复合热源螺柱焊机器人系统工作站的设计与研制

发布时间：2018-03-30 04:29

本文选题：复合热源　切入点：机器人系统工作站　出处：《南京理工大学》2012年硕士论文

【摘要】：本文在对机器人技术与螺柱焊技术的研究前提下,提出了将机器人技术与螺柱焊技术进行有机地整合的新技术,即建立复合热源螺柱焊机器人系统工作站。本文即是对该机器人系统工作站的设计与研制。在对螺柱焊工艺及工程需要分析的前提下,设计了螺柱焊接机器人的机头系统装置、自动送料系统装置、自动螺柱夹套装卸装置及其机器人系统的电气控制系统等,并对系统做出了测试和自动化焊接试验。机头系统装置的设计。对感应加热电源系统、机头机械装置,自动螺柱焊枪、电磁屏蔽及绝缘装置等单元的设计研究之下,研制安装并调试了机头系统装置。自动送料系统装置的设计。对该系统的传动装置、驱动装置、螺柱固定装置、自动螺柱装夹装置等单元的设计与研究前提下,研制安装并调试了自动送料系统装置。自动螺柱夹套装卸装置的设计。对该系统的传动装置、驱动装置、定位装置进行了前期的设计与讨论,通过理论分析验证并最终设计完成了自动螺柱夹套装卸装置。通过对复合热源螺柱焊机器人系统工作站的各组成单元的工作原理进行研究的前提下,设计并研制了系统的电气控制系统,该系统通过机器人控制柜NX100作为控制中心,有效地将控制系统集成于该节点上,使得控制线路的空间布局更为合理化。有效地设计安装并调试了机器人系统工作站的电气控制系统。经过试验与测试,确定了焊机的工艺参数,试验了系统的运动控制、位置控制及电气控制功能,使得系统具有响应快、位置控制与重复精度控制的控制进度高以及良好的稳态和动态性能,具有良好的社会与经济效用。
[Abstract]:Based on the research of robot technology and stud welding technology, this paper puts forward a new technology of integrating robot technology and stud welding technology organically. The system workstation of compound heat source stud welding robot is established, and the design and development of the workstation of the robot system is presented in this paper. Based on the analysis of stud welding technology and engineering requirements, this paper designs the head system device, automatic feeding system device, automatic stud jacket handling device and electrical control system of robot system for stud welding robot, etc. The system was tested and automated welding test was made. On the basis of the design and research of induction heating power supply system, head mechanism, automatic stud welding gun, electromagnetic shield and insulation device, the head system device has been developed and debugged. On the basis of the design and research of the transmission device, drive device, stud fixing device and automatic stud clamping device of this system, the automatic feeding system device is developed and debugged. The design of automatic stud jacket loading and unloading device. The drive device, drive device and positioning device of the system are designed and discussed in the early stage, and the automatic stud jacket loading and unloading device is verified by theoretical analysis and finally designed. Based on the study of the working principle of the components of the workstation of the compound heat source stud welding robot system, the electrical control system of the system is designed and developed. The system is controlled by the robot control cabinet (NX100). The control system is integrated into the node effectively, which makes the space layout of the control circuit more reasonable, and the electrical control system of the robot system workstation is designed and debugged effectively. After testing and testing, the process parameters of the welding machine are determined, and the motion control, position control and electrical control functions of the system are tested, which makes the system have fast response. The control progress of position control and repetitive precision control is high, and it has good steady and dynamic performance, so it has good social and economic utility.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP242;TP368.5

【相似文献】