Welding of pipe girth welds has become a key process restricting the quality of the entire project and the construction cycle.
The structure of the pipeline welding robot is composed of four parts: the magnetic suction type 5 degree of freedom pipeline welding robot, which is composed of a flexible magnetic wheel walking mechanism, a two-dimensional real-time tracking mechanism, a welding gun swing mechanism, and a welding gun height adjustment mechanism. The walking speed of the designed robot is 03mm, the design track tracking accuracy is 0.5mm.
The effective stroke of the sliding table is 50mm, the swing of the design welding gun is 40mm, and the swing speed is. One 200c resistant min.
The design of the pendulum sensor and the combination with the control algorithm can make the repeating accuracy of the swing position of the swing mechanism reach 0.02mm-003mm.
The purpose of the microcomputer control system designed in this paper is to achieve coordinated control of the five motors of the welding robot based on the input control signals and sensor sampling signals, so that it can drive the robot to walk (left and right walking motors), and weld seam tracking in real time Tracking stepping motor), welding gun swing (swinging stepping motor), welding gun height manual adjustment (high and low stepping motor) control, that is, 5 degrees of freedom control.
The main motions to be achieved by the welding robot during the automatic welding of pipeline girth are: the robot moves the welding gun forward, the welding gun swings, and the welding gun automatically tracks the welding groove (or welding seam).
Based on the requirements of pipeline girth welding process, this paper designs the control structure of the sequential control system to realize the movements of the automatic welding process and achieve the relationship coordination.
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