Yi Jinggang

Study on On-line Intelligent Measurement and Control System of Shaft Parts' Precision Straightening Machine

In order to effectively integrate the special hardware and software, data collection, data calculation and analysis, data control principle, and to realize the on-line intelligently exact measurement and straightening control of shaft parts. Research the systematic soft-hardware composition, communication and programme, shafts measurement principle, and confirm the quantity of straightening. The system adapts to the shafts that the quantity of bend distortion is less than or equal to 0.25 mm, diameter: 20 mm to 80 mm, length: 300 mm to 1200 mm. PC is used as the upper machine, PLC and controller as the principal and subordinate structure of the lower machine. Communication mode uses RS232 series port and Software adapts the mixed programme of VB and VC to realize the measurement and control the interface, collect and control the data in real time. Through the straightening quantity calculated by the technological theory model and the straightening technological condition, adopting the ANN forecasts for the straightening quantity, and then get the precise straightening quantity.

Modeling and simulation of synchronous linkage moving pose for two-welding torch

Established the mathematical modal of intersecting line weld joint of T cylinder pipe and two-welding torch pose. And when the welding precision and weld pose are as constraint conditions, the function relation of the position and turning displacement distance of welding torch and time are deduced in the interpolation period. The corresponding relation of welding turning angle and time is computed through VC++ program. And then moving track is confirmed based on the terminal controller of welding machine. The motion simulation and disturbance detection of three-dimensional model shows the mathematical modal of welding torch is accurate.

Obstacle-avoiding automatic welding machine based on dual-welding-torch Synchronous linkage

A new two-torch welding machine is designed based on the parameter equation of the intersection line of vertical multi-tube with aluminum wing. Automatic welding machine is driven to use four servo axes which include XYZ-axis for interpolation and linkage and R-axis for real-time servo swing. Based on the Synchronous weld of two-welding torch, the welding torch angle is changed to avoid the aluminum wing obstacle in Y axis. The optimal welding angle of two-welding torch is real-timely gained through the synchronous swing. And then the parameter equation of the synchronized rotation angle of dual-welding-torch is established. The synchronized circulatory swing of two-welding torch is real-timely achieved based on dual-servo driving system and synchronous signal measurement. The test shows the two-welding torch synchronization is nicer and obstacle avoidance is reliable.

Research of Automatic Control System Based on 6K Controller Welding Robot

After analyzing the peculiarity of automatic control system in the all position welding robot at home and abroad, contrapose the need of steeliness cylinder shape central heating welding and fixing, contrive the welding technology which have portability and appease different situations, also offer the most at the best price with the automatic control system in the welding robot. The system take the 6K linearity multiple spindle controller as its controller, take the DC servo-motor and the stepper motor as its power element. It can control robotic arm of the welding gun to move, flex, swing, promote by interface circuit and software, it can appease demand that all position welding technology need, and thereby achieve automation of welding. It is justified by systemic test welding that weld joint molding is good and raise working efficiency.

A Clear-level Robot Based on Laser levelling Navigation

Research the software and hardware composing and control mode of the clear-level robot. The system adopts the laser scanner of electronic automation levelling, the model number of which is JP30 as the navigation laser signal. After the laser signal is carried through the light filter treatment, and then amplified and modulated, last transmitted to controller. Controller adjusts motor to driver the executive part to make clear-level robot work in a plane. Navigation receiver adopts two-way signal receiver to keep the working part levelling. The whole level of levelling robot is measured by inclination angle sensor and the error adjusting range of inclination angle is plusmn0.05deg. The separate time treatment avoids simultaneously adjusting the laser and inclination signal to each other interfere. The test result shows that the levelling navigation precision in x and y vertical direction is plusmn2.5 mm/100 m. Its can satisfy with the request of engineering execution of works.