摘要焊接是现代制造业中最重要的工艺技术之一，提高焊接质量的稳定性和可靠性至关重要。限于经济和技术的原因，我国的焊接生产作业基本还是手工操作，改变这种状况的唯一途径是采用自动焊接技术，焊接机器人是代替工人进行焊接操作的最佳自动化工具。6314
  以焊接机器人中的三自由度焊接机器人作为研究对象，根据其工艺要求，研制了一种焊接质量优、可靠性高、通用性强、操作简便、成本低廉的三自由度弧焊机器人。
主要内容如下：
  介绍焊接机器人技术的应用现状与发展趋势。
  分析焊接过程的工艺要求，明确三自由度焊机器人控制系统设计的总体目标与方案。
   按照“工业计算机机＋运动控制器”的方案，组建控制系统的硬件结构。以计算机编程语言开发运动控制系统软件。
   机器人与通用的 CO2气体保护焊机配套进行焊接性能测试实验。实验结果表明，焊接机器人能实现焊缝的匀速自动焊接，焊缝成形良好、效率高，控制系统运行准确、可靠，焊接机器人控制系统总体技术方案合理，工作性能稳定。6314
关键词：焊接机器人，CO2焊，运动控制器，控制系统
Abstract   
The soldering is one of the most important in the modern manufacturing technology, to improve the stability and reliability of the welding quality is crucial. Limited to the economic and technical reasons, the basic welding production operations in China or manual operation, to change this situation the only way is the use of automatic welding technology, welding robots instead of workers welding operation automation tools.
Three degrees of freedom in the welding robot welding robot as research object, according to its technological requirements, developed an excellent welding quality, high reliability, versatility, easy to operate, low-cost three-degree-of-freedom arc welding robot.
The main contents are as follows:
 Welding robot technology status and development trend.
Analysis of the welding process process requirements to clear three degrees of freedom welding robot control system design the overall objective of the program.
In accordance with the industrial computer + motion controller "program, set up the hardware structure of the control system. Computer programming language developed motion control system software.
Robot with a common CO2 gas shielded welding machine supporting welding performance test. Experimental results show that the welding robot can achieve uniform weld automatic welding, weld, high efficiency, and control the operation of the system is accurate, reliable, welding robot control system overall technical program, stable performance.
Keywords: welding robots, CO2 welding, the motion controller, the control system.
目  录
第一章  绪论   1
  1.1  国内外焊接机器人技术的应用现状与发展趋势  1
    1.1.1 工业机器人的发展历程   1
    1.1.2 焊接机器人的应用现状   2
    1.1.3 焊接机器人技术的研究现状   3
    1.1.4 焊接机器人技术的发展趋势   6
  1.2 课题的研究意义   8
    1.2.1 课题的提出   8
    1.2.2 课题的研究意义   9
    1.2.3 课题研究的主要内容   9
第二章  三自由度焊接机器人控制系统的设计     10
  2.1 引言   10
  2.2 控制系统方案设计   10
    2.2.1 三自由度焊接机器人控制要求   10
    2.2.2 控制系统的功能要求   10 PLC三自由度焊接机器人设计+CAD图纸+梯形图:http://www.youerw.com/jixie/lunwen_3793.html