巴赫曼产品FM221说明FM221

FM221

FM221

试验过程如下：先将两组集装箱大梁进行定位焊接，为验证可移动智能焊接机器人的实时焊缝跟踪能力，一组通过人工实时调节焊枪位置，焊后效果如图9所示；一组采用本文设计的可移动智能焊接机器人进行焊接，焊后效果如图10所示。

由图9和图10可知，在焊接过程中，采用人工调整焊枪位置，焊后焊缝成形外貌较差，焊缝的表面出现了焊瘤、咬边、成形不良等焊接缺陷。而本文设计的可移动智能焊接机器人在焊接速度达到1.2m/min 的高速GMAW焊接过程中准确识别空间断续焊缝，如图11所示，对箱型梁结构中常见的四种典型空间轨迹的分类准确率为100%，轨迹检测与分类的整体处理时间≤65ms，并引导焊枪自动完成“焊接-熄弧-避障-引弧-焊接”，焊缝表面未发现焊瘤等常见的焊接缺陷，两翼缘板及腹板与焊缝的熔合程度良好。由此可见，本文介绍的可移动智能焊接机器人焊接精度高、焊缝成形良好。

HP ULTRIUM 215 LTO-1 SCSI LVD Tape Drive C7377-60040-ZN

HP Compaq AP400 System Board 317706-001 LOADED DUAL CPU

HP 9000 HP9000 E45 CPU Board A2576-60001 A2051-66531

A1027-66510 System Board Motherboard HP 822S 69510 

Motherboard Pentium TYAN Tomcat S1563 Socket7 Dual

Pentium Motherboard Slot1 ASUS P2B-D2 v1.02 Dual SCSI

HP Compaq System Board 011653-001 Proliant ML370 G3 

Advantech CompactPCI CPCI CPU Card MIC-3365 MIC-3365F

SBC Advantech PCA-6180-A1 PICMG P3-600 1906618002 

TriEMS 6221 CPCI CompactPCI 206221 RevB Antara.NET SBC

Motorola CPN5360 CPCI CompactPCI SBC 01-W3632F-16A 500M

FORCE SPARC CPU-5V/64-110-2 /16 VME MAINFRAME CARD

Motherboard Pentium TYAN Tomcat S1562-PCB-04 S1562S

Motherboard Pentium TYAN Tomcat S1563-PCB-01 3.02

Hard Drive ESDI Micropolis 1568 ES0003-01-1D Disk FH

Sony Optical Drive SMO-E301 MO Disk Drive 1993

Hard Drive SCSI Micropolis 1588-15MBSUN0669 370-1326-04

Hard Drive SCSI Epson HMD-946-504-01 HMD946 

MFM Hard Drive Miniscribe 8425 Vintage 3.5

Data Translation DT2871 color frame grabber board ISA 

Motherboard Dual Pentium Pro Intel PR440FX 673289-508

Cleo Software 212 201 Phone 1 Inc CCITT 8bit ISA Modem

ETI-2.1 EISA Comm Card V2.3 TAXI-275 AM79169 Eliza LAN

Optical Disk Drive LF-7090 WORM Panasonic Matsushita

CWS Data Acquisition 03-907879-01 Rev1 Vintage ISa Card

LSI Logic MiniRISC BDMR400x Evaluation Board MR400x rB

Motherboard Dual Pentium Pro FIC PN-6210 Nii1.01 440FX

JUMPtec 18001-0008-26-1 ETX-P1-EG Module with 32MB RAM

Pelco CM9700-SER SERCOM-8 Card 8-port ISA PCB9759003-F

AP5200IF Pentium SBC Corsair Flash CM2258FX PICMG PC104

Trenton PICMG SBC Slot1 20-005601-04 440LX Teknor H-04

Hard Drive C.Itoh YE Data YD-3540 MFM Vintage Disk HDD

Teknor T942-333_1-00 P5 PICMG Slot1 SBC 92-005600-0X 

09L5143 34L2729 21H8979 13N4734 34L7935 RS/6000 4 Cards

HP 9000 A1703-60031 A2516-60001 Series 800 900 756MB

N5120 Quad Port Comms Controller 40449-002 RS-422 RS422

IBM RS6000 7025-F50 Planar 07L6594 73H1925 93H4228

Motorola Micromodule 6809 Vintage 1979 M6800 M68MM01A

Motorola CPV5350 CPCI CompactPCI SBC 01-W3573F-02E

FLEXDS PCI Card RevB by DSP Research PLX PCI9052

MOTOROLA 01-W3885B SERIES 900 CPU I/O MODEM VME card

APS Olympus Magneto Optical Disk Drive MOS330E 3.5 inch

Tape Drive SCSI Sankyo CP-320SE 100047-021 26 tracks

Teknor T946 PICMG SBC T946/433_0_0000 900-164-00 

97549 97549T 97549TK SCSI Hard Disk Core Bauart 1GB FH

Excelan EXOS 202 VME Ethernet Network Card 9900008-05

Artisoft Peer-Hub IBM PC/XT ISA Card Ethernet Vintage

Texas Instruments Activator 2 SCSI FPGA PAL Programmer

Motherboard Pentium ZEOS 100-0056-03 010-0066-01 639267

4522104 452210495137 WDM9 VCIS Siemens 186XL20 VME 

SBC Motherboard PIA-650DV Pentium Small Tiny Flat Panel

Arnet DigiBoard PortsPlus Dual Port Serial ISA Card 

IOtech DaqBoard 200 RevB 2954000 16-bit ISA Card AD676

CompuAdd HC ESDI ISA Hard Disk Drive Controller Card

Motorola MCF5307 5307 Test Bench Development Platform

Motherboard Pentium Dual 370 Tyan S2505D AGPX4-PCI RevB

Motherboard System Board Planar IBM 75H9133 PORKY V5.1

Motorola CPN5360 CPCI CompactPCI SBC 01-W3541F-10B 333M

ISA Video Card BW-VGA-90 ISA-65545 Casio Sharp LCD

ISA Video Card BW-VGA-90 ISA-65530 Prism Sharp Mono LCD

ISA Video Card BW-VGA-90 T2-ISA-65545 Prism Mono LCD

ISA Video Card BW-VGA-90 ISA-65545 Casio MD805TT00 LCD

Motherboard Pentium Dual Socket7 ASUS PCI/I-P54NP4D 1.5

GigaLabs GigaPipe GS1-GPF-1 CPU Board Fiber 820-1059-00

Tandberg SLR60 SLR SCSI Tape Drive Nortel NTRH9095

EST SBC8260 VME Card SBC XPC8260 8260 200 

Digitech ISA Card 720-00538 720-00536 720-00558 730

IBM 570 RS6000 11H4880 43G2200 90X8624 Complete Tray

Pentium Motherboard Slot1 Dual Tyan S1837 Pentium II 

Oki MICROLINE 491 491N Dot Matrix Printer okilan 6120i 

HP 64700A 64700-66515 VME Card A-3405-09 68040 analyzer

Marvell Galileo Test Platform Evaluation Kit SLM-374-V2

PICMG Backplane ICS 15013-02 REV.C PCI ISA DC1040F

Motorola MCPN750A CPCI CompactPCI SBC 01-W3611F-12A

Motorola MCPN750A CPCI CompactPCI SBC 01-W3657F-04A

Pentium Motherboard Slot1 Super Micro P6SKE II Rev.2 

Hard Drive IBM Fujitsu M2952SYU 50pin SCSI CA01407-B313

SBC Texas Micro 25527 RevG Dual Slot1 PICMG

XRATEX GbEPA2 NGC-1507401 Gb-EN-PA-SX 

BDMR4010-PC/SUN Evaluation Board LSI MiniRISC CW4010 

Motherboard Dual Pentium Pro Intel PR440FX 657173-504 2

Centigram 2410-0226-17 5336 Rev2 8-Port 8port Linecard

Centigram 2410-0226-07 5343 Rev2 8-Port 8port Linecard

MFM Hard Disk Drive Vertex V170 Vintage Full Height

VME Card LSI Loughborough DBV42 MDC40SV4 TIMS C40 DSP

DEC Vax MicroVax 3100 KA41-D MV3100/20E Dataram 40968 

Motherboard Pentium Dual 370 EliteGroup D6VAA rev:1.1