Nghiên ứu tự động hóa quá trình hàn hồ quang bằng robot hàn di động

   TRÌNH HÀN  LVTH    GS.TSKH:  PGS.TS: PHAN BÙI KHÔI   2013 17080940613147382c49a-b03d-4159-8dda-43e7d9e721e1 1708094061314cb61aca2-be6e-4c73-a797-b353c950070d 1708094061314530869b5-82c2-4845-a19b-1dd66fd0956c CAM  -***  “Nghiên cứu tự động hóa q trình hàn hồ quang robot hàn di động”    khác          QUANG     .5    1.3.1 Robot   15  17  18  18   19  .19  19  20  22   .22  23  .37  37  39  40  .40    nh ch  hàn giáp mi vi chiu dày vt liu 12mm 41  .47  47  .48  50 2 .50 nh ch  hàn giáp michiu dày vt hàn 12mm 51  .55   56 3.1 Mơ hình  .56  56  .57  61  61  .61 -Hartenbeg 62  .63  65  .65  68  .69  70  71   Hình 1- Hinh 1-  10 Hình 1- 11 Hình 1- 12 Hình 1- 12 Hình 1- 14 Hình 1- 14 Hình 1- 15 Hinh 1-  16 Hình 1- 17 Hình 2- 19 Hình 2- 21 Hình 2-3: Mi hàn 1G chiu dày vât hàn 12mm .32 Hình 2-n 2G 37 Hình 2- 39 Hình 2-6: Mi hàn 2G chiu dày vât hàn 12mm .41 Hình 2-7  47 Hình 2- 49 Hình 2-9: Mi hàn 3G chiu dày vât hàn 12mm .51 Hình 3- 57 Hình 3- 57 Hình 3- 58 Hình 3- 61 Hình 3- 68 Hình 3- 68  - .22 - 22 - 22 - 24 -  24 - 25 Bng 2-7: Thông s  1G, chiu dày 12mm dây lõi bt 34 - .37 -  40 - .40 - .41 Bng 2-12: Thông s  2G, chiu dày 12mm, dây lõi bt 44 - 46 - .50 - .50 - 50 -  53 -18:  55 -Hartenbeg .62                                             -                                                                     g        “Nghiên cứu tự động hóa q trình hàn hồ quang robot hàn di động”                       Sanh PGS.TS: Phan Bùi Khơi   Tuy nhiên q trình          H 1.1 Hàn h quang    -bon hay que hàn     Hình 1.1: Hàn hồ quang                         1.1.1     0    1.1.2 Các thông  Trong trình hàn                               h), h   không gian               áp hàn       *                      