at these problems,we study on CMT surface depositing process,put forward the surfacing technology,integrate dual robot technology,CMT spatter free welding technology,welding quality on-line detection technology and bus control technology.Finally dual-robot welding production line is formed including automatic feeding,welding,quality inspection and stacking.Firstly,the background and significance of this dissertation are elaborated.Then the current process of welding technology and welding quality testing technology are presented.Finally the main research contents and the arrangement of each chapter are introduced briefly and the overall framework of this dissertation is put forward.Secondly,the GMAW droplet transfer process and the CMT controlled short circuit transition technology are present.Then the surface welding parameters optimization method based on Taguchi method and grey system theory are put forward.Finally Taguchi method and grey system theory are presented.Then,the welding process requirements are analyzed and the design target of dual robot welding production line is put forward.On these basis the overall scheme of the production line is presented,the feeding station,welding station,visual inspection station,stack station and system control unit are designed in detail,a platform based on the soft PLC is built and the industrial field control program,the welding quality inspection program and the man-machine interface are designed in detail.Finally a dual-robot welding production line is formed.Lastly,the curve welding model is approximated as plane welding model through the analysis of tooth surface.Then considering the requirements of welding technology,the Taguchi method and gray system theory is used to obtain the CMT plane welding parameters.Finally the CMT curve welding parameters are obtained through test.In this dissertation,the dual-robot automatic welding production line is developed.The test run shows that all the indexes meet the design requirements.