【作者】 魏刚；

【导师】 黄志辉；

【作者基本信息】 中南大学 ， 机械设计与理论， 2002， 硕士

【摘要】 随着焊接自动化的不断提高，对管道焊接提出了更高的要求，如何在不增加或少量增加焊接成本的基础上提高管道焊接的质量和效率是急需解决的问题，研制基于PC机的管道专用数控焊接机可望有效地解决这个问题，有利于提高我国焊接自动化水平。 本文在分析国内外管道自动焊机研究状况的基础上，细化了五自由度管道数控专用焊机的设计，确定数控系统由PC机和多轴运动控制器组成，完善了五自由度管道数控专用焊机的空间数学模型。为了适应焊缝的宽度，提高焊缝的质量，并结合焊接过程的实际情况，确定了在理论中心轨迹的基础上添加附加摆动，讨论了圆摆动和正弦摆动两种典型模式，建立了运动轨迹的方程。当焊接两圆管的直径相同时，施焊过程中会产生尖角，导致速度不连续，而难以在焊接过程中实现，由此确定采用圆弧过渡的修正方法。对上述中的运动轨迹方程通过Matlab进行了仿真，论证了运动轨迹方程的正确性及所提出修正方法的可行性。 在确定硬件系统的基础上，编制了适合硬件控制系统的软件。软件设计的主要内容为：(1)编制了友好的人机界面，能方便地完成焊接参数的输入及常用焊接参数的存储；(2)建立PC机与PMAC的通信接口，通过加载动态链接库在程序中调用PMAC的内部函数，控制多轴的协调运动；(3)利用VtoolsD研制VxD实现硬件中断，建立VxD和应用程序的通信接口，通过中断来实现数据的实时读取。 针对附加摆动，设计了附加圆摆动的正弦轨迹曲线和椭圆轨迹曲线实验，论证了在原有模型基础上添加摆动轨迹在实际当中是完全切实可行的，有效地解决了焊接机设计的核心技术问题。同时通过附加圆摆动的折线轨迹曲线的实验和调试，确定了利用圆摆动过渡尖角的方法，避免了当焊接两圆管直径相同或是相近时在焊接过程中产生的冲击。 系统以VC++6.0、BC3.1、VtoolsD3.0和Pcomm Library工具包为软件开发工具，以个人微机和PMAC为硬件开发平台。本文应用的理论已在两轴驱动实验中得到验证，为五自由度管道数控专用焊机的进一步研制打下了坚实的理论和实验基础。更多还原

【Abstract】 With the development of weld automatization, better performances are repaired in the field of pipeline weld. How to improve the quality and efficiency of pipeline welding has become a urgent problem to be resolved. Development of PC-based numerical control pipeline weld machine will do with such a problem effectively and help to improve the weld automization in our country.Based on the analysis of civil and abroad research condition of pipeline automatic weld machine, the design of five freedoms numerical control pipeline welding machine is done more thoroughly with the PC and multi-axes move controller composed numerical control system decided and the mathematic model for the machine perfected. To adapt the width of welding lines and improve the welding quality, adding swing to the moving on theoretical center track is put forward with the actual welding process synthetically thought of. Circle swing mode and.sine swing mode are discussed as typical ones and the equations of moving tracks are established. The closed angle produced in the welding process of two round pipelines with the same diameter can result in velocity discontinuity, which makes it sharp for such a welding process to be realized, and so the arc transition correct method is given. The correctness of the moving track equation and the feasibility of the correct method are proved by the simulation of the moving track equation with Matlab.Software fit for the hardware is developed. Its main contents include: (1) Establish friendly human-computer interface, which make it convenient to input and store the often-used welding parameters. (2) Establish the communication between PC and PMAC, transfer the internal function of PMAC by loading the DLL in the program to harmonize the moving of multi-axes. (3) Develop VxD via VtoolsD to realize hardware interrupt, make the communication between VxD and application program, utilize the interrupt to read data real-timely.Experiments of sine and ellipse track curves for additional round swing are designed and the feasibility of adding swing track to former model is proved. So the critical technique problem in welding machine design is solved. At the same time a method of utilizing round swing transition horn is put forward to void shock produced in the process of welding two round pipelines of the same or similar diameter by such experiments and debugging.The software system is developed based on VC++ 6.0, BC3.1, VtoolsDS.O and Pcomm Library, and uses personal microcomputer and PMAC as the hardware development platform. The application theory of this paper, which makes a strong theoretical and experimental cornerstone for the further research on the five freedoms numerical control pipeline welding machine, is proved in two axes servo control system.更多还原