Design And Application Research Of Metal Structural Parts Arc Welding Workstation With Double Robot

With the rapid development of China’s economy,intelligent manufacturing has become a research hotspot of China’s manufacturing transformation and upgrading.As an important part of this field,industrial robots play an irreplaceable role in the process of manufacturing transformation and upgrading.With the continuous advancement of "Made in China 2025",the industrial robot industry has grown rapidly.As a kind of industrial robot,welding robot can not only improve the working conditions of workers,ensure the welding quality of products and improve production efficiency,but also help to enhance the competitiveness of enterprises.In this paper,based on the welding requirements of metal structural parts,a two-robot double-station welding station was developed based on the welding robot.Firstly,this paper analyzes the functional requirements of the workstations developed,determines the actuators,fixtures,system control parts and safety guards,and determines the layout of the system according to the actual situation of the production site.Secondly,the MA1440 robot and the three-axis vertical flip positioner are taken as the research objects,and their D-H parameters are obtained and their kinematic models are analyzed.On this basis,the welding of the space curve weld is discussed.The coordinated motion analysis of the single-machine displacement welding station,the two-machine welding station and the double-machine displacement welding station are carried out.Thirdly,considering the influence of instantaneous heat accumulation during welding,the workpiece will cause residual stress and deformation after welding.In order to understand the welding process and the distribution law of deformation due to welding,the welding parameters of the pipe beam were simulated by the thermal deformation analysis,and the influence of different welding trajectories on the welding deformation was obtained.According to the simulation analysis results and the actual welding process,the welding optimization scheme is proposed.Finally,through the system debugging analysis of the welding station and the on-site welding production test,the results show that the welding station can effectively reduce the workload of workers and reduce the damage caused by welding arc and smoke to the human body.Shorten the production cycle and ensure product quality to meet the welding production needs of the company.