【作者】 陈斌斌；

【导师】 牛滨；

【作者基本信息】 哈尔滨理工大学 ， 测试计量技术及仪器， 2007， 硕士

【摘要】 当前,智能化焊接设备——焊接机器人的应用越来越广泛。但焊接机器人的外部设备(焊接电源、送丝机构、焊枪、保护气体等)组成的焊机系统,生产商大都没有配置通用数字接口,若与机器人系统闭环,则需匹配专用的数控系统及接口。为了使焊接机器人外围设备与机器人系统构成闭环系统,必须实现对焊机、送丝机构以及气体保护装置的检测与控制。并对检测到的参数进行处理,绘制出焊接过程中,焊接电流、焊接电压、送丝速度和焊丝堆积量随时间变化的曲线,以此为依据,对焊接机器人外围设备的工作过程进行综合分析。工控机或手持控制器作为检测量的显示与控制量的输入单元,为焊接机器人系统协调工作提供友好的人机界面。本课题设计的系统为上下位机结构。上位机是工控机,下位机由焊机测控系统和手持示教系统组成。本文详细阐述了下位机部分的软硬件设计思路和具体实现方式,以及上位机软件界面设计。焊机测控系统是一个独立的单片机应用系统,包括:电压、电流和送丝速度的测量电路,断丝、断气检测和故障报警电路以及通信电路。手持控制器也是一个独立的单片机应用系统,包括:液晶接口电路,扫描电路以及通信电路。工控机软件采用Delphi软件设计,主要包括数据处理程序设计和通信程序设计。文章最后,对系统调试与试验的方法和结果进行了分析。试验表明:本课题设计的系统完善了焊机的功能,实现了与机器人系统的闭环。论文所取得的阶段性成果对实现有自主知识产权的焊接机器人有一定的理论与工程实用价值。更多还原

【Abstract】 Nowadays, the intelligentialized welding equipment----the welding robot is used widely. But the welding system which consists of the external equipments of the welding robot, such as the welding power supply, the wire feeder, the welding torch and the shielding gas, is not mostly collocated with the universal digital interface by the manufacturers. If we want to get the welding system and the robot system loop-closed, we must match the appropriative numerical control system with the port. In order to make the external equipments of welding robot and the robot system loop-closed, we must detect and control the welder, the wire feeder and gas-protection device. We will process the detected parameters, and plot the time-varying curves of welding current, welding voltage, wire feed rate and welding wire accumulation in the welding process. According to the results, we will make the comprehensive analysis of the external equipments of welding robot. Industrial computer or hand-hold controller serves as the units of detection quantity display and the controlled quantity input, offering a friendly man-machine interface to the welding robot system.This subject employs PC and MCP system. The PC is an industrial computer, and the MCP is composed of the welder detection and control system and hand-hold instruction system. The paper expounds the designing ways and specific operations of software and hardware and designs the software interface of PC in detail .This welder detection and control system is an independent application system of single-chip, which contains the measurement circuit of voltage, current and wire feed rate, the detection of broken wires and breakaway gas, the failure alarming circuit and the communication circuit. Hand-hold device is also an independent application system of the single-chip, including the circuits of liquid crystal interface, the scanning and communication. Industrial computer software is designed by Delphi, which contains data processing programming and communication programming.At the end of the paper, we will make an analysis of the methods and results of the system debugging and testing. The test indicates that the system of this subject makes the function of welder perfect and the robot system loop-closed. The achievements of this thesis are of theoretical and practical engineering significance to the welding robot with independent intellectual property.更多还原