焊接变位机及其智能化计算机辅助设计

焊接变位机是焊接生产机械化与自动化的重要且又比较薄弱的环节。对焊接变位机在现代生产方式下的功能，作和及焊接变位机的合理设计作了分析，认为在焊接变位机的设计过程中，应该把接头设计、操作机与变位机的配合和变位机的功能结构分析三方面综合起来。     

25t焊接变位器设计分析

阐述了25t焊接变位器的设计要求、总体方案设计、结构设计及间隙计算，以及解决焊接变位器在重载低速下运行不平稳的方法。该设计分析为大中型焊接变位器的国产化提供了一个成功的设计思路。     

数控焊接变位机示教再现控制系统

叙述了数控焊接变位机示教再现控制系统的实现过程。利用工业控制计算机和单片机实现了示教盒、操纵杆和计算机键盘等三种示教装置，同时设计了一套包括程序控制指令、轨迹描述指令和I／O通讯指夸的数控焊接变位机控制指令系统。变位机工作时首先通过示教装置完成所有焊接位置的示教并存储各示教点的坐标。然后通过指令系统描述各示教点之问的运动关系和运动顺序，并通过指令控制I/O通讯接口协调变位机与自动焊设备或焊接机器人的配合，从而实现复杂焊件的变位和焊接。     

大型构件焊接变位机的设计

介绍了对焊接变位机的基本要求、设计方法和步骤，并指出设计中应注意的一些问题。     

BWK3型焊接变位机的使用与维修

ＢＷＫ３型焊接变位机的使用与维修长春焊机制造厂（１３００１２）王淑琴ＯｐｅｒａｔｉｏｎａｎｄｒｅｐａｉｒｏｆｍｏｄｅｌＢＷＫ３ｐｏｓｉｔｉｏｎｅｒ￥（Ｃｈａｎｇｃｈｕｎｗｅｌｄｉｎｇｍａｃｈｉｎｅｆａｃｔｏｒｙ）ＷａｎｇＳｈｕｑｉｎ焊接变位机是焊接辅...     

弧焊机器人用两轴数控焊接变位机的研制

依据现有进口弧焊机器人的技术特点和工作要求，研制了与之配套的两轴数控焊接变位机。该机工作台可进行旋转和倾斜两个运动，可使工件在最佳的位置进行焊接，与弧焊机器人一起构成了柔性加工单元。在实际焊接应用中，效果良好。     

数控焊接变位机运动精度的影响因素

通过试验测定和计算机软件对试验数据进行处理，研究了工作台在不同倾斜角时的回转角、载荷阻力矩、回转速度等单因素和多因素综合作用下，对数控座式焊接变位机工作台回转运动到位精度的影响。研究结果对设计、开发弧焊机器人用的数控焊件变位设备，对提高它们的运动精度有一定的借鉴作用。     

基于PLC的数控焊接变位机控制系统开发

根据机器人焊接系统对数控变位机的要求,采用松下FP-X系列PLC作为控制核心,利用其脉冲输入/输出通道与伺服电机及编码器构成了位置伺服系统,实现了回转、俯仰两轴联动的点位控制与连续轨迹控制功能,配置了触摸式操作的人机界面以及与焊接机器人通信的标准接口。空载试验与运行证明,所开发的控制系统基本可行。     

伸臂式焊接变位机带传动的优化设计及仿真分析

焊接技术是装备制造业中的核心技术之一。带传动是伸臂式焊接变位机减速机构中传递运动和动力的重要装置。利用MATLAB对带传动装置进行多目标优化设计,在满足承载能力的条件下,实现了带的根数尽量少、带轮直径和中心距尽量小,使得传动结构更加紧凑。利用RecurDyn软件对优化后的传动系统进行运动仿真分析,建立传动带虚拟样机模型,得到相关运动学曲线,为带传动的设计和计算提供了理论依据。     

典型曲线焊缝的焊接变位机运动规划

对焊接变位机运动规划的任务进行了分解，建立了旋转倾斜型焊接变位机使待焊点处于最佳焊接位置时的数学模型，并编制了求解程序，对空间螺旋线型焊缝进行了模拟。     

A high-precision control system for robotic welding positioner

0Introduction Numericallycontrolled(NC)weldingpositioneristhe keycomponentofweldingflexiblemanufacturingcenter (WFMC)ofarcweldingrobotthatrequiresahighquality controlsystem.Thepotentialqualitiesofcontrolsystemin cludereasonablestructure,powerfulcomputing…     

高精度数控焊接变位机控制系统设计与实现

研制弧焊机器人用数控焊接变位机对弧焊机器人柔性加工单元(WEMC)的设计具有重要的意义。作者以基于数字信号处理器(DSP)的研华多轴运动控制卡PCL-832卡为设计核心，采用基于模糊规则的智能双模协调控制器，即采用比例积分微分控制器(PID)和模糊控制器的加权合成算法，控制过程中模糊控制器和PID控制器同时输出控制量，当控制误差较大时模糊控制器的输出权重较大，而当控制误差较小时PID控制器的输出权重较大，有效避免了变结构控制器切换过程中的震荡，实现了焊接变位机的高精度位置控制。作者对实时控制软件的结构设计和实时性要求进行了详细的理论分析，提出了基于DOS(Disk operation system)系统下的高精度数控焊接变位机多任务实时控制软件的设计与实现方法。进行了多种工件的焊接试验，试验表明该控制系统工作可靠，效果良好。     

Study on general inverse kinematics of rotating/tilting positioner for robotic arc welding off-line programming

0　ＩｎｔｒｏｄｕｃｔｉｏｎＷｅｌｄｉｎｇｉｓａｎｉｍｐｏｒｔａｎｔａｎｄｐｏｐｕｌａｒｆａｂｒｉｃａｔｉｏｎｐｒｏｃｅｓｓｉｎｉｎｄｕｓｔｒｙ .Ｈｏｗｅｖｅｒ ,ｄｕｒｉｎｇｔｈｅｗｅｌｄｉｎｇｐｒｏｃｅｓｓ,ａｒｃ,ｆｕｍｅｓａｎｄｎｏｉｓｅｉｓｇｅｎｅｒａｔｅｄ ,ｐｒｏｄｕｃｉｎｇａｎｅｎｖｉｒｏｎｍｅｎｔｔｈａｔｉｓｕｎｐｌｅａｓａｎｔａｎｄｈａｚａｒｄｏｕｓｔｏｈｕｍａｎｈｅａｌｔｈ .Ｔｈｅｕｓｅｏｆｗｅｌｄｉｎｇｒｏｂｏｔｓｈａｓｉｍｐｒｏｖｅｄｔｈｅｈｕｍａｎｗｏｒｋｉｎｇｅｎｖｉｒｏ…     

Design strategy of intelligent CAD for welding positioner scheme design

Traditional CAD technique does not support the design processes such as function definition, conceptual design and preliminary design, which are most creative and play significant roles on the design quality. Because scheme design has close relationship with product structure, peoCormance and technology cost, it is important for applying the intelligent CAD of scheme design to improve the quality and competitive level of the product. The definition and function of welding poKtioner are discussed in this paper. The new deflation of welding positioner extends the research scope of welding positioner to welding. fixture and welding positioning motion mechaniam. The design process of welding fixture and positionlng motion system is described, and the cased-based and knowledge-based design strategy of ,oelding positioner scheme design intelligent CAD is then put forward, which lays foundation for developing prow-type system of welding positioner scheme design.     

焊接变位机关键参数的校核及设计

以理论计算为基础,结合实际工厂中使用的经验数据,并借助现代的设计工具,分析校核了焊接变位机设计中的几个关键参数,详细论述了焊接变位机的设计方法。以焊接行业常用的典型非标变位机为例,概述其设计流程,分析计算其几个关键的设计参数诸如负载率相关的扭矩、转动惯量、惯性扭矩等以及强度相关的应力、应变等,并基于实际使用经验总结出一套科学实用的焊接变位机设计方法和理念。     

Thermal conduction theoretical analysis of temperature distribution during multiple-electrode submerged arc welding

In recent years, in order to reduce the costs of transportation and construction of pipelines, which are often constructed using multiple-electrode submerged arc welding (SAW), higher joint performance is required. Therefore, there has arisen the need to understand theoretically and control appropriately metallurgical and mechanical characteristics in heat-affected zone (HAZ), which has a significant influence on the strength and toughness of welded joints. Commonly, metallurgical phenomena in HAZ are evaluated based on the highest temperature and the cooling rate. Therefore, in order to control metallurgical and mechanical characteristics in HAZ by means of the welding conditions, evaluating the temperature distribution and the temperature history near the melted zone is essential. However, a detailed investigation of the temperature distribution for multiple-electrode SAW has not yet been carried out enough. In this study, in order to investigate the temperature distribution and histories during multiple-electrode SAW, the experimental results are compared with the theoretical results. In the theoretical analysis, the temperature rise equation in multiple heat sources welding is developed using the method of summation. Furthermore, on temperature distribution during welding, the effects of multiple heat sources, such as the number of heat sources and the distance between each electrodes, are considered quantitatively through the thermal conduction theoretical analysis. As the result, the distance between lead heat source and final heat source primally influences the area with the difference between a single heat source welding and multiple heat sources welding. Based on the results, it is expected to control temperature distribution near melted zone by more appropriate heat input characteristics, which is depended on heat source arrangement.