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1、管板自动焊接机器人系统设计I摘要在化工、轻工、核能等设备中,管与管板的焊接接头不仅数量多,操作难度大,而且焊接质量要求高。目前上海某工厂管板焊接是手工操作的,生产效率低、工人劳动强度大、焊接质量不稳定。所以本文针对上述情况,设计出管板自动焊接机器人系统。本文所设计的管板自动焊接机器人,包括机械系统、视觉自动定位系统、PLC控制系统和基于触摸屏的人机交互界面。根据工件及焊接工艺要求,焊接基本参数通过触摸屏设定,采用触摸屏实现初始定位精度调试,确定视觉传感识别管孔中心并将位置信息传递给以PLC为控制核心的控制系统,引导焊接初始位置自动识别、焊接。实现了对管板焊接机器进行自动化改造,使原来人工定
2、位,人工控制焊接进程的机械手变为由步进电机驱动,视觉定位和焊接过程自动化控制的一整套焊接设备。关键词:管板焊接,视觉定位,触摸屏,PLC管板自动焊接机器人系统设计IIAbstractInchemical,lightindustry,nuclearindustryandotherequipment,asforthetube-platewelding,despitethelargenumberofweldingjointsandthecomplicatedoperationprocess,highweldingqualityarerequired.Thereexsitstube-platewe
3、ldingbasedonmannualworkatafactoryinShanghai,ofwhichtheproductionefficiencyislow,theworkerlaborintensityisheavy,theweldingqualityisunstable.Thispaperaboutdesignoftube-plateautomaticrobots,includesmechanicalsystem,visualautomaticpositioningsystem,PLC,man-machineinterfacesystembasedonthetouchscreen.A
4、ccordingtoRequirementsoftheworkpieceandtheweldingtechnology,weldingbasicparametersareissetbythetouchscreen,whichwasadoptedtorealizetheinitialpositioningadjustment,determinecenterofthevisualsensingidentifypipeholeandtransferthelocationinformationtocontrolsystemofPLCasthecontrolcore;guidingautomatic
5、identificationsoftheinitialpositionandwelding.Bytheimplementofautomationrenovationforthetube-platewelding,transformtheoriginalartificialpositioning,artificialcontrolofweldingprocessintoautomaticdrivebystepmotor,visualpositioningandweldingequipmentsonthebasisofacompleteautomaticcontrolpocesss.Keywo
6、rd:tube-platewelding,visualpositioning,touchscreen,PLC管板自动焊接机器人系统设计III目录1绪论............................................................................................................11.1课题来源...........................................................................................................
7、..11.2课题目的与意义.................................................................................................11.3管-板焊接应用现状与发展...............................................................................21.4主要研