CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
毛一剑1,2; 梁自泽1; 景奉水1; 赵伟青1
Source Publication中南大学学报(自然科学版)
Other Abstract针对铝厂特殊环境所研制的焊接机器人以控制系统为核心,由移动平台、机械臂和焊接装置组成。该机器人的运动控制系统由下位机和上位机组成:下位机采用运动控制器MC464来实时控制伺服电机;上位机采用平板电脑用于人机交互,采集摄像头数据,以及与焊机和手脉通信。机器人可处于示教和再现2种工作模式。研究结果表明:该机器人可完成电解槽中阴极母线和爆炸焊钢板的多层多道自动焊接,大幅度降低连接处压降,不仅节能减耗,而且可以保障电解槽电流均布,有效提高电解槽寿命。; Aiming at the special environment of aluminium plant,a welding robot system composed of mobile platform,manipulator arm and welding device was developed with the control system as the core. The motion control system of the robot was composed of lower computer and upper computer: the lower computer adopts motion controller MC464 in realtime to control servo motors; and the upper computer adopts tablet computer for human-machine interface, and also the camera data were acquired communicating with welding machine and control box. This robot could work in two modes(teaching and playing). The results show that the robot system is able to accomplish multi-layer and multi-pass automatic welding of steel cathode to the explosion welding steel plate in the aluminum electrolytic cells. Voltage drop in the busbar connection can greatly be reduced, which can not only conserve energy and reduce consumption, but also improve the life of electrolyzer by ensuing uniform electrolytic cell current.
Keyword焊接机器人 电解铝 运动控制 多层多道焊
Indexed ByEI
Project Number2013AA041002
Document Type期刊论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
毛一剑,梁自泽,景奉水,等. 铝电解槽爆炸焊钢板和阴极钢棒窄间隙自动焊接机器人[J]. 中南大学学报(自然科学版),2018,49(2):275-281.
APA 毛一剑,梁自泽,景奉水,&赵伟青.(2018).铝电解槽爆炸焊钢板和阴极钢棒窄间隙自动焊接机器人.中南大学学报(自然科学版),49(2),275-281.
MLA 毛一剑,et al."铝电解槽爆炸焊钢板和阴极钢棒窄间隙自动焊接机器人".中南大学学报(自然科学版) 49.2(2018):275-281.
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