Design Of Double Robot Single Side Resistance Spot Welding System For Large Complex Surface

Welding technology is an inseparable processing link in today's manufacturing industry,it is more and more applied to machinery manufacturing,nuclear industry and many other industries.With the development of human society,especially the emergence of super engineering in recent years,the traditional manual welding due to the low efficiency,poor stability limits already can not meet the requirement of the industry,compared with the traditional mainly manual welding technology,robot welding has many advantages,the future robot welding replace manual welding has been unstoppable tide of history.The traditional double robot coordinated welding can only meet the welding requirements of small parts,but for the large and complex surface welding of subway roof,the traditional double robot coordinated welding can not meet the welding needs.Therefore,facing the welding task of large complex curved surface such as subway roof,this paper designs a large complex curved surface single-side resistance spot welding system with double robots.The main research contents of this paper are as follows:(1)In this paper,a double-robot single-side resistance spot welding system is designed for the welding of the large complex curved surface of the subway roof made of 6005 A aluminum alloy.Firstly,the application field of the double robot welding system is analyzed.Secondly,the performance parameters and mechanical parameters of the welding materials are analyzed.Then,the brand and type of the spot welding robot required in this paper are selected according to the design requirements.Workbench module of ANSYS to solve large complex surface double single resistance spot welding robot system of welding robot in position 1 and position 2,3three different position when the welding position,respectively,2000 n,4000 n,6000 n is under pressure of three kinds of welding deformation and stress distribution,the hardness of the target robot and stiffness test,the tested results target hardness and stiffness meet the design requirements of the robot.(2)the welding for the welding joint of the robot design,analyze the previous single robot welding circuit,analyze the traditional dual robot welding circuit together,for this article,double double robot welding robot welding system circuit design,reduce the welding current and welding heat loss,improve the welding quality.Finally,the circuit current of the redesigned double robot welding system is calculated and calibrated.(3)According to the basic principle of robot kinematics,the D-H parameter method was used to establish the parameter coordinates of the spot welding robot of double robot single-side resistance spot welding system,and the terminal pose vector was calculated by using the matrix,and the D-H parameters of MS165 spot welding robot were obtained.The 3D model of MS165 Yakawa robot was established by using Solid Works,and the rigid and flexible coupling model of the welding robot was obtained by using ANSYS to flexibilize the big arm and small arm of the spot welding robot in the single resistance spot welding system with large complex curved surface double robot.The trajectory planning of the large complex curved double robot welding system designed in this paper is completed in Cartesian coordinate space,and the dynamics simulation is completed in ADAMS,and the dynamics characteristics of the welding system are studied and analyzed.