Arc Welding Robot Welding Positioner With Cnc Control System

The development of numerically controlled positioner used by arc-welding robot is of vital importance to the design of welding flexible manufacturing center (WFMC) of arc-welding robot. This thesis has taken ADVANTECH 3-aixs servo motor control card PCL-832 based on DSP (digital signal process) as its core and realized the precise control over position of welding positioner. At first, the thesis carries out a brief plan for the constitution and configuration of WEMC arc-welding robot, which is on the basis of summarizing the preceding work done by others. In accordance with the requirements of WFMC for the welding positioner and together with the equipment available and summarized previous experience, the thesis has fulfilled the software and hardware design work of the controlling part of welding positioner. The core of the systematic controlling part of positioner is based the control over hard- ware DSP proportional closed-loop position controller. The PCL-832 uses DDA (Digital Differential Analysis) techniques to implement reliable and accurate position control. Each axis has its own position control chip, so the response speed and reliability of the control process has been improved. The thesis has made a detailed theoretical analysis of the constitution design and real-time controlled software and brought up the design and fulfillment method of multi-task real-time controlled software of high precisely numerically controlled welding positioner, which has a good result in practice. The thesis has gone further into and practiced the realizing was of the teaching function, reappearance, zero location, control command editor and interpretation, which are on the basis of being controlled by controlling card PCL-832, thus it has realized the above mentioned functions in a reliable sense. Having taken a detailed surveying of I/O communication structure and anglicizing of the welding robot of size CLOOS ROMAT-76 AW, it has fulfilled the communication interface between numerically controlled welding positioner and robot. Finally, the thesis has gone further into the design and fulfillment method of the numerically controlled welding position multi-task real-time controlled software based on Windows opeNrion system. It has carried on the welding practical test of specially designated work, successfully and verified the reasonability and practicability of the design plan of the control system of position and the correctness and feasibility of the control plan.