针对管道插接焊缝的特殊焊接工艺要求,研制了一款专用的开放式焊接机器人系统.在对焊接任务和机器人运动分析的基础上,设计了管道插接专用的5轴焊接机器人,建立了焊缝位置模型、焊接速度模型.采用IPC+ PMAC控制模式,建立机器人的开放式控制系统.系统中以在IPC机中开发的软件平台对焊接工艺参数进行管理,以多轴运动控制器PMAC作为焊接机器人各个关节的运动控制核心,实现了整个机器人系统的控制.焊接试验结果表明,该焊接机器人系统能够实现管道插接焊缝的焊接工艺.%A portable welding robot for the welding of intersected pipes was developed. Based on the analysis of the welding task and motion of welding robot,a five-degree portable welding robot has been designed, and the mathematical model for welding seam of intersecting pipes has also been established. An open architecture arc-welding robot control system was established with the mode of IPC+PMAC. The software in IPC manages the welding technological parameters and the PMAC controls the robot motion. The welding result indicates that the welding robot system can achieve good welding technology for welding seam of Intersecting pipes
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