A　Study　on　Control　System　of　Robot　Working　Unit　for　Automatically　Welding　Nipples　onto　Header　of　Boiler  

作　　者：陶谦 于树锋 姜山 曹佩军 

出　　处：《Journal of Harbin Institute of Technology(New Series)》1996年第2期64-68,共5页哈尔滨工业大学学报（英文版）

摘　　要：The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.ＡＳｔｕｄｙｏｎＣｏｎｔｒｏｌＳｙｓｔｅｍｏｆＲｏｂｏｔＷｏｒｋｉｎｇＵｎｉｔｆｏｒＡｕｔｏｍａｔｉｃａｌｌｙＷｅｌｄｉｎｇＮｉｐｐｌｅｓｏｎｔｏＨｅａｄｅｒｏｆＢｏｉｌｅｒ￥ＴＡＯＱｉａｎ；ＹＵＳｈｕｆｅｎｇ；ＪＩＡＮＧＳｈａｎ；ＣＡＯＰｅｉｊｕｎ...

关 键 词：ss:Header nipple PLC ROBOT CONTROL WELDING working UNIT master-slave CONTROL 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]