搅拌筒叶片焊接专机运动控制系统研究-机械工程专业论文.docxVIP

Abstract Welding technique plays an important role in manufacturing industry. Nowadays, the welding equipments are widely used in many different places. The automation level of welding system can more or less make some effect on the efficiency of industry and the economics of a country. The automatic welding system even can affect the competition ability of our country in world-wide industry. This topic is from the welding project of Xugong which is done by Huaheng welding company. It aims to research a series of equipments which can automatically weld the logarithm helix seam of cement-mixers vane and further improve the automatic level of welding equipment. The relative research can be seen in following chapters, and the main works of this project can be seen below: This project analyses the requirement of motion control of welding torch in automatic welding system. Aims at the bad working environment in the Cement- mixers and the difficulty of the movement of welding torch in the welding progress, this project propose a plan to combine the logarithm helix motion control of welding torch and the welding seam tracking system. Analysis of logarithm helix of cement-mixers vane is also included in this project. The equation of motion which expresses the seam of cement-mixers vane is deduced base on cone logarithm helical curve. By comparing different hardware development platforms, the Beckhoff system is applied on this welding system. The Beckhoff system is used to resolve the logarithm helix motion of welding torch. And the electronic cam meter is used to achieve the three-axis motion of logarithm helix. This project also analyses the theory of triangulation measurement. Further- more, in order to achieve the tracking of welding seam, the laser is used in this project to detect the deviation of welding seam. Then the deviation data is sent to step motor by EtherCAT and a closed-loop control is applied on the welding torch which is on the cross slide shelf. And in t