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德國BERGER LAHR機器人在工件探傷中的應用

德國BERGER LAHR機器人在工件探傷中的應用

（1） 機器人型號及設備 

◆  PR 6/3 , 5400mmx5400mmx400mm 

◆  在Z軸上裝配掃描頭，對儀表板進行掃描 

◆  使用百格拉**伺服控制系統TLC612，TLC411實現定位控制 

（2） 任務要求：整個過程需要機器人的動作保持 

高重復性，低振動，并且在Z軸導軌上，安裝可旋轉軸，從而增加了掃描的范圍，可以完成多方位的掃描任務。 

2）任務：航天飛船引擎成分掃描 

（1） 機器人型號及設備 

◆  選用二維直角坐標機器人LP-4/2，完成水平和豎直方向上的動作 

◆  旋轉軸采用BERGER LAHR步進電機VRDM31117驅動 

（2） 任務要求：整個過程需要機器人的動作保持高重復性，并且要求定位極其精確，通過我們編寫的程序，可簡

便地完成自動和手動操作等功能的轉換。 

3）任務：大型鋼材無損探傷掃描 

（1）  機器人型號及設備 

◆  選用二維直角坐標機器人LP-4/2，完成X軸和Y軸方向上的動作 

◆  旋轉軸采用BERGER LAHR伺服電機SER31117驅動

NORTEL NT0H16DA

NORTEL DR4001A67

NORTEL DR4001A80-E5 

NORTEL NTN370AA

EB1639113E5開關

NORTEL NTN440HA

NTHW08BA NORTEL

NORTEL NT0H21CB

NTHR17DA NORTEL

NORTEL EB1639069

NORTEL NT0H33JA

NORTEL NT0H21CA

NORTEL NTAU73AB

NORTEL AL4500E02-E6 

NT5D31AA+NT8D02GA+NTRH30AA

NORTEL NTDK92BB

NORTEL EB1412003

NORTEL AL2033005 

NORTEL SR0004002E5

NORTEL NT3P21BF

NORTEL NTJS91AB NTNQ49AA

NORTEL NT5C05CD61

NORTEL NTN424BH

NORTEL NTN440EA

NORTEL NTN424BH

NORTEL NTCA06MP

NORTEL NTCA06MP

NORTEL DS1404043 IPC5M20FAA

NORTEL NTAK02CA 

NORTEL AF0002W11

NORTEL NT0H16JB

NT8D06AB NT8D09AL NT8D14BB 

NORTEL EB1412003

NTCW02DBE5

NORTEL 8672ATM模塊

NORTEL NTN43*H

NORTEL NT0H30JA

NORTEL NTHR17DA

NORTEL NTCA10DC

NORTEL DJ1412014-E5

NORTEL NTLW21CB

NORTEL NTLW41AA

NORTEL NTJT50AA

NORTEL NT8D04BA 

NORTEL NTCA03XA 

NORTEL 4550T-PWR 

NORTEL NTDY40MA

NORTEL NT0H33CB

NORTEL NT0H31AD

NORTEL NTW048AB

NORTEL NTDK20AB

NORTEL NTCA51AA NTCA53BA

NORTEL DS1304008

NORTEL NTCA03BD

NORTEL NTCA03BE

NORTEL NTCA03BF

NORTEL NTCA03CC

NORTEL NTCA03DC

NORTEL NTCA03DG

NORTEL NTCA03DJ

NORTEL NTCA03DK

NORTEL NTCA03DL

NORTEL NTCA03EK

NORTEL NTCA03FK

NORTEL NTCA03GA

NORTEL NTCA03HA

NORTEL NTCA03JK

NORTEL NTCA03KA

NORTEL NTCA03MA

NORTEL NTCA03TK

NORTEL NTCA03RC

NORTEL NTCA03WC

NORTEL NTCA03XA

NORTEL NTCA03WK

NORTEL NTCA03XD

NORTEL NTCA03YC

NORTEL NTCA03ZK

DS1304002 NORTEL

NORTEL DS1333003

NORTEL DS1333001

NORTEL NTN441AC

NORTEL NT0H11EK

DS1405011 IPUPABFHAA 

NORTEL NTRX4002

NTNQ93AA NORTEL

NTNQ11AA NORTEL

NORTEL NTMW08AA 

NTNQ8*A NORTEL

NORTEL NTNQ89AA 

NTVQ01BA NORTEL

NORTEL DS1405012-E5

NORTEL NTTC40ABE6

NORTEL NTCA15CA

NORTEL NT8T06AA 

NORTEL NTN410GA 

NORTEL NT4T32BA 

NTNQ86AA NORTEL

NORTEL 8616GTE

MM-4SERIAL NORTEL

NORTEL AA1403003-E5

NORTEL AA1403003-E5

NORTEL NTEU86AA

NORTEL NTNN01AA

NORTEL NTNQ01AG

NORTEL NT0H03BB

NORTEL NT0H03DB

NORTEL NT0H03DC

NORTEL NT0H03DD

NORTEL NT0H03GA

NORTEL NT0H03EA

NORTEL NT0H03AB

NORTEL NT0H03BA

NORTEL NT0H03BC

NORTEL QPC452A1

QPC673B NORTEL

QPC687A NORTEL

NORTEL NNTM1830YP7U

NORTEL QPC414C

QPC451A NORTEL

DR4001A71E5 NORTEL

NTNA50AA NTNA5002

AL4500A05-E6 NORTEL

NORTEL NT3T19AF

DS1404065-E5 NORTEL

NTN414AH NORTEL

NTDU27AB NORTEL

NORTEL NTN440EA

NORTEL NTBK50AAE5

NTAK20ABE5 + NTBK51AA

AL1001A05-E5 NORTEL

NORTEL NT4N46AA

NORTEL NTVW0*B

NT0H03CA NORTEL

NORTEL NTQA01CA

NORTEL DS1404034 

NT6D43AA NORTEL

NORTEL NT0H02MD

QPC450E NORTEL

ANALOG NORTEL

NORTEL NTAB9825

NTFN58GA NORTEL

NORTEL NTCA12ZA

NORTEL NTCA12HG

NTDK20JA NORTEL

NORTEL NTAK11BD

NORTEL NTAU09AA

NORTEL AL1001A05E5GS

NORTEL DS1404076

NORTEL NTCA11NK

NORTEL NTJS80BA 

NORTEL NT5S03BAE5

NORTEL EB1412006

NORTEL NT6C34EB

NORTEL NTRX51GY

NORTEL DS1404063

NTN401DA NORTEL

NORTEL NT4T04AA

NT5S0*VE5 NORTEL

NORTEL AL4500A05-E6

NORTEL NT5D03BA 

NT5D10TA NORTEL

NORTEL NT5D03UA 

NT5D03NA NORTEL

NORTEL EB1639107

NORTEL NTHR35CA 

NT0H16FD NORTEL

NORTEL NTQT30DA WMD5E0THAA

NORTEL NTN440BB SN55D44AAG

NORTEL 8608GTE DS1404044

NORTEL 8608GBIC DS1404015

NORTEL 8348TX DS1404077

NORTEL NTN423BB

NORTEL DATA-ONLY MOUDLE-A NTBW89DA

NORTEL AL4500E14-E6

NORTEL AG2204015

NORTEL AG2204016

AL2001A22 NORTEL

NTAK11BD NORTEL

NT0H35BA NORTEL

NT6X60CA NORTEL

NTGY30BA NORTEL

NORTEL DS1404065-E5

NORTEL NT0H03GA

NTAK11GC NORTEL

32R1783-NORTEL

NORTEL NTNQ50AA

NTAK11GC NORTEL

NORTEL NTNQ54AA

NORTEL PASSPORT8600-CG8600模塊

NORTEL 5520-48T-PWR

DS1404112-E6模塊

NORTEL MM-1DS3/CT3模塊

NTC03100SXE6 NORTEL

DS1404092-E5 NORTEL

EB1412010北電開關

NORTEL AL1001E05功率模塊

NORTEL AG2204017

NORTEL NTFN58GA

NORTEL NTFN58EA

DS1404098-E5北電模塊

NORTEL NTNQ19AA板卡

NTRX50NB NTRX50NC NTRX50ND

NORTEL NT8D17HCE5

DS1404066-E5 NORTEL

NORTEL NTHW08CA

NORTEL SR0000011E5

SR2104002E5 NORTEL

NORTEL NTQT05IA

NORTEL NTQT05KA

NORTEL DS1404098-E5

NORTEL EB1639031

NORTEL NTE390AA

NORTEL DS1402001-E5

NORTEL DS1402002機箱

NORTEL NTLW40BC

NORTEL DR4001A80E5

NORTEL DS1404065-E5

SR2104010E5 NORTEL模塊

NORTEL DS1404065-E5

NORTEL DS1404066

NORTEL NT8E01MG

NTNQ66AA NORTEL

NORTEL NTFN20EB

NORTEL NTHW0*G

NORTEL NTRB33BBE5

NORTEL NT0H21CA

NORTEL NT0H21JN

NORTEL NT0H32AE-S03

NORTEL NT0H32AE-S08

NORTEL NT0H32AF-S01

NORTEL NT0H32BE-S02

NORTEL NT0H32BE-S03

NORTEL NT0H32BE-S08

NORTEL NT0H32CE-S02

NORTEL NT0H32DE-S02

NORTEL NT0H32EF-S01

NORTEL NT7R52AE

NORTEL NTLW03AC

NORTEL NTLW03AB

NORTEL NTCA51AA

EB1412030E5 NORTEL

NORTEL NT5D11AE

NORTEL NT8D02HAE5

NORTEL DJ1412030-E6

NORTEL NT5S0*QE5

NORTEL NTHR16GA

NTN440BH SN55D4UAAE

NORTEL NTHW06EG

NORTEL EB1412027E5

EB1412027E5北電交換機

MGMFL-2BJC28 NORTEL模塊

NT4N39AA NORTEL

NORTEL DS1404065-E5開關

NORTEL SR2104005端口模塊

NORTEL AL1001E07-E5

NORTEL NTN442AL

NORTEL NTN442AK

NORTEL NTN442DJ

NORTEL DS1404038

NORTEL DS1410025

EB1639170 NORTEL

NORTEL NTFP18FA

32R1783-NORTEL

SR2104010 NORTEL MM-1DS3

NORTEL SR0000017E5 MM-10GE-2SFP端口模塊

NORTEL SR0000014E5 MM-1HSSI端口模塊

NORTEL DS1404092-e5 

NTE390BA

NORTEL NTN440EH

NORTEL NTN404CA

NORTEL NT8D52AB

NORTEL NT8D27BB-02

NORTEL DS1402007機箱

NORTEL NT5S02MAE5以太網

NORTEL DR4001A71E5

NORTEL NTCA10AA

NORTEL AL4500E04以太網

NORTEL NTPM17AB

NORTEL NT5D51AC

NORTEL NT0H30KA

NORTEL NT0H30MA

北電NTNA50AA NTNA5002

NT5D51BC北電板卡

NORTEL NT8T04AA

NORTEL 32R1869 32R1866 EL4512029

北電ISD305-ACC EB1644046

NORTEL NTCA51AA存儲光盤

NORTEL NT0H3*A放大器

NORTEL NT0H34AA

NORTEL NT7B10AADH交換機 

NORTEL NTN438DC

NORTEL SOC3C06CAA

NORTEL NTK530AA 10G

NORTEL NTCA15CK

NORTEL NTHW78AA

NORTEL EB1412030E5

NORTEL NTN404JA

NORTEL SN12BE0DAA

39Y9267 -NORTEL

NORTEL NT4T24AD

BES-210-48T NORTEL

NORTEL MM-10GE-2SFP

NORTEL AL1001E01-E5 

NORTEL J2427A-1

NORTEL DS1333004

NORTEL SR4342001E5

NORTEL AL4500A01-E6

NORTEL NTNQ88AA板卡

NORTEL DJ1412042-E6

NORTEL DJ1412030-E6

NORTEL NTFP38HA

NORTEL DS1404034以太網模塊

NORTEL NTN407CA模塊

NORTEL NTN407CA

DS1410003-5.0 NORTEL

NORTEL NTN404JA

NORTEL NTN434AA

NORTEL NTN404MA

NORTEL DS1404038-E5

NORTEL NNTM84V0C0LL

NORTEL NTRX50CH模塊

NORTEL EB1639A092E5

NORTEL NTUC44MB

AA1403006-E5-10GBASE-ZR/ZW收發器

NORTEL NTCA04MK

NORTEL SNT4MK1BAA

NORTEL NTAB9825

NORTEL NT6Q13AB-01

NORTEL NTCA36BC

NORTEL NTNQ66AA

NORTEL NTN433BB

NORTEL A0810496

NORTEL NNTML90006SP

NORTEL NTNQ19AA板卡

NORTEL NT0H32AE

NORTEL AA1403006-E5

NORTEL 5510-24T

NORTEL NTN41*A 

NORTEL DS1404063-E5模塊

NORTEL AL4500E04-E6

NORTEL NTJS13DA

NORTEL MM-8T1E1

NORTEL NTRX50FK模塊

NORTEL AL2001E20

NORTEL NT0H33JA

NORTEL NT5C06CA-3 

NT5D31AA+NT5K21BA+NTRH30AA+NT5D31AB

NORTEL NTDK92BA

NORTEL NTDK91BA

NORTEL DS1404016 

NTDK16BA+NT8D09AK+NTAK10DC+NTDK97AB

NORTEL NTEP26CG

DS1404078 8348TX-PWR

NORTEL NTNQ68AG

NORTEL NT6D47AA 

NT5D67CB NORTEL

NORTEL NT6D43AA

NORTEL DS1404094

NORTEL AL4500E05-E6

NTN31112 NTN312AA

NORTEL NT0H16JB

NORTEL EB1412022E5

ntdk16ba nt8d09bb nt8d02ga ntak10dc

NORTEL NTDK91BB

NORTEL NTEU60AA

NORTEL DJ1412E02

NORTEL DR4001A68

NORTEL NTAB9825

NORTEL NTN440KA

NORTEL NTNQ6*A

NORTEL NTN43*H板卡

NORTEL EB1412028E5

NORTEL EB1412022E5

NORTEL DS1404059

NORTEL DS1402001

NORTEL NTCA04FK

NORTEL NTCA04KD

NORTEL NTCA04LD

NORTEL NTCA04MP

NORTEL NTCA04VN

NORTEL NT5D33AB

NORTEL NT6D40AB USPP NT6D40AB

NORTEL NTVW00CY

NORTEL NT6D48FA 

NORTEL NT6D45CA 

NORTEL NTN476DA

NORTEL AL4500E14-E6 

NORTEL NTHR21DA 

NORTEL NTFX0*A

BS460-24T-PWR NORTEL

NORTEL NT6D41AD 

NORTEL NT0H04BC 

NT0H41ABE5北電板卡

NORTEL EB1639035

HP A9862-62002

NORTEL EB1639113

NORTEL DS1404093

EB1412003 315006-A

NORTEL NTLX07AA

NORTEL NTHR16DA

NORTEL PASSPORT15K

NORTEL NTBB20FB-93 

NORTEL NT5B41GB-93