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本文主要叙述: (一) 电弧焊接作业对焊接机器人提出的基本要求。(二) 示教再现型电弧焊接机器人工作原理。介绍以日本安川电机制作生产的Motoman—L型电气驱动焊接机器人(多关节式五个自由度)的概貌及示教和再现的大致过程。(三) 电弧焊接机器人的控制—以八位平行的微处理机Intel—8080为核心的控制功能。(四) 伺服电动机驱动系统的概况和原理。在系统中介绍了位置、速度、力矩反馈控制。采用光电式增量编码器作为位置检测元件;用交流测速发电机作为伺服电动机的转速检测元件。同时叙述了力矩反馈的必要性。
This article describes: (A) arc welding operations on the welding robot proposed the basic requirements. (B) Teach Reproductive arc welding robot working principle. This paper introduces the overview of Motoman-L type electric driven welding robot (multi-articulated five degrees of freedom) manufactured by YASKAWA Electric and the general process of teaching and reproducing. (C) control of arc welding robot - with eight parallel microprocessor Intel-8080 as the core of the control functions. (D) servo motor drive system overview and principles. Introduced in the system position, speed, torque feedback control. Using photoelectric incremental encoder as a position detection component; AC speed generator as a servo motor speed detection components. At the same time, the necessity of torque feedback is described.