紧凑型三维调节装置与控制系统设计.pdfVIP

紧凑型三维调节装置与控制系统设计 摘 要 在电力、冶金、石油、化工和锅炉等的行业中，进行现场安装时，被焊的管道是 无法旋转的，只有进行管道的全位置焊接，才能实现管道的连接。管道全位置自动焊 接设备还具有自动引弧、自动焊接、自动检测设备故障和分析焊接质量等功能。 管道专用弧焊机器人是一种集计算机，自动控制，机械和电器一体化的具有高附 加值的高技术新产品，主要完成各种管道的现场安装工作。作为自动化的焊接设备， 能够完成应具有的各种动作的机械装置及其控制还是远远不能满足生产的需要的，还 应该增加相应的智能化的软件功能，如焊接数据库，焊接专家系统等。 本文首先对国内外管道机器人的发展做了综述，给出了夹持装置设计，详细介绍 了机械机构设计以及电机驱动控制。 内焊枪夹持机构的机械结构设计，要求随着焊接过程和状态的变化焊枪可实时进 行多自由度调节。 关键词：焊接机器人，夹持装置，电机控制 I 紧凑型三维调节装置与控制系统设计 Abstract Picking Wanting when the electric power, the metallurgy, the petroleum, the chemical industry and the boiler and so on the profession, carries on field installation, the pipeline which welds is unable to revolve, only then carries on pipelines entire position welding, can realize pipelines connection. The pipeline entire position automatic welding equipment also has automatic functions and so on striking the arc, automatic welding, automatic checkout equipment breakdown and analysis welding quality. The pipeline special-purpose arc welding robot is one kind of collection computer, the automatic control, the machinery and the electric appliance integration has the high added value high-tech new product, mainly completes each kind of pipelines field installation work. As the automated welding apparatus, can complete each kind of movement mechanism which and the control should have by far cannot satisfy the production the need, but should also increase corresponding intellectualized the software function, like the welding database, welds the expert system and so on. This article first has made the summary to the domestic and foreign pipeline robots development, has given the holding device design, introduced the mechanical