焊枪末端受扰响应分析及其共振研究

焊接机器人工作中不可避免地产生电弧力,一定程度上影响了焊接稳定性。针对这一问题,首先在SolidWorks中搭建3R焊接机器人模型进行仿真,分析焊枪在焊接工作中受电弧力的影响来揭示其焊接过程的动力学特性,探索末端焊枪作业稳定性与焊接区电弧力之间响应关系,并结合复杂多变的工况,选取多组不同大小、性质和频率的电弧力进行分类仿真,找到不同的干扰电弧力与焊枪运动稳定性之间的关联。研究表明:不同大小、不同性质和不同频率的电弧力对焊枪的扰动均存在一定规律,且频率的改变尤为突出;通过进一步频率的细化分析,发现当焊接电源频率趋于20 Hz时,焊枪抖振异常剧烈,发生共振现象。研究结论为避免焊枪异常共振提供了一定的参考。

Vibration Response Analysis of Electrode Tip and Its Resonance Study

The welding robot inevitably produces arc force, which affects the welding stability to some extent. In order to solve this problem, 3R welding robot model was built in SolidWorks, the influence of arc force on the welding torch in the welding work was analyzed to reveal its dynamic characteristics in the welding process, to explore the relation between the end welding torch operation stability and welding area arc force. Connecting with the complex working condition, multiple sets of electric arc force with different size, nature and frequency were selected to make simulation, to find the link between the different arc force and the welding torch movement stability. The research results show that the disturbance to the welding torch from the arc force with different size, different properties and different frequencies has certain regularity, especially the change of frequency; when the welding power frequency tends to 20 Hz, the welding torch chattering is unusually intense, resonance phenomenon occurs.It provides reference for preventing unusual resonance of welding torch.