The Path-Planning And Design Of GD-1Rosin-Welding Robot

With the rising cost of Labor and the development of electronic information technology, more and more welding robot widely used. Conventional wave soldering exist leak welding, solder joint icicles, PCB deformation, etc. Reflow soldering temperature is too high, and both of them have a high cost. The traditional way of teaching and reappearing, the welding sequence is fixed, and artificial teaching is difficult to optimize the welding path, so it’s difficult to meet the highly efficient and low energy requirements. Therefore, aiming at the shortcomings of the wave soldering and reflow soldering, design of GD-1Rosin-Welding Robot, let it find a optimal path in the welding process.First, introduce the GD-1Rosin-Welding Robot system design and workflow. From two aspects of hardware and software, focus on introduce the motion controller, stepper motor drive system, the motion of point, the kinematical module.Then, respectively from the system energy consumption minimum and welding time shortest optimize the welding path of the Rosin-Welding Robot. To minimum energy consumption mainly used d-h method to establish kinematics equation of the joint space and cartesian space. In view of the S type curve of speed control, join the cubic polynomial interpolation, make the welding path smooth and stable, to find the optimal welding path. In view of the solder joint is welded plate, to reduce the welding time, path planning transform TSP problem, and using the improved ant colony algorithm to solve the shortest path of welding.Finally, do the welding experiments in the welding plate, respectively from the system energy consumption minimum and welding time shortest optimize the welding path of the Rosin-Welding Robot. The results show that the welding effect is very good, at the same time meet the requirements of the shorter time and less energy consumption, indicates that the developed software system reliability.