摘要
针对喷码机早期设备没有自动识别纠偏系统,每次更换钢管规格调整机器人的运动轨迹或在机器人的喷印过程,经常会出现损坏喷头等喷印设备部件的问题,在原喷码机机器人前臂增加伺服控制升降机构,将原来安装在机器人前臂的喷头等喷印部件安装到升降机构。在调整机器人运动轨迹或喷印过程中,该伺服控制系统通过检测喷头与钢管内、外壁的距离,自动控制喷头机构升降,始终保证喷头与钢管内、外壁的距离处在设定数值范围,从而避免了机构与钢管内外壁碰撞,实现了喷码机设备的高效智能、安全平稳运行。
Addressing the problem that since the early-developed code-stenciling machine has no automatic identi-fication-correction system,and thus each time when adjusting the robot movement track as per stcel pipc size change orduring the robot code-stenciling procss,some components like the jet are frequently damaged,it is proposed to add aservo control lifting mechanism onto the front arm of the original code-stenciling robot,and accordingly the stenciling partslike the jet as originally mounted on the said front arm are now removed onto the lifting mechanism.Thus when adjustingthe robot movement track or during robot code-stenciling process,the servo control system is capable of checking thedistances between the jet and the inner suface and the outer surface of the pipe to automatically control thelifting-lowering of the jet device so as to get the said distances within the set value range.As a result it is avoided to havethe mechanism knocking against the outer or inner surface of the pipe,which brings about the high-efficient,intelligent.and safe and smooth running of the code-stenciling machine.
作者
刘宇翔
陈伟巍
蔡文利
高璐
谭赟
LIU Yuxiang;CHEN Weiwei;CAI Wenli;GAO Lu;Tan Yun(Baoji Petroleum Pipe Co.,Ltd.,Baoji 721008,China)
出处
《钢管》
CAS
2020年第5期65-69,共5页
Steel Pipe
关键词
喷码机
伺服控制
机器人
传感器
智能
code-stenciling machine
servo control
robot
sensor
intelligence
