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  本文選題：弧焊機器人 + 焊縫跟蹤�。� 參考：《沈陽理工大學(xué)》2014年碩士論文

【摘要】：目前國內(nèi)工業(yè)中所應(yīng)用的弧焊機器人基本上都是進口的，價格貴且成本高，因此為了在國內(nèi)推進弧焊機器人產(chǎn)業(yè)化發(fā)展，降低企業(yè)成本，開發(fā)具有自主知識產(chǎn)權(quán)的弧焊機器人迫在眉睫。實現(xiàn)焊縫跟蹤是焊接自動化的重要前提和質(zhì)量保證，在焊接機器人運動控制系統(tǒng)的研究背景下，主要對基于電弧傳感的弧焊機器人焊縫跟蹤技術(shù)及實現(xiàn)進行研究。 通過對電弧傳感器原理的研究，針對V型坡口焊縫，分析了本課題中所用的擺動式電弧傳感器模型。以焊接電流作為傳感輸入信號，采用左右區(qū)域積分差值法，提取出焊槍偏離焊縫的橫向位置偏差。文中重點研究了模糊控制方法在焊縫跟蹤過程中的應(yīng)用，并最終建立了模糊控制查詢表。建立了MATLAB Simulink仿真模型，仿真結(jié)果表明系統(tǒng)具有較好的魯棒性和適應(yīng)性。在常規(guī)模糊控制器的研究基礎(chǔ)上，提出了一種改進模糊控制方案。選擇LPC3250芯片作為系統(tǒng)的微處理器芯片，設(shè)計了其部分外圍接口電路。在焊接跟蹤過程中，通過LPC3250完成焊縫跟蹤的查表工作，最終實現(xiàn)焊接時焊縫的精確跟蹤。查表法響應(yīng)速度快，資源投入小，雖然控制精度相對較低，但完全能滿足一般控制的要求。 對常見的對接和角接直線焊縫進行了焊接跟蹤實驗。實驗結(jié)果表明，，運用所設(shè)計的模糊控制算法，焊縫跟蹤的精度能夠達到±l mm以內(nèi)，滿足焊接質(zhì)量要求，焊縫跟蹤系統(tǒng)具有低成本、小型化、功耗小的特點。
[Abstract]:At present, the arc welding robot used in domestic industry is basically imported, and the price is expensive and the cost is high. So it is imminent to promote the development of the arc welding robot industrialization, reduce the cost of the enterprise and develop the arc welding robot with independent intellectual property right. It is an important prerequisite and quality assurance of welding automation to realize the seam tracking. Under the background of welding robot motion control system, the seam tracking technology and Realization of arc welding robot based on arc sensing are mainly studied.
Through the study of the principle of the arc sensor, the wobble arc sensor model used in the V type groove weld is analyzed. The welding current is used as the sensing input signal and the left and right area integral difference method is used to extract the lateral deviation of the welding gun's deviation from the weld seam. The paper focuses on the study of the fuzzy control method in the weld heel. A fuzzy control query table is established and the MATLAB Simulink simulation model is set up. The simulation results show that the system has good robustness and adaptability. On the basis of the research of conventional fuzzy controller, an improved fuzzy control scheme is proposed. LPC3250 chip is selected as the microprocessor chip of the system. In the course of welding tracking, the lookup table work of welding seam tracking is completed in the process of welding tracking, and the weld seam is tracked accurately in the welding process. The response speed is fast, the resource input is small and the control precision is relatively low, but it can fully meet the requirements of general control in the process of welding.
The welding tracking experiment of the common butt and angle line welds is carried out. The experimental results show that the precision of the welding seam tracking can reach within + L mm with the fuzzy control algorithm designed, which meets the requirements of welding quality, and the seam tracking system has the characteristics of low cost, small size and small work energy consumption.
【學(xué)位授予單位】：沈陽理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP242;TG409

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