Software Design For CNC Sealing Robot

With the enhancing shortage of energy, human have to search for approaches to save energy in every field. Insulating glass, which is the main product of architecture field, is now applied more and more widely. Meanwhile, the key equipment of Insulating glass production line which is called two-components automatic sealing robot has became the key project of research.In this paper, hardware plartform and software platform are built up by analysing the machinery and sealing process of sealing robot. Then Open CNC system with "NC insert into PC" architecture are applied in the sealing robot. PMACs (Programmable Multi-Axis Controller) are used as the NC devices of the control system. With the help of IPC, PMAC could control the sealing robot's 12 axises, and serve the porpuse of communication, human-machine interface,monitoring and display.Control software design of CNC sealing robot is the main task of this thesis. In PMACs, one PLC program is used as main process-control program ,and other PLCs and motion control programs are used as routines. This enable the control system to seal any size of rectangle isulating glasses without knowing its length, height, sealing width and sealing depth. The main process-control program and the sealing programs are the key programs in the course of software design. In the host computer, Visual Basic is applied as a develop environment to develope a powerful and friendly human-machine interface, all the function of which is base on host-PMAC communication.The whole system consists of process control, numerical control, A/D convertion and digital filter and so on. It works well on ZDJ-250 type two-component CNC sealing robot, which is constructed by Beijing Chang-Yihe machinery manufacturing Co.Ltd. This type of sealing robot is the first model in China so far, which get great advantage in the market.