双焊枪同步联动焊接系统建模与仿真分析

Modeling and simulation of synchronous linkage welding system for double welding torches

钢铝复合散热器多立管、避障相贯线焊接时,采用双焊枪同步联动焊接方式.在自主研发避障式双焊枪四轴复合联动自动焊接机过程中,建立T型圆柱管相贯线焊缝以及焊枪姿态的数学模型.应用VC++编程推导出插补周期内焊枪转角与时间的对应关系,根据双焊枪同步联动焊接系统末端执行器所要完成的轨迹特点,进行轨迹规划,在Pro/E环境下建立焊接系统的三维模型,进行运动仿真,检查焊枪运动是否与散热器铝翼干涉.结果表明,相贯线焊缝以及焊枪姿态的数学模型正确,能很好地完成相贯线处的焊接,提高了生产效率和焊接质量.

The synchronous linkage welding of steel-aluminum hybrid radiator with multi-vertical-tube and intersecting line weld was conducted with double welding torches. The mathematical models of the intersecting line weld seam for T-type cylinder tube and the posture of double welding torches were established in the independent development process of four-axis complex linkage automatic welding machine with double welding torches for avoiding obstacles. By applying VC + +,the corresponding relationship between the rotating angle and time was derived in interpolation period. Based on the trajectory characteristics which were achieved by the terminal executor of the synchronous linkage welding system with double welding torches,the trajectory planning was executed and three-dimensional model was established in Pro / E environment to simulate the movement to check whether the welding torches and radiator aluminum wing interfered with each other. The welding experiments show that the mathematical model of the intersecting line weld seam and the welding torch posture could be applied to accurately weld theintersecting line and enhance the production efficiency and welding quality.