Технология дистанционной сварки

In this paper a design and implementation of welding telerobotic system (HIT-WTRS) is presented, which is dedicated to remote welding maintenance in inaccessible or hazardous environment. The system integrated three technologies, namely laser scan vision sensing (LSVS), stereoscopic video display,...

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Дата:	2008
Автори:	By, Л., Ли, Х.К., Гао, Х.М., Жанг, Г.Ж.
Формат:	Стаття
Мова:	Russian
Опубліковано:	Інститут електрозварювання ім. Є.О. Патона НАН України 2008
Назва видання:	Автоматическая сварка
Теми:	Пленарные доклады Международной конференции
Онлайн доступ:	http://dspace.nbuv.gov.ua/handle/123456789/100059
Теги:	Додати тег Немає тегів, Будьте першим, хто поставить тег для цього запису!
Назва журналу:	Digital Library of Periodicals of National Academy of Sciences of Ukraine
Цитувати:	Технология дистанционной сварки / Л. By, Х.К. Ли, Х.М. Гао, Г.Ж. Жанг // Автоматическая сварка. — 2008. — № 11 (667). — С. 186-194. — Бібліогр.: 9 назв. — рос.

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Digital Library of Periodicals of National Academy of Sciences of Ukraine

id	irk-123456789-100059
record_format	dspace
spelling	irk-123456789-1000592016-05-16T03:02:41Z Технология дистанционной сварки By, Л. Ли, Х.К. Гао, Х.М. Жанг, Г.Ж. Пленарные доклады Международной конференции In this paper a design and implementation of welding telerobotic system (HIT-WTRS) is presented, which is dedicated to remote welding maintenance in inaccessible or hazardous environment. The system integrated three technologies, namely laser scan vision sensing (LSVS), stereoscopic video display, and virtual environment-based plan and control. Three control modes are emphasized in this system respectively, which are teleteaching, autonomous control and virtual environment-based supervisory control. The laser scan vision sensor is used as autonomous welding path planner, and is also employed to provide the welding joint profile feature point for teleteaching. The graphics environment is used as simulation and path plan platform, and is also used as multi- viewpoint supervisory window to monitor the remote environment when arcing. Some performance results and ways to improve the system are discussed. 2008 Article Технология дистанционной сварки / Л. By, Х.К. Ли, Х.М. Гао, Г.Ж. Жанг // Автоматическая сварка. — 2008. — № 11 (667). — С. 186-194. — Бібліогр.: 9 назв. — рос. 0005-111X http://dspace.nbuv.gov.ua/handle/123456789/100059 621.791 ru Автоматическая сварка Інститут електрозварювання ім. Є.О. Патона НАН України
institution	Digital Library of Periodicals of National Academy of Sciences of Ukraine
collection	DSpace DC
language	Russian
topic	Пленарные доклады Международной конференции Пленарные доклады Международной конференции
spellingShingle	Пленарные доклады Международной конференции Пленарные доклады Международной конференции By, Л. Ли, Х.К. Гао, Х.М. Жанг, Г.Ж. Технология дистанционной сварки Автоматическая сварка
description	In this paper a design and implementation of welding telerobotic system (HIT-WTRS) is presented, which is dedicated to remote welding maintenance in inaccessible or hazardous environment. The system integrated three technologies, namely laser scan vision sensing (LSVS), stereoscopic video display, and virtual environment-based plan and control. Three control modes are emphasized in this system respectively, which are teleteaching, autonomous control and virtual environment-based supervisory control. The laser scan vision sensor is used as autonomous welding path planner, and is also employed to provide the welding joint profile feature point for teleteaching. The graphics environment is used as simulation and path plan platform, and is also used as multi- viewpoint supervisory window to monitor the remote environment when arcing. Some performance results and ways to improve the system are discussed.
format	Article
author	By, Л. Ли, Х.К. Гао, Х.М. Жанг, Г.Ж.
author_facet	By, Л. Ли, Х.К. Гао, Х.М. Жанг, Г.Ж.
author_sort	By, Л.
title	Технология дистанционной сварки
title_short	Технология дистанционной сварки
title_full	Технология дистанционной сварки
title_fullStr	Технология дистанционной сварки
title_full_unstemmed	Технология дистанционной сварки
title_sort	технология дистанционной сварки
publisher	Інститут електрозварювання ім. Є.О. Патона НАН України
publishDate	2008
topic_facet	Пленарные доклады Международной конференции
url	http://dspace.nbuv.gov.ua/handle/123456789/100059
citation_txt	Технология дистанционной сварки / Л. By, Х.К. Ли, Х.М. Гао, Г.Ж. Жанг // Автоматическая сварка. — 2008. — № 11 (667). — С. 186-194. — Бібліогр.: 9 назв. — рос.
series	Автоматическая сварка
work_keys_str_mv	AT byl tehnologiâdistancionnojsvarki AT lihk tehnologiâdistancionnojsvarki AT gaohm tehnologiâdistancionnojsvarki AT žanggž tehnologiâdistancionnojsvarki
first_indexed	2025-07-07T08:17:26Z
last_indexed	2025-07-07T08:17:26Z
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fulltext	. . ( - ) . . ( , . ) . . . , - . . . ( - ) - . 1. Kramer T., Olowinsky A., Durand F. «Shadow» — a new welding technique // Proc. of photon processing in micro- electronics and photonics. — SPIE. — 2003. — 4637. — P. 545–554. 2. Olowinsky A., Kramer T., Durand F. Laser beam micro wel- ding in watch industry // Ibid. — P. 571–580. 3. Klages K., Ruettimann C., Olowinsky A. Laser beam micro welding of dissimilar metals // Proc. of Intern. congr. on ap- plication of laser & electro-opotics ICALEO 2003. — 2003. — CD-ROM. 4. Kramer T., Olowinsky A. Out of «Shadow»: Watch parts in the spotlight // Proc. of photon processing in microelectro- nics and photonics. — SPIE. — 2003. — 4977. — P. 481– 492. 5. Klages K., Olowinsky A., Gedicke J. Performance of «Sha- dow» // Proc. of laser assisted net shape engineering. — 2004. — P. 633–642. 6. Gedicke J., Olowinsky A., Klages K. Advancements of «Sha- dow» — laser beam welding of compression molded copper // Proc. of the 6th Intern. symp. on laser precision microfab- rication LPM 2005. — 2005. — On-line. 7. Pat. WO 03/013779 A1 International. 8. «Shadow» — new applications in electronics and micromec- hanics / A. Olowinsky, J. Gedicke, A. Gillneer et al. // Proc. of Intern. congr. on application of laser & electro-optics ICALEO 2006. — 2006. — CD-ROM. 9. Isamu Miyamoto, Seo-jeong Park, Toshihiko Ooie. Ustrafi- ne-keyhole welding process using single mode fiber laser // Proc. of Intern. congr. on application of laser & electro-op- tics ICALEO 2003. — 2003. — CD-ROM. 10. Harp W., Tu J. Investigation of the transition from micro- drilling to micro-welding using a 300W fiber laser // Proc. of Intern. congr. on application of laser & electro-optics ICA- LEO 2006. — 2006. — CD-ROM. The characteristics of micro-welding for thin stainless steel foil were investigated using high speed laser scanning with both single-mode fiber laser and pulsed Nd: YAG laser. The overlap welding of 25 m thickness sheet could be successfully performed using a laser beam with a small focus diameter, regardless of the presence of a small gap between two sheets. 20.03.2008 621.791 . , . . , . . , . . ( . . . . . - , . . - , ) , . : , , . : , . - , . , . - . : , , , , - , - , - , , , , , - . - , . - , - - , - [1]. . - - « » , , , - [2]. - - . . . . - , - © . , . . , . . , . . , 2008 186 11/2008 [3]. - - . , , . «Framatome» - - [4]. - - «RoboCAD». . . - , - , ARM ( - ARM) [5]. - - . - : , , . - 1994 . . . - - . , , , . [6]. . . - - [7]. [8]: , ( , , .); - - , - ; - , - . — - . - - , . , , , — - . . , - - . - - - [9]. - - , , - . , - . - - , - . - . - HIT-WTRS, - , . - , - , (LSVS), - , - , , - . - , - . . , - - , - - . - - . . - — - 11/2008 187 - ( . 1). TCP/IP ( - / ) - (LAN), . , - , LSVS, - . HUB ( - ). - : , - , - , . ( - - ) : - - ; ; - - . WMHMI Win2000, ++ 6.0. IGRIP ( ) - «Visual» UNIX, - - . - , - . - . : c , - - DSP200X, , , - , - , - - . HIT-WTRS , . - - . - - - , . - , , - - , . , - , . - . ( . 2). - - , . - WMHMI - . WMHMI — - , , - . - . WMHMI - : - ; , - ; ; - ; . - WMHMI , . 1. HIT-WTRS 188 11/2008 , . - , - , WMHMI, . – . 3. — - (IGRIP) - - . ( ) - . - , - , - , - . - . - - - . , - . - . - . LSVS - - . - . - , - , - . - ( - ). , - , - - . - , . - , - . , , - . - - , . 2. HIT-WTRS . 3. WMHMI . 4. ( ); ( ) 11/2008 189 - . - . - . - , - ( ) - . — , . , . 1 - 70 , . . 35 . - . . 4, - , . - . : - . - , - . - . - , - . - VC++. . 4, , - - . . - , : X HC x , y , z , a , b , c . - — , — . - X HC - . - - . 5. - 6 (X t6 = J ). - . - , X t6 - X B , X B = = J — , - - - - (PID). , - , X t6 X t6 X t6 . LSVS. LSVS - - . - - . - ; - LSVS. LSVS. . 6, , - . - . 5. . 6. ( ) LSVS ( ) 190 11/2008 . 6, . , - , - , - , , - - . - , . - , , . - . . - - . HIT-WTRS - - . - . tT s . - T w . bT w = bT 6 6T t tT s T w - . - D t : D t = [ x, y, z, dx, dy, dz)T, . . 7 . - . - , - . LSVS. LSVS . - , - . . - , - - . 10 40 ( - ) - . - RS422. , , , ( ) - . - - - teach01.ttr. c - - . : STARTP //start program MOVJ VJ = 20.000 //joint motion, velocity:20 ... ARCON //arc on MOVL VL = 20.000 //welding speed ... ARCOFF //arc end MOVL VL = 20.000 //line interpolated, v = 20.0 ... ENDP //stop program STARTD //joint value record start -11.25/33.84/-43.80/-48.81/35.64/155.97/ ... ENDD //*data end . 7. 11/2008 191 - . 8. : ; - ; . ( - ) . . : - - - , - - - ; - , - . IGRIP. - – - (VECT). - , . - IGRIP , , . . . 9, - . - - . - , - . , - , IGRIP. . 8. - LSVS . 9. - ( ) - ( ) 192 11/2008 . VECT - . VECT - , - - . . 10, VECT - (RE) (VE) M w i . - , - - . - - . . , - , . - , - — - . VE - VE IGRIP VECT - . , HIT-WTRS. - - - , , - - . - , , - - . - — - . - - . . - . - . . , , - . - 25 , V- - 1 . - . , - , - , . - . . 11, - , - 1,5 , . 11, — , - — 3,2 , . 11, . . . 10. . 11. : — ; — z; — 11/2008 193 250 200 , 20 . . . . 12 . , HIT-WTRS - . - : - , . — , . - - - ( ). - . LSVS , . - . - . 1. On teleoperation of an arc welding robotic system / M. Hou, S. H. Yeo, L. Wu, H. B. Zhang. // Proc. of the IEEE Intern. conf. on robotics and automation. — Minneapolis, Minneso- ta, 1996. — P. 1276–1280. 2. Conrath J. J. Remotely controlled repair of piping at douglas piont // Intern. conf. on robotics and remote handling in the nuclear industry. — Toronto, Canada, 1984. — P. 112–121. 3. Agapakis J. E., Masubuchi K. Fundamentals and advances in the development of remote welding fabrication system // Welding J. — 1986. — 65(9). — P. 21–32. 4. Launary J.-P. Teleoperation and nuclear services advantages of computerized operator-assistance tools // Nuclear Eng. and Design. — 1998. — 180. — P. 47–52. 5. Larkum T. J., Broome D. R. Advanced controller for an un- derwater manipulator // Proc. Third IEEE conf. on control application. — Glasgow, Scotland, 1994. — P. 157–162. 6. Zhang HuiBin. The establishment of master-slave teleopera- tion arc weldmg manipulator experiment system and operati- on characteristic investigation / Harbin Institute of Technolo- gy. — PhD dissertation, 1994. 7. Lu Weixin. Remote arc welding motion control new method research / Harbin Institute of Technology. — PhD dissertati- on, 1997. 8. Li Haichao, Wu Lin, Sun Hua. Applying shared visual cont- rol to telerobotic welding seam tracking // 3rd Intern. symp. on instrumentation science and technology. — Xi’an, China, 2004. — P. 921–925. 9. Pyunghyun Kirn, Sehun Rhee, Chang Heelee. Automation teaching of welding robot for free-formed seam using laser vision sensor // Optics and Lasers in Eng. — 1999. — 31. — P. 173–182. In this paper a design and implementation of welding telerobotic system (HIT-WTRS) is presented, which is dedicated to remote welding maintenance in inaccessible or hazardous environment. The system integrated three technologies, namely laser scan vision sensing (LSVS), stereoscopic video display, and virtual environment-based plan and control. Three control modes are emphasized in this system respectively, which are teleteaching, autonomous control and virtual environment-based supervisory control. The laser scan vision sensor is used as autonomous welding path planner, and is also employed to provide the welding joint profile feature point for teleteaching. The graphics environment is used as simulation and path plan platform, and is also used as multi- viewpoint supervisory window to monitor the remote environment when arcing. Some performance results and ways to improve the system are discussed. 11.03.2008 . 12. LSVS 194 11/2008

Технология дистанционной сварки

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