外文翻譯---使用語音識別技術(shù)控制的焊接機器人工作單元-其他專業(yè)-文庫吧
2024-12-30 09:20 本頁面
【正文】 desired value makes the system more stable. Another factor that can be improved is operator safety. In a safetycritical situation,the robot’s operation can be halted immediately by use of the “emergency stop,’’ or Estop, mode, which is initiated, conventionally, by depressing a large button. If an operator inadvertently finds himself in a hazardous situation, it may be necessary for him to initiate the Estop sequence. Should the operator not be within reach of the button,however, he may be unable to take the necessary action, and, as a result, could suffer serious injury. Having the capability of stopping the robot by issuing a voice mand could significantly improve the operator’s safety by enabling him to stop the robot even when not within reach of the Estop button. Manual corrections are occasionally required to adjust the location at which the weld filler wire enters the weld pool. Proper entry location is absolutely critical to sound weld quality. Adjustments are made either by manually adjusting mechanisms that hold the wirefeed guide tube or by issuing tactile mands to a servomechanism. Use of a voice recognition system could eliminate the need for the operator to place his hand within the working envelope of the robot end effector or, if servomechanisms are employed,could improve speed of response and stability. Another aspect of robot operation in an industrial environment that is very important is the security of a program editing capability of the system. Under no circumstances should any unauthorized person be able to enter this programming mode and alter the robot’s program. A voice recognition system can provide the necessary security by allowing access only for individuals who are authorized and whose voices can be identified by the system. Background Robotic welding is under development by NASA and Rocketdyne for the automation of welds on the Space Shuttle Main Engine that are presently made manually. The programmability of a robot can reduce the percentage of welding defects through a bination of consistency and repeatability unattainable by its human counterparts. To do this, the robot is programmed to a nominal weld path and level of weld process parameters (., current, travel speed. voltage,wire addition rate). Some adjustment of these values is often necessary due to conditions changing during the weld. A human making a manual weld acplishes this adjustment readily, while a robot must rely on the limited talents of sensors and the ability of the operator to override functions when necessary. System Integration The basic elements of the workcell system are shown diagrammatically in the ultimate goal of the system development work in progress is to generate robot manipulator programs and weld process programs off line, download them to the workcell supervisory puter, then use sensor subsystems to make closedloop corrections to the robot path and process variables. Offline programming is being done with an Intergraph modified VAX 780/785205 puter system with Interact color graphics workstations. Deviations between the programmed robot path and the actual required path are observed and corrected by a sophisticated visionbased sensor developed for this application by Ohio State sensor system is also designed to permit measurement of the molten weld pool surface dimensions and correct welding current level to maintain the weld pool dimensions within desired limits. Presently, a number of functions are still controlled manually, and manual overr
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