Research On Key Technology Of Three-axis Vertical Welding Robot Based On Swing Arc Sensor

With the deepening of China’s "smart manufacturing" innovation strategy,the transformation and upgrading of traditional manufacturing industries will face enormous challenges and challenges.Welding has played an irreplaceable role in the national economic construction and has been widely used in bridges,agricultural machinery,national defense construction,petrochemicals,aerospace,engineering machinery,and ocean engineering.In this paper,a typical three-axis vertical welding robot based on swinging arc is developed and its key technologies are studied.The welding process parameters have been studied in depth.The specific research content is as follows:First,a three-axis vertical welding robot based on a swing arc was independently developed.Firstly,the basic theory of three-axis vertical welding robots such as structural design,automatic welding control and weld forming was elaborated.Based on the swinging arc,the frame design and structure assembly of the three-axis vertical welding robot were realized.Through in-depth study of the electrical control theory and the principle of weld tracking,the Hall sensor and the swing arc sensor are used to feed back the weld signal in real time,and the single-chip computer is used to control the welding process.The weld box tracking state is observed in real time through the key box and the main box display.Independently developed a vertical welding robot based on swing arc tracking.Next,a vertical welding pool heat source model was established and a new method of wave filtration was proposed.This paper aims at the instability of vertical weld pool under the influence of gravity.Through the analysis of the heat source and force of the vertical weld pool,according to the heat source model of the molten pool,simulating the molten pool formation between vertical welding and vertical welding using sysweld software.The weld forming theory of vertical welding was analyzed.In the welding practice,the signal-to-noise ratio of the waveform changes greatly under vertical welding conditions.For the processing of the welding signal,a modified median filtering method is proposed on the basis of conventional median filtering,which is a conventional filtering method.Based on the well-optimized waveforms,it provides the basis for subsequent theoretical studies of vertical welding.Then the optimization scheme of three-axis vertical welding robot is put forward.Aiming at the technical difficulty of welding seam forming and tracking under vertical welding condition,this paper designs an adaptive adjusting device of welding torch under vertical welding condition under the condition of consulting abundant theoretical basis and accumulation of project experience.The welding seam is well formed by adjusting the angle of welding torch.An automatic welding method based on dual laser radar detection sensor is proposed.The laser radar and welding torch are integrated to realize the accurate tracking of weld seam by laser radar.Finally,the experimental verification of the optimized program of the three-axis vertical welding robot was carried out.The test shows that the adjustment of the torch angle and the tracking of the laser radar make the welding robot’s welding forming effect and tracking effect significantly improved.This provides a basis for further research of the vertical welding robot.