焊缝质量检测机器人.pdf

0.05mm 0.05mm Abstract This thesis analyzes the current situation of seaming automatic identification and detection technology and designs a seaming quality detection system, which takes ultrasonic sensor as detection devices, gear wheels and ball screw drive, two step motors with horizontal and vertical directions crossing freedom slide motion mechanism as the main body unit, a step motor control movement of ultrasonic flow probe, a microcontroller as the controller. The detection system uses a ball screw drive, to achieve the vertical movement testing organizations, the beams and columns connected by sliding rail, sliding seat rail and ball screw nut connected by welding. Beam is equipped with a rack by rack and pinion drive to achieve the level of lateral movement. Detection sensor is installed in the beam at the end,three movements by the reaction of step motor driver ,improving the localization precision and robustness. According to predetermined control program, SCM-side control the three step motors. The experiment results show that the detection of different landscape welding lineand the case of continuous operation, the weld quality inspection robot system can better carry out quality inspection of circumferential welds. The system`s motion accuracy is 0.05mm and its horizontal (lateral) positioning accuracy is 0.05mm.It can meet the needs of the general weld quality detection and is a promising weld quality inspection system. Keywords: weld detection the ball screw step motor single chip machine Abstract II 1 1 1.1 1 1.2 2 2 5 2.1 5 2.2 6 2.2.1 6 2.2.2 8 2.3 13 3 17 3.1