Study On The Influence Of Rotation Angle Of Welding Gun And Work Piece Position On Energy Consumption Of Welding Robot

At present,with the improvement of industrial production automation,robots are widely used in automobile,port components manufacturing and other fields.Saving energy has been the focus of academic and industrial attention.Therefore,with the extensive application of robots,how to better save energy will be the core of the future industrial development.In the field of welding,welding automation is inseparable from welding robot.Most of the industrial applications are arc welding robots.In the welding process,how to reduce the power consumption of welding robots on the premise of guaranteeing the welding quality has important practical application value.Firstly,it can save energy,and secondly,it can reduce the industrial production cost.Different welding methods have different characteristics to save energy for the robot.For arc welding,the axial rotation of the welding wire(i.e.the rotation angle of the welding gun)will not affect the welding process.Therefore,this paper studies the influence of rotation angle of the welding gun and work piece position on the power consumption of the robot during welding,which is of great guiding significance to the actual welding production.Firstly,this paper introduces the definition of the welding gun rotation angle.For straight welding of 1G,2G and 3G positions,the three-phase power analyzer is used to measure the power consumed by the robot during the operation of the welding gun rotation angle in different positions.By comparing the average power of the whole process and the average power of the weld section respectively,it is found that the average power consumed by the robot in the whole process and the weld section has significant changes when the welding gun rotation angle of the starting and ending points of the welding is changed in these three positions,and the change rule of the power consumed in the whole process and the weld section is similar.There exists the optimal welding gun rotation angle of the welding start and end point.The experimental results are consistent with the theoretical analysis.Secondly,the representation method of work piece position is introduced.At 1G,2G and 3G positions,the significance of each variable of work piece position on the power consumption of weld segment is analyzed through orthogonal test.On this basis,the lowest average power of work piece position to weld section was obtained through orthogonal test at 1G,2G and 3G positions.The definition of the lowest average power interval ratio is given.At 1G and 2G positions,the lowest average power interval ratio of work piece position to weld segment is obtained.By comparing the average power of the weld section,it is found that when the position of the work piece is changed,the lowest average power of the robot in the weld section and the Lowest average power interval ratio have significant changes,and there are the positions of the work piece with the lowest energy consumption and the best value of lowest average power interval ratio.Finally,by curve fitting,the second-order regression models of the lowest average power consumption and the proportion of the lowest average power interval ratio of the work piece position were established respectively.The position of the work piece with the lowest average power consumption and the position of the work piece with the highest ratio of the lowest average power are obtained respectively.