共查询到16条相似文献,搜索用时 93 毫秒
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介绍了一种采用新型轮履复合式爬行机构的全位置爬行式弧焊机器人系统,详细地阐述了系统的组成和工作原理。该系统由爬行机构、焊接系统、视觉跟踪系统以及控制系统组成,是一种既无需轨道也无需导向的自动焊接系统。爬行机构具有负重能力强、运动灵活等特点,满足机器人在大型工件上全位置爬行焊接要求。通过大量试验对爬行机构进行了运动分析,建立了机器人运动模型。针对系统的复杂性设计了开关控制器,实现了爬行机构及十字滑块的协调控制,达到焊缝精确跟踪的目的。进行了焊接条件下的跟踪性能试验、全位置多层多道焊接试验,取得了满意的效果,实现了大型工件焊接过程自动化。 相似文献
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本文阐述了机器人用弧焊逆变器及设备智能控制器的基本原理、控制电路的组成和控制软件的结构。实验结果表明,采用8097BH单片机对场效应管弧焊逆变电源进行直接数控,通过编程,可方便获得CO 2/MAG自动焊所需的静动外持性及焊接顺序,并可对焊接过程故障进行诊断及报警,焊接参数的变换、调节、存储和调用,此外,它与弧焊逆变器、送丝机和焊炬一起组成完整的自成体系的焊接系统,与机器人控制柜只有开关量的通信关系。通过调节PI参数可调整逆变器动特性,从而使焊接过程更稳定,飞溅小,焊缝成形好,更好地体现机器人弧焊方法的优越性。 相似文献
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弧焊机器人焊枪姿态的简便示教 总被引:1,自引:0,他引:1
弧焊机器人焊接空间搭接焊缝时,对于焊枪姿态的示教往往占据了大量的示教时间。为此,提出一种焊枪姿态的简便示教方法。该方法采用根据几何约束计算焊接时焊枪姿态的思路完成焊枪姿态的示教。先以任意焊枪姿态对焊缝进行位置示教,然后根据焊缝的切向矢量和焊接工艺要求的焊枪角度计算出焊接时的焊枪姿态。对于三维曲线焊缝,只有当局部焊接平面与基坐标系的Oyz平面不垂直时,需要进行简单的焊枪姿态示教,示教时只须调整机器人绕工具坐标系一个轴转动的角度即可完成。使用该方法可以显著地减少示教难度和示教时间,提高姿态示教的精度。详细介绍焊枪姿态的描述方法、焊接方向角的计算方法和焊枪姿态的调整方法等关键技术。使用搭接曲线焊缝进行试验验证,证明了该方法的可行性。 相似文献
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AWOPS系统几何造型及仿真通讯的研究 总被引:1,自引:0,他引:1
采用模拟化设计建立了弧焊机器人离线编程系统(AWOPS),对日文MRC-WORLD软件进行了二次开发,实现了基于MRC-WORLD软件环境的不同焊枪及工件等的几何造型,并实现了SK6弧焊机器人离线图形仿真,并采用RS232C方式实现了SK6弧爆机器人与计算机串行通讯,达到了计算机离线仿真机器人在线焊接。对典型的马鞍型焊缝实焊,焊缝质量优良。 相似文献
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W. P. Gu Z. Y. Xiong W. Wan 《The International Journal of Advanced Manufacturing Technology》2013,69(1-4):451-460
Automatic welding technology is a solution to increase welding productivity and improve welding quality, especially in thick plate welding. In order to obtain high-quality multi-pass welds, it is necessary to maintain a stable welding bead in each pass. In the multi-pass welding, it is difficult to obtain a stable weld bead by using a traditional teaching and playback arc welding robot. To overcome these traditional limitations, an automatic welding tracking system of arc welding robot is proposed for multi-pass welding. The developed system includes an image acquisition module, an image processing module, a tracking control unit, and their software interfaces. The vision sensor, which includes a CCD camera, is mounted on the welding torch. In order to minimize the inevitable misalignment between the center line of welding seam and the welding torch for each welding pass, a robust algorithm of welding image processing is proposed, which was proved to be suitable for the root pass, filling passes, and the cap passes. In order to accurately track the welding seam, a Fuzzy-P controller is designed to control the arc welding robot to adjust the torch. The Microsoft Visual C++6.0 software is used to develop the application programs and user interface. The welding experiments are carried out to verify the validity of the multi-pass welding tracking system. 相似文献
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Arc welding robot system with seam tracking and weld pool control based on passive vision 总被引:3,自引:3,他引:0
Hong-yuan Shen Jing Wu Tao Lin Shan-ben Chen 《The International Journal of Advanced Manufacturing Technology》2008,39(7-8):669-678
The automatic control in square-wave alternating current (AC) gas tungsten arc welding (GTAW) is significant for a “teach and playback” robot to overcome the variation of the seam trajectory and the seam gap in the welding process. This paper presents a welding robot system based on the real-time visual measurement in the different levels of the welding current. The primary objective is to measure the offset of the torch to the seam center and the size of seam gap by passive vision, track the seam and control the weld pool in real time. A novel visual image analysis algorithm was developed for seam tracking and seam gap measuring, free from robot calibration. The control algorithm based on the knowledge base was established to control the weld formation by regulating the welding current and wire feed rate. The welding practice for the rocket storage tank demonstrates the efficiency of the proposed system. 相似文献
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X. F. Zha X. Q. Chen 《The International Journal of Advanced Manufacturing Technology》2004,23(11-12):831-845
Motion coordination planning and control play a crucial role in robot application to Cartesian task operations with taking into account kinematics and dynamics constraints. This paper presents a unified approach to coordination planning and control for robot position and orientation trajectories in Cartesian space. The concept of generalised robot pose is defined as the robot configuration consisting of position and orientation, in which the orientation is described by a vector equivalent to the rotational angular displacement. The robot pose ruled surface is formed as a three-dimensional motion locus of its configuration vector. The unified treatment of the end-effector positions and orientations is based on the robot pose ruled surface concept and used in trajectory interpolations. The coordination planning of pose trajectories for the robot end effector is accomplished by generating and optimising the pose ruled surface under the constraints of kinematics and dynamics performances. The coordination control is implemented through controlling the motion laws of two end points of the orientation vector and calculating the coordinates of instantaneous corresponding points. The simulation experiment using PUMA 560 robot in arc welding and surface finishing processes are carried out to verify the feasibility of the proposed approach and demonstrate the capabilities of generation and control models. 相似文献
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教学型弧焊机器人设计 总被引:1,自引:0,他引:1
叙述教学型弧焊机器人设计的总体方案,以及其结构和控制系统的设计。采用SolidWorks绘图,设计了教学型弧焊机器人的结构,实现了三维运动仿真。采用微机控制技术,设计了教学型弧焊机器人控制系统。实现了对教学型弧焊机器人的控制,并把位置信息反馈给操作者实现人机交互的功能。 相似文献