船舶焊接末端受电抖振及其电频细化

Electric Shaking at Welding End of Ship and its Electrical Frequency Refinement

针对船舶焊接领域中钢板焊接不可避免地会产生焊接残余应力的问题,通过分析焊接机器人焊枪末端受到的电抖振及其扰动等影响揭示其响应规律。通过搭建焊接模型阐明焊接过程动力学特性,研究不同特性电弧力对焊枪运动稳定性的影响,探索末端焊枪作业稳定性与焊接区电弧力和电源频率等参量之间的响应关系,并对多组不同驱动电频下的焊接运动进行动力学仿真,得到电频变化与电弧力的对应规律。研究结果表明:焊接电源频率的有效细化有利于保证末端焊枪焊接运动过程的平稳性;最优焊接电源频率在10Hz邻域时焊枪末端动态振动最小;通过控制电源频率大小能明显抑制焊枪振动,在一定程度上减小残余应力,有利于提高船舶焊接表面的质量。

In the field of ship welding,steel plate and other welding inevitably produce welding residual stress.The paper reveals the response law of welding robot by analyzing the influence of electric chattering on the end of welding gun and its disturbance.Through constructing the model of welding process dynamics characteristics,the different characteristics of arc force influence on the stability of the welding torch movement are studied.It explores the torch at the end of the operation stability and welding arc force and power frequency response relationship between the parameters,and the multiple sets of welding under different driving voltage frequency motion are carried out the dynamics simulation,getting the electric frequency changes and the corresponding rule of arc force.The research result shows that the effective refinement of the welding power frequency is beneficial to ensure the smoothness of the welding motion process of the end welding gun.It also finds that the optimal welding power frequency is in the 10 Hz neighboring area when dynamic vibration welding torch at the end of the youngest.By controlling the size of the power frequency can obviously restrain vibration welding torch,to a certain extent,the residual stress can be reduced to a certain degree,which is beneficial to the improvement of the ship welding surface quality.