1. Development technology route

現階段，焊接機頭和導軌組合的方式已經在世界范圍內很多的野外管道位置自動焊接中得以應用，采用往復運動形式控制焊槍。自動焊接設備的研制，主要關注焊接和工藝的優化以及實現，只有保證焊接工藝參數的合理化，才有可能保證焊接質量。所以，為了保證焊接質量，通常對于同一操作內容，存儲了多套焊接工藝。

At present, the combination of welding head and guide rail has been applied in the field pipeline position automatic welding in many countries all over the world, and the welding gun is controlled by reciprocating motion. The development of automatic welding equipment mainly focuses on the optimization and Realization of welding and process. Only by ensuring the rationalization of welding process parameters, it is possible to ensure the welding quality. Therefore, in order to ensure the welding quality, multiple sets of welding processes are usually stored for the same operation content.

一些焊接操作會對焊接質量產生直接的影響，但是技術人員卻沒有對其進行認真研究，自動焊接設備是一類機電一體化的設備，要從機、電、控制以及焊接等多個角度、多個方面展開分析，進行調節。

Some welding operations will have a direct impact on the welding quality, but the technicians have not studied them carefully. Automatic welding equipment is a kind of electromechanical equipment, which should be analyzed and adjusted from multiple angles and aspects such as machinery, electricity, control and welding.

伴隨著移動存儲設備應用范圍的不斷拓展，在其中存儲大量的工藝程序已經不再有意義，沒有較強的實用性?？梢酝ㄟ^在光盤上存儲焊接工藝的方式，再通過計算機進行數據的傳輸，將數據傳遞到自動焊接設備上，再由設備完成存儲。在移動存儲設備的使用過程當中，將存儲設備中節約得到的空間再進行有效的利用，可以編制更多數量的控制程序，進行全自動焊的過程中，對焊縫進行的控制，以解決管道全位置的自動焊質量。

With the continuous expansion of the application scope of mobile storage devices, it is no longer meaningful to store a large number of process programs in them, and there is no strong practicability. The welding process can be stored on the optical disc, and then the data can be transmitted through the computer to the automatic welding equipment, and then the equipment can complete the storage. In the process of using the mobile storage device, the space saved in the storage device can be effectively utilized, and more control programs can be prepared to comprehensively control the weld in the process of full-automatic welding, so as to solve the automatic welding quality of all positions of the pipeline.

2、電氣及執行元件

2. Electrical and actuator

將直流電機驅動技術應用于我國的自動焊接設備當中，合理使用負反饋來進行電路的控制，控制的實質為：電弧電壓、電流在傳感設備檢測得到的信號中，和基準信號進行對比，完成以后再在運算放大器的作用下實現放大，使其有效的進行直流電機的驅動。在上述操作中，運算放大電路或者集成式電路都會出現飄移現象，就是在操作溫度升高以后，運算放大設備或者集成電路從原來的工作點開始移動，導致驅動直流電機的電壓值發生改變，進而導致轉動速度的改變。

The DC motor driving technology is applied to China's automatic welding equipment, and the negative feedback is reasonably used to control the circuit. The essence of the control is: the arc voltage and current are compared with the reference signal in the signal detected by the sensing equipment, and then amplified under the action of the operation amplifier to drive the DC motor effectively. In the above operation, the operation amplification circuit or integrated circuit will drift, that is, after the operating temperature rises, the operation amplification device or integrated circuit will move from the original working point, resulting in the change of the voltage value of the driving DC motor, and then the change of the rotation speed.

直流電機是一類電壓控制型執行元件，轉速的大小對降低直流電機控制系統中的電壓值具有較大的影響，如果電壓值發生了變化，則會導致直流電機轉速的變化，使焊槍的位置發生偏離。

DC motor is a kind of voltage controlled actuator. The speed has a great impact on reducing the voltage value in the DC motor control system. If the voltage value changes, it will lead to the change of DC motor speed and the deviation of welding gun position.