基于DSP的焊缝自动跟踪控制系统设计  

Design of Weld Seam Tracking Control System with DSP

作　　者：曹建树[1] 薛龙[1] 李卫清[1] 

机构地区：[1]北京石油化工学院,北京102617

出　　处：《中国机械工程》2005年第9期767-770,共4页China Mechanical Engineering

基　　金：北京市组织部优秀人才培养专项经费计划资助项目(Z03-23-17)

摘　　要：设计了一种基于DSP的用于球罐全位置多层焊自动跟踪的控制系统,对其工作原理、控制系统的硬件设计和软件程序设计等要点进行了阐述。该系统应用于球罐全位置多层自动焊接机器人中,实现了无导轨自动焊接全位置焊缝与多层多道焊接的自动跟踪。焊接工艺试验结果表明,焊接机器人自动跟踪精度高、焊缝质量好、工作稳定可靠。Based on TMS320LF2407, a micro-computer based weld seam tracking control system without rail used for multiple-layer welds was designed. The working principle, design of the program and hardware of control system were described in detail. A robot was directly attached on the surfaces of spherical tanks with its flexible magnetic wheel device, so as to realize the all-position walking and welding without rail. The CCD real-time tracing system of the robot could make the welding gun repeatedly track all-position and multi-layer seams. The welding tests show that the welding robot can make all-position and multiple-layer welds with high tracking accuracy, excellent quality and reliable behavior.

关 键 词：DSP 焊缝跟踪 微机控制 球罐 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]