Study On The Welding Robot System And The Influence Of Welding Process Parameters

With the rapid development of welding technology,robot welding has been widely used in manufacturing field.Robot welding has high production efficiency and stable welding quality.At the same time,the robot can avoid the harmful effect of long-term welding on the human body,reduce the welding processing cost and reduce the failure rate of the production link.In this paper,the welding robot system is designed.For Q235 carbon steel,which is widely used in bridge,ship and other fields,the influence of welding parameters on the weld shape is analyzed,which is the bridge.The application of robot welding in ship and other fields provides a reference for welding process parameters.Firstly,the welding robot system and its structure are described.The system is mainly divided into ABB-IRB2600 industrial robot,fixture,Kemppi-SYN300 welding machine and image acquisition device and so on.The design of the welding robot control system,the realization of the communication between the robot and the welding machine,and the analysis and development of the welding robot system program are described.Secondly,the mathematical model of robot is established by D-H representation,and the forward kinematics solution is obtained.The inverse solution of robot kinematics is solved based on the position and pose separation structure of the robot.This method is simple and intuitive.The ABB-IRB2600 robot simulation model is built by using Robotics Toolbox through the parameters of the links of the robot.The welding trajectory simulation of the welding robot is carried out,which enhances the reliability of the working motion.Then according to the welding process parameters of the welding robot system,the important parameters are analyzed,and the influence of the parameters such as wire dry extension length,wire feeding speed,welding voltage and welding speed on the weld shape is expounded on the theoretical level.Especially,the effects of welding speed,wire feeding speed and welding voltage on weld penetration and weld width are analyzed.The system is modeled and simulated with ABB simulation software Robotstudio.The robot welding program is developed in the virtual system,and the robot walking fault can be detected in the virtual process.The correctness of the developed robot system program is verified.Finally,the parameters of the simulation results of the robot motion trajectory are recorded,and the robot motion program is compiled according to the parameters.The end trajectory of the ABB-IRB2600 robot is measured by the Optotrak Certus three-dimensional dynamic optical tracking system,and the correctness of the program is verified.The influence of welding parameters on weld shape based on the theory of welding process is studied.Carbon dioxide shielded welding is adopted in the experiment,which has low cost and high efficiency.The effects of single factor and mixed factor on weld penetration and weld width are verified,and the data sheet and curve of weld penetration and weld width are obtained,which can be used as a reference for welding robot in reality.