Research On Control System Of Weld Grinding And Polishing Robot And Its Structure Improvement

Welding molding techniques commonly used in aircraft, trains,ships and soon,which by the subblock members stitched and welded together forming a large flatand curved surfaces. This technology has highly connection strength and has a goodconnection airtight, and is widely used in Large-scale structure of the molding.However, the existing treatment after welding is basically by human hand-grindingoperations to complete,which is low efficiency,highly labor intensity, and is difficult toensure the accuracy. This project is based on the weld processing as a researchbackground,with weld grinding and polishing robot body as object of study.Research onthe robot used for large-scale structure of weld grinding and polishing, to optimize itsstructure and launch a series of research and development work for its control system.The thesis full analysis of the present structure of the robot,and proposoptimization scheme for the existing deficiencies. In accordance with the functionalrequirements and design criteria, designing the parts involved in the optimizationscheme. Do three-dimensional solid modeling for PROE software, then ImportADAMS to do simulation analysis. Repeat experiments in a virtual environment toverify the feasibility of the program, the purpose is to guide the processing of physical.Finally, the program pilot study results show that the optimization scheme to meetdesign requirements.The paper develops the control system of the robot,with the trajectory tracking andself-processing functions. The system uses the control mode of the PC+DSPcontroller.On the one hand,its hardware based on the mechanical body of Intelligentrobots used for large-scale structure of weld grinding and polishing, using CCD visualimage monitoring technology to identify the weld trajectory and the height of the track,detect and control the margin. Combination of a feedback device of photoelectricsensor to set the zero position, which has determine the movement accuracy and therange of travel. Adopt more than one relay output a digital signal to control gas in orderto achieve the automation of the process. On the other hand,its Software based on theMicrosoft Visual C++of visual programming,using modular structure design to optimize the machining program and workflow, adopt multi-threaded programmingtechniques to write the man-machine interface, Combination of the data readingtechniques to achieve the tracking processing of weld trajectory. The main content is asfollows:Describes the basic components of the robot,analyse their working principle,and has a clear overall goals and programs of the control system.According to the motion control card, with its functional requirements to build ahardware system;According to the hardware system to develop software.The development of man-machine interface of the visualization, to achieve dataread and real-time monitoring.Write an intelligent and automated workflow program.Test proves that the robot control system is reliable,stable,fast and high precision,and the process is automatic, with the weld surface processed smooth, has meet thetechnical requirements and has the ability of grinding and polishing large-scalestructure of the weld.The research of this subject has been funded by the National Natural ScienceFoundation project”Research on a Micro-polishing Robot that polishing andself-positioning on the free-form surface”(ID:50975123)...