1. Development technology route

現(xiàn)階段，焊接機(jī)頭和導(dǎo)軌組合的方式已經(jīng)在世界范圍內(nèi)很多的野外管道位置自動(dòng)焊接中得以應(yīng)用，采用往復(fù)運(yùn)動(dòng)形式控制焊槍。自動(dòng)焊接設(shè)備的研制，主要關(guān)注焊接和工藝的優(yōu)化以及實(shí)現(xiàn)，只有保證焊接工藝參數(shù)的合理化，才有可能保證焊接質(zhì)量。所以，為了保證焊接質(zhì)量，通常對于同一操作內(nèi)容，存儲了多套焊接工藝。

At present, the combination of welding head and guide rail has been applied in the field pipeline position automatic welding in many countries all over the world, and the welding gun is controlled by reciprocating motion. The development of automatic welding equipment mainly focuses on the optimization and Realization of welding and process. Only by ensuring the rationalization of welding process parameters, it is possible to ensure the welding quality. Therefore, in order to ensure the welding quality, multiple sets of welding processes are usually stored for the same operation content.

一些焊接操作會(huì)對焊接質(zhì)量產(chǎn)生直接的影響，但是技術(shù)人員卻沒有對其進(jìn)行認(rèn)真研究，自動(dòng)焊接設(shè)備是一類機(jī)電一體化的設(shè)備，要從機(jī)、電、控制以及焊接等多個(gè)角度、多個(gè)方面展開分析，進(jìn)行調(diào)節(jié)。

Some welding operations will have a direct impact on the welding quality, but the technicians have not studied them carefully. Automatic welding equipment is a kind of electromechanical equipment, which should be analyzed and adjusted from multiple angles and aspects such as machinery, electricity, control and welding.

伴隨著移動(dòng)存儲設(shè)備應(yīng)用范圍的不斷拓展，在其中存儲大量的工藝程序已經(jīng)不再有意義，沒有較強(qiáng)的實(shí)用性。可以通過在光盤上存儲焊接工藝的方式，再通過計(jì)算機(jī)進(jìn)行數(shù)據(jù)的傳輸，將數(shù)據(jù)傳遞到自動(dòng)焊接設(shè)備上，再由設(shè)備完成存儲。在移動(dòng)存儲設(shè)備的使用過程當(dāng)中，將存儲設(shè)備中節(jié)約得到的空間再進(jìn)行有效的利用，可以編制更多數(shù)量的控制程序，進(jìn)行全自動(dòng)焊的過程中，對焊縫進(jìn)行的控制，以解決管道全位置的自動(dòng)焊質(zhì)量。

With the continuous expansion of the application scope of mobile storage devices, it is no longer meaningful to store a large number of process programs in them, and there is no strong practicability. The welding process can be stored on the optical disc, and then the data can be transmitted through the computer to the automatic welding equipment, and then the equipment can complete the storage. In the process of using the mobile storage device, the space saved in the storage device can be effectively utilized, and more control programs can be prepared to comprehensively control the weld in the process of full-automatic welding, so as to solve the automatic welding quality of all positions of the pipeline.

2、電氣及執(zhí)行元件

2. Electrical and actuator

將直流電機(jī)驅(qū)動(dòng)技術(shù)應(yīng)用于我國的自動(dòng)焊接設(shè)備當(dāng)中，合理使用負(fù)反饋來進(jìn)行電路的控制，控制的實(shí)質(zhì)為：電弧電壓、電流在傳感設(shè)備檢測得到的信號中，和基準(zhǔn)信號進(jìn)行對比，完成以后再在運(yùn)算放大器的作用下實(shí)現(xiàn)放大，使其有效的進(jìn)行直流電機(jī)的驅(qū)動(dòng)。在上述操作中，運(yùn)算放大電路或者集成式電路都會(huì)出現(xiàn)飄移現(xiàn)象，就是在操作溫度升高以后，運(yùn)算放大設(shè)備或者集成電路從原來的工作點(diǎn)開始移動(dòng)，導(dǎo)致驅(qū)動(dòng)直流電機(jī)的電壓值發(fā)生改變，進(jìn)而導(dǎo)致轉(zhuǎn)動(dòng)速度的改變。

The DC motor driving technology is applied to China's automatic welding equipment, and the negative feedback is reasonably used to control the circuit. The essence of the control is: the arc voltage and current are compared with the reference signal in the signal detected by the sensing equipment, and then amplified under the action of the operation amplifier to drive the DC motor effectively. In the above operation, the operation amplification circuit or integrated circuit will drift, that is, after the operating temperature rises, the operation amplification device or integrated circuit will move from the original working point, resulting in the change of the voltage value of the driving DC motor, and then the change of the rotation speed.

直流電機(jī)是一類電壓控制型執(zhí)行元件，轉(zhuǎn)速的大小對降低直流電機(jī)控制系統(tǒng)中的電壓值具有較大的影響，如果電壓值發(fā)生了變化，則會(huì)導(dǎo)致直流電機(jī)轉(zhuǎn)速的變化，使焊槍的位置發(fā)生偏離。

DC motor is a kind of voltage controlled actuator. The speed has a great impact on reducing the voltage value in the DC motor control system. If the voltage value changes, it will lead to the change of DC motor speed and the deviation of welding gun position.