基于PMAC的椭球面封头接管自动焊接装置

Automatic arc welding machine based programmable multi-axes controller for seam of a pipe and an ellipsoidal end

通过利用多轴运动控制器PMAC控制焊接件绕轴回转瞬时角速度和焊枪移动速度,为实现椭球面封头接管相贯线接缝的匀速焊接而研制开发了一种自动焊接装置。介绍了自动焊接装置的结构组成、椭球面封头接管相贯线接缝的建模方法以及控制焊接件绕轴回转瞬时角速度和焊枪移动速度的原理技术等。初步试验结果表明,该自动焊机具有焊接表面平滑均匀,焊接效率高,焊接质量稳定的特点。

This paper presented a PMAC-based automatic weldingmachine which could accomplish welding of intersection line seams of anellipsoidal end and a pipe at even speed while real-time motion control forwelding piece and welding torch is implemented by PMAC(programma-ble multi-axes controller).The welding machine structure and its compo-nents,the intersection line seanl modeling,the control of instantaneous angular velocity of the rotating welding piece as well as the speed control of welding torch were discussed.Elementary experiment results showedthat the welding machine had high working efficiency and stable welding quality,and could ensure a、smooth welding surface.