Development Of The Arc-welding Robot For Wire-drawing Drain Bushing

The fabrication of Platinum Wire-drawing Bushing (PWDB), which is a critical part for glass-fiber production, has always been relying on manual arc-welding. On the basis of the analysis of traditional manned welding process, a Visual-servo-based PWDB Arc-welding Robot for the automated welding of PWDB is proposed in this thesis. Its core idea is to realize the compensation of the heat deforming of PWDB by a microscopic machine vision device.In this paper, based on the processing requirements of tip-welding for the fabrication of PWDB and the existing manual arc-welding process, some main technological difficulties are analyzed, and an implementation scheme of a tip-welding Robot of PWDB is put forward. The overall design of the robot is presented, the mechanical structure is desinged and the numerical control systematic error is analysed.Integrated with the features and characteristics of the process for PWDB tip-welding, a Microscopic-Visual-Servo-based positioning scheme of tip-centre is designed in this paper, including the hardware implementation of the Microscopic Machine Vision System and corresponding positioning algorithm of tip-centre.An arc-welding process, which is dedicated to the automatic tip-welding of PWDB, is designed in allusion to the tips'features of numerous, thick distributing and big heat deforming. The self-adaptation of the robot to the heat-deformation of the plate in the welding process leads to the dynamic, precise tracking of welding path, and further to the realization of the automated arc-welding of PWDB tips.The import method of the information of 2-dimensional bushing is designed for auto created welding route. The method is used by Windows INI, which is composed by user to compile the corresponding bushing description text-file. The text-file includes the information of tip itself, tip layout information and welding sequence. It can draw the bushing layout rapidly and create the welding route for a range of bushings such as 400-, 800-, 1600- and 2000-holes.Finally, the sample robot is fixed and tested.The pilot result shows that the main functions of the robot can meet the expected design demands well.