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曲线焊缝弧焊机器人和变位机之间协调运动的研究 总被引:5,自引:0,他引:5
对曲线焊缝焊接时机器人和变位机之间的协调运动关系进行了研究。针对二自由度旋转倾斜变位机和六自由度弧焊机器人组成的工作站,通过采用船形焊缝约束以及机构运动学分析方法,解决了焊接过程中机器人和变位机系统的自由度解耦以及系统各关节的运动解析,为弧焊机器人——变位机系统的离线编程研究打下了良好的基础。 相似文献
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根据SK6弧焊机器人的杆件参数,建立了SK6弧焊机器人的运动学方程,考虑焊枪结构,首次建立了SK6弧焊机器人焊枪末端的运动学方程。该问题的解决,对于SK6弧焊机器人离线编程系统中机器人的仿真是非常关键的,对研究其它机器人也有一定的参考意义。 相似文献
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根据SK6弧焊机器人的杆件参数,建立了SK6弧焊机器人的运动学方程;考虑焊枪结构,首次建立了SK6弧焊机器人焊枪末端的运动学方程.该问题的解决,对于SK6弧焊机器人离线编程系统中机器人的仿真是非常关键的,对研究其它机器人也有一定的参考意义. 相似文献
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本文通过北京机床研究所研制的JCS-GJR-G1型工业机器人在天津自行车二厂自行车前三角架弧焊系统中的应用,提出了有关机器人弧焊系统的功能要求及焊接参数的改进途径为用户充分利用机器人的通用性及充分发挥整个系统的功能提供了依据。 相似文献
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采用模块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RS2 32C方式实现了SK6弧焊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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弧焊机器人在锅炉行业应用的较晚,采用CO_2电弧焊焊接受压件也是刚刚开始尝试。本文通过弧焊机器人(CO_2/MAG)在锅炉部件上的试应用,充分体现了机器人的工作特点,证明了其可行性,为锅炉行业发展弧焊机器人做了基础性工作。 1.弧焊机器人结构 我厂引进的Motoman-L106弧焊机器人,机体有6个轴,分别按关节、直线和圆弧轨迹行走。共有 相似文献
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R. V. Hughes R. P. Walduck 《The International Journal of Advanced Manufacturing Technology》1985,1(1):9-25
Arc welding has always presented a challenge to robot operation. Variations in joint fit-up, positional welding requirements
and the high levels of welder skill demanded by transient changes in operating conditions are just some of the variables with
which any arc welding robot must cope. The article examines how an inertia-less high-frequency weaving technique using a novel
deflector system can solve many of these problems even for high speed seam tracking. 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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介绍了汽车起重机气路系统的贮气筒采用弧焊机器人自动焊接的工艺过程,着重介绍了配套的焊接变位机的总体结构与PC控制系统。 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
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Shen Hongyuan Huang Xixia Lin Tao Chen Shanben 《The International Journal of Advanced Manufacturing Technology》2009,44(5-6):512-519
The control of weld formation in gas tungsten arc welding is required for “teach and playback” robot to suit the gap variation in the multi-pass welding process. This paper presents a robotic system based on the real-time vision measurement. A close-loop control system is developed for weld formation control in backing welding. A novel prediction model of reinforcement is investigated as the feedback element. At last, the feasibility of proposed system was validated in the experiments. 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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介绍了焊接机器人在铝制板翅式散热器主焊缝焊接中的运用,通过优化焊接机器人焊接工艺,采用单层焊接替代手工TIG双层焊接,其单层焊熔深可达到4.0 mm~4.5 mm,单层焊时焊枪的焊速可达到350 mm/min~500mm/min,其焊缝爆破与压力交变强度满足铝制板翅式散热器主焊缝强度要求,焊缝外观成型良好,效率高,质量稳定可靠,同时也降低了工人的劳动强度。 相似文献