四轴相贯线自动焊接教学设备的设计与分析-design and analysis of teaching equipment for automatic welding of four-axis intersecting lines.docxVIP

华中科技大学硕士学位论文AbstractAutomaticweldingservocontroltechnologyismoreandmorewidelyusedintheindustrialfield,duototheadvantagesofautomationequipment,therewillbemoreandmoreautomaticweldingequipmenttoreplacethetraditionalmanualwelding.Asweknow,tee-fittingisanimportantelementofthepipeconnections,thispaperresearchanddevelopmentateachingdeviceforTee-fittingintersectinglineautomaticweldingcontracttothehighcostoftraditionalweldingrobotandpoorperformanceofreconfigurable.Byanalyzingtheresearchstatusofthepipelineweldingequipmenthomeandabroad,thispaperhasestablishedtheintersectinglineweldmathematicalmodel,weldposturemodel,thetorchattitudemodelandtorchvelocitymodelcombiningwiththespacecurvecharacteristicsofintersectinglines.Fromthecoordinatesofthetypeandstructureofthetype,thispaperselectfour-axisparalleltransmissionconsolidatedCartesiancoordinatesystem,withtheadvantagesofthecylindricalcoordinatestoensurethestructureoftheintersectinglineweldingteachingequipment.Thispapercompletesthestructuredesignbydividingthestructureofthedeviceintoseveralmodulesbasedonthereconfigurablemachinecharacteristics.Theintersectinglineweldscanbeseenasasynthesisofaxiallinearmotionandrotarymotionaroundthebranchpipe.Basedonthistheory,theaxiswhichcompleteshorizontalmovement,theshaftoftheverticalmovementandtheweldingtorchswingaxiscompletetheweldingtorchattitudeadjustmenttogether,andcompleteintersectinglineweldingwiththelinkageoftheworkpiecerotationaxis.Thisthesisalsocompletesthecalculationofthefouraxismotorsselection.Onthebasisoftheoverallmechanicalstructure,thispaperestablishestheconnectionbetweenthemotioncontrolcardPMACandservomotor.AFriendlyman-machineinterfaceisalsodesignedinVC++developmentenvironmentcombinedwiththePComm32PROdynamiclinklibrary,itismoreconvenienttomodifytheparametersandmonitortheweldingprocess.Afterpreliminaryexperimentsintheteachingdeviceprototype,thisfour-axisintersectinglineautomaticweldingteachingequipmentcancompletethethree-waypipeintersectingline华中科技大学硕士学位论文weldingtasksofqualifiedwithgood