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为满足野外流动焊接工位进行自动焊接的需要,公司研制、开发了一种便携式“关节型弧焊机器人”。国家知识产权局于2000年12月1日授予了该新产品实用新型专利权(专利号:ZL99232490.4)。现对便携式弧焊机器人的机械结构、控制系统硬件、控制软件开发等几个关键技术问题作一简要介绍。 1、便携式弧焊机器人技术参数手臂结构型式平面关节型伺服轴数 3个运动自由度 4个开发方式全软件CP(连续轨迹) TPT(点到点) 离线仿真编程驱动方式步进电机驱动控制方式单片微型计算机重复位置误差不大于0.1mm
In order to meet the need of automatic welding in the field mobile welding station, the company developed and developed a portable “joint-type arc welding robot”. State Intellectual Property Office on December 1, 2000 granted the new product utility model patents (Patent No .: ZL99232490.4). Now portable arc welding robot mechanical structure, control system hardware, control software development and several other key technical issues for a brief introduction. 1, portable arc welding robot Technical parameters Arm structure type Plane articulated servo axis 3 degrees of freedom 4 development methods All software CP (continuous trajectory) TPT (point to point) Offline simulation Programming Drive mode Stepping motor Drive control mode Single-chip microcomputer repeat position error of not more than 0.1mm