管板自动焊接机器人设计.pdf

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 II Abstract In chemical, light industry,nuclear industry and other equipment, as for the tube-plate welding, despite the large number of weldingjoints and the complicated operation process, highweldingqualityarerequired.Thereexsitstube-plateweldingbased onmannualwork at afactoryin Shanghai,ofwhichtheproduction efficiencyislow,theworkerlaborintensityis heavy,theweldingqualityisunstable.Thispaperaboutdesignoftube-plateautomaticrobots, includes mechanical system, visual automatic positioning system, PLC, man-machine interface systembased onthetouch screen.AccordingtoRequirements oftheworkpiece and the welding technology, welding basic parametersare is setby the touch screen, which was adopted to realize the initial positioning adjustment,determine center of the visual sensing identify pipe hole and transfer the location information to control system of PLC as the control core; guiding automatic identifications of the initial position and welding. By the implement of automation renovation for the tube-plate welding,transform the original artificialpositioning, artificialcontrolofweldingprocess intoautomaticdriveby stepmotor, visual positioning and welding equipments on the basis of a complete automatic control pocesss. Keyword:tube-platewelding,visualpositioning,touchscreen,PLC 管板自动焊接机器人系统设计