悬挂式接管焊接机器人机电系统  

Electro-mechanical system of intersecting pipe welding robot with suspension structure

作　　者：杜宏旺[1,2] 王宗义[1] 冯明涛[3] 刘涛[1] 赵亚楠[2] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]哈尔滨工程大学机电工程学院,哈尔滨150001 [3]大庆油田工程有限公司,黑龙江大庆163712

出　　处：《焊接学报》2010年第3期97-100,118,共4页Transactions of The China Welding Institution

摘　　要：针对接管相贯线处的焊接特点,研发了悬挂式接管焊接机器人,介绍了机械结构特点和适用性.控制系统采用工业PC作为主控计算机和PMAC多轴控制卡进行多轴控制,利用二级控制结构实现作业管理,协调各轴运动完成焊接作业.进行了在筒体上外接管和内接管的焊接试验与在椭球体上外接管与内接管的焊接试验.结果表明,机器人的机械本体结构和控制系统能够实现多种接管的焊接需求,能够很好地完成接管相贯线处的焊接,提高了工作效率和焊接质量.In accordance with the welding particularity of intersecting line, the intersecting pipe welding robot with suspension structure was developed, the characteristics and applicability of the mechanical structure were introduced. The industrial PC as host computer and PMAC for multi-axis control were adopted in control system, the operational management was achieved by two-level control systems, the welding operation was accomplished with patterns of coordinated multi-joint movement. The experiments on welding with the nozzles attachments to the outside and inside of two different cylinders and ellipsoids were carried out respectively. The results of welding experiments indicated that the mechanical and control system structure could meet a variety of welding needs, the welding experiments of intersecting line could be fulfilled, welding efficiency was enhanced and welding quality could be ensured.

关 键 词：焊接机器人 埋弧焊 控制系统 相贯线 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]