The Study Of Electric Buffeting And Its Driving Frequency At The End Of Welding Robot

The application field of welding robots is becoming more and more extensive,and the demand for welding technology is higher and higher in industrial products.Therefore,it is urgent to develop a robot welding technology with high efficiency,high precision and improvement of workers' environment.The robot intelligent welding technology is introduced,which has a strong ability of flexible processing.However,in the welding operation,the current strength and the power frequency will cause the corresponding disturbance to the position of the welding operation.The change of power frequency will directly affect the arc force of the welding gun,the main contents of this paper are as follows.1.The mechanical properties of arc force at the end of welding process are analyzed by welding arc static pressure and other ionic flow force.Then the influence factors of welding arc force are analyzed,and the influence of arc length,welding wire diameter,welding current size and pulse power frequency on arc force is obtained.And the relationship between the frequency fluctuation of welding power and welding arc force is analyzed,and the arc force of pulse current is calculated.2.Aiming at the research object,the welding working platform was set up,and the robot welding process was analyzed by kinematics.The equation of linear velocity and acceleration of welding arm mass center and welding gun terminal P is calculated by the kinematic equation.Then the splicing surface welding gun is analyzed by electric buffeting.The jacobian matrix of welding robot welding arm is derived,and the relationship between the welding arm and the drive moment of each joint is obtained,and the dynamical equation of the manipulator is derived.3.Analysis of the dynamic simulation of welding process,the simulation of different size,different properties and different frequencies of disturbance arc force to carry on the dynamic analysis of the welding torch get movement process at the end of the welding torch and linear velocity and angular acceleration and linear acceleration arc force characteristic curve,the result comparison analysis,to find the influence of different factors on the stability of welding torch.4.By analyzing the dynamic simulation of welding process under different welding frequency,the influence rule of different frequency on the welding buffeting is explored.Simulation results show that: 1.The end of the welding torch under different current and different frequency of driving power supply,to different extent influence the end of the welding torch pose accuracy,uneven welding shrinkage will cause the weld surface cooling out of sync,residual stresses caused by shrinkage cavity formation,affect the welding quality.2.Welding power frequency and obvious relationship between stability and refine the welding arc force frequency of a given treatment is beneficial to the stability of dynamic process of welding torch welding at the end.3.The optimal welding power frequency of 10 Hz neighborhood,and when the welding arc force change frequency of 5Hz ? 15 Hz,and the end of the welding torch stability is increased before they are reduced,visible by controlling the welding electric frequency promote contraction cooling in step,effectively eliminate the welding residual stress,improve surface quality of welding.