基于PLC控制的爬行式智能弧焊机器人系统的研制  

Research and Development of Intelligent arc Welding Crawled Robot Controlled by PLC

作　　者：张华[1] 刘伟力[1] 刘国平[1] 徐健宁[1] 欧光锋[1] 

机构地区：[1]南昌大学机电工程学院,南昌330029

出　　处：《机械工程》2004年第5期435-437,441,共4页

基　　金：国家 8 63高技术研究发展计划资助项目(2 0 0 1AA42 2 2 2 0 ) ;国家自然科学基金资助项目 (5 0 0 75 0 3 7)

摘　　要：为实现大型工件的自动焊接而开发了爬行式智能弧焊机器人系统 ,详细论述了该系统的组成、工作原理和特点 ,对其跟踪机构提出了一种协调控制的方案 ,并通过实验得到了爬行小车的控制规律。焊接实验表明 ,该系统具有较好的稳定性、可靠性 ,跟踪精度高 ,可达到± 0 .5 mm,焊接质量能够达到工业生产的要求 ,在大型球罐和船体的焊接中有良好的应用前景。This paper mainly introduced an intelligent welding crawled robot system which can accomplish automatic welding for large work pieces.Compostion of the system, principle of work and characteristics of the system were explicated, a harmonions control method for the tracking mechanism was put forward, and the control law of the crawled-mechanism was obtained by experiment. Welding experiments show that this system has good stability and reliability,tracking precision is high-to arrive at ±0.5mm. Welding quality can satisfy the industrial production demands. It would have good application foreground for welding large spherical tanks and vessels in the future.

关 键 词：弧焊机器人 爬行 自动焊接 大型工件 焊接质量 大型球罐 PLC控制 系统 智能 协调控制 

分 类 号：TH744[机械工程—光学工程] TG409[机械工程—仪器科学与技术]