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主从机器人遥控焊接要求具有较高的运动轨迹跟踪精度和足够的焊接速度,但是当操作者手动操作主机器人控制从机器人末端焊枪跟踪焊缝时,焊缝跟踪精度不能满足焊接要求的原因至今未知.文中开发了一套由主端控制器、从机器人、工控机和激光传感器组成的主从机器人遥控焊接系统.从人机工程的角度分析了操作者手动操作主机器人控制从机器人末端焊枪跟踪直线焊缝时,影响焊缝跟踪精度的因素.结果表明,操作者的反应时间越长,焊缝跟踪精度越低,并且为了保证焊接过程的稳定性和焊接质量,焊接速度应该由机器人控制. 相似文献
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针对复杂曲线焊缝,对一台机器人夹持待焊接的工件,另一台机器人对物体进行焊接的双机器人协调焊接运动问题展开研究,建立了双机器人协调焊接坐标系,采用非主从式运动学轨迹规划,给定待焊接物体上某一点u的位姿,通过点u到焊接机器人和夹持机器人工具末端的两个约束矩阵,分别计算得到焊接机器人和夹持机器人的末端轨迹;焊接过程采用船形焊缝约束,保证焊枪与焊缝在弧焊过程中始终处于接头成形良好的位置,建立双机器人协调焊接Solidworks-SimMechanics仿真平台,并对一个管道直角钢制弯头的协调焊接进行了运动学轨迹规划和仿真.结果表明,建立的平台能精确和有效地对双机器人协调焊接运动进行任务规划和分析,机器人运动轨迹与规划的轨迹一致. 相似文献
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干式高压焊接是既能保证焊接质量又易于实施的海底管道维修方法.基于目前的自动化技术水平和海管坡口制备难度大的现实,提出了基于高级焊工焊接知识和潜水员水下工作技能的遥控海底管道维修焊接策略.研制了一套干式高压环境管道全位置焊接机器人及其分置于水面母船甲板和水下干式舱的机器人焊接控制系统,研制了分别用于场景、坡口和焊缝的视觉监视系统,以及计算机远程信息采集监控系统,它们与水下干式舱系统一道构成了水下干式管道维修系统.还研究了干式舱充气气体种类、焊接电源特殊性和舱内引弧问题.利用先期在干式高压焊接实验室获得的海管焊接工艺完成了海上焊接维修试验,焊缝质量良好.Abstract: Among the available underwater pipeline repair methods, hyperbaric TIG welding technology may be the easier one to obtain better joint quality. Due to the low automation level and the bevel preparation difficulty, the repair welding should be conducted based on both the welding knowledge of the welder on deck and the operation skill of the diver. A tele-operated robot for all position hypetharic pipe welding was developed. In the specified case of underwater welding, the process was controlled by a surface based operator, a clear and real time image of the arc as well as the image of groove location were required. An observation system of three cameras for chamber, groove and weld was also developed respectively. All the necessary message of vision, welding current and arc voltage were collected and transferred to the surface by the developed computerized information system. The underwater pipeline maintanence system consists of the welding robot, observation system, the informarion system, together with the habitation. The chamber gas type, the welding power source and arc striking were also studied. With the welding proceedure developed in the hyperbaric welding laboratory, a good weld was obtained in a underwater pipe repair welding test at Bohai sea. 相似文献
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通过熔池的动态观测可以获得焊接过程的稳定性和连续性等信息.熔池的动态观测目前基本上停留在试验室阶段,焊接现场对熔池进行观测在改进工艺和指导生产等方面更具意义.针对焊接现场焊接电源不能修改,非计算机可控,电流电压波形未知等问题,在焊接现场建立了一套焊接熔池图像动态检测系统.根据焊接现场脉冲GTAW的特点,采用"外同步取像"方式确定了焊接现场取像的关键制约因素--取像时刻;并利用电弧光谱分析建立了减小弧光干扰的复合滤光系统;在适合的取像时刻,CCD摄像系统配合复合滤光系统,在焊接现场检测到了清晰的熔池图像. 相似文献
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在研究镁合金薄板TIG焊过程弧压-电流-弧长关系的基础上,提出了一种基于弧压、电流与弧长间的关系模型来准确控制弧长的技术。同时,结合PID和Fuzzy控制的原理,设计了一种自适应ALC(Automatic length control)控制器,克服了常规AVC(Automatic voltage control)系统的局限,有效地解决了镁合金薄板TIG焊过程中的弧长控制问题。焊接试验表明,该系统能自适应工件表面的变化实现弧长的自动跟踪,在电流变化的收弧及引弧期间也实现了较好的弧长控制,且动态精度高、稳定性好。 相似文献
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短周期电弧螺柱焊生产效率高,易于实现自动化,广泛应用于汽车工业。开发了由信号采集单元和分析软件构成的短周期螺柱焊在线分析系统。信号采集单元包含PIC18F4580单片机、电源、信号调理、外部存储器和RS485通信等电路,通过焊接状态判断、AD采样、数据存储和通信等程序,实现焊接电流和电压采集、存储和传输。分析软件采用Microsoft Visual Studio C#编写,操作界面由主窗口、焊接过程分析窗口、熔深阈值设置窗口和报警窗口等构成。DP600镀锌钢板焊接试验表明,开发的短周期螺柱焊分析系统能实时显示焊接电流和电压波形,提取焊接参数特征值,判断电弧的稳定性,熔深计算值与实测值相吻合,在线检测结论与外观目检、宏观检测和扭矩测试的结论一致。系统收集的原始数据可用于分析引起质量问题的具体原因。 相似文献
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0IntroductionArc stud welding is gradually becoming an increasingimportant joining process fromthe firstpractical applicationdeveloped originally for the shipbuilding industry as a re-placement of the time consuming drilling and boltingprocess in1939[1].T… 相似文献
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The paper describes a monitoring and control platform development for arc welding processes, which provides versatility and efficiency in the scientific study of the welding technology. The implemented system is capable of executing different welding processes and promotes substantial logical operation changes in a simple and didactic way. Among the innovations promoted by the development of the system is the ability to draw MIG/MAG welding process current waveforms, thereby allowing studies related to metal transfer, and, as a consequence of this, making technological innovations to this process. The monitoring and control platform has been developed to be able to absorb new technologies, allowing upgrades along the welding process evolution path. In this context, this system is a significant potential alternative to studies related to welding, in educational and research institutions within and outside the country. 相似文献