1. Development technology route

现阶段，焊接机头和导轨组合的方式已经在世界范围内很多的野外管道位置自动焊接中得以应用，采用往复运动形式控制焊枪。自动焊接设备的研制，主要关注焊接和工艺的优化以及实现，只有保证焊接工艺参数的合理化，才有可能保证焊接质量。所以，为了保证焊接质量，通常对于同一操作内容，存储了多套焊接工艺。

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.

一些焊接操作会对焊接质量产生直接的影响，但是技术人员却没有对其进行认真研究，自动焊接设备是一类机电一体化的设备，要从机、电、控制以及焊接等多个角度、多个方面展开分析，进行调节。

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.

伴随着移动存储设备应用范围的不断拓展，在其中存储大量的工艺程序已经不再有意义，没有较强的实用性。可以通过在光盘上存储焊接工艺的方式，再通过计算机进行数据的传输，将数据传递到自动焊接设备上，再由设备完成存储。在移动存储设备的使用过程当中，将存储设备中节约得到的空间再进行有效的利用，可以编制更多数量的控制程序，进行全自动焊的过程中，对焊缝进行的控制，以解决管道全位置的自动焊质量。

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、电气及执行元件

2. Electrical and actuator

将直流电机驱动技术应用于我国的自动焊接设备当中，合理使用负反馈来进行电路的控制，控制的实质为：电弧电压、电流在传感设备检测得到的信号中，和基准信号进行对比，完成以后再在运算放大器的作用下实现放大，使其有效的进行直流电机的驱动。在上述操作中，运算放大电路或者集成式电路都会出现飘移现象，就是在操作温度升高以后，运算放大设备或者集成电路从原来的工作点开始移动，导致驱动直流电机的电压值发生改变，进而导致转动速度的改变。

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.

直流电机是一类电压控制型执行元件，转速的大小对降低直流电机控制系统中的电压值具有较大的影响，如果电压值发生了变化，则会导致直流电机转速的变化，使焊枪的位置发生偏离。

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.