爬行式气电立焊机器人的弧长控制

Arc length control study for crawl-type electrogas arc welding robot

气电立焊是一种重要的垂直位置焊接方法,其焊接质量受焊接电弧长度的影响较大,必须对其弧长进行控制。以爬行式气电立焊机器人为基础,研究其焊接过程中弧长变化,建立了焊接小车和滑块为基础的二级联动弧长控制系统;利用滑块的动态响应能力强、精度高的特点实现弧长的快速、高精度控制;利用对小车的控制实现滑块的自动归中,增大系统的调节能力。结果表明,系统具有较强的抗干扰能力、动态响应能力和自调节能力。

Electrogas arc welding(EGW) is an important method for vertical position welding;the quality of welding product is highly depended on its welding arc length stabiliy,so there is a necessity of arc length control for EGW.Based on crawl type arc-welding robot,this article studies the variation of the arc length during the welding,and brings up a two-level linkage arc length control system composed by a slider and the welling vehicle.The advantage of the slider in dynamic response gives the system a good performance of fast and high precision arc length control.By controlling the vehicle travel speed,the slider always stays in its neutral position,which makes the system maintains the ability of widest range adjustment.This system has an wide-range adjustment,high dynamic response and high precision as well.