The Research On Motion Control System Of Welding Equipment For Cement-mixers Vane

Welding technique plays an important role in manufacturing industry. Nowadays,the welding equipments are widely used in many different places. The automationlevel of welding system can more or less make some effect on the efficiency ofindustry and the economics of a country. The automatic welding system even canaffect the competition ability of our country in world-wide industry.This topic is from the welding project of Xugong which is done by Huahengwelding company. It aims to research a series of equipments which can automaticallyweld the logarithm helix seam of cement-mixers vane and further improve theautomatic level of welding equipment. The relative research can be seen in followingchapters, and the main works of this project can be seen below:1) This project analyses the requirement of motion control of welding torch inautomatic welding system. Aims at the bad working environment in the Cement-mixers and the difficulty of the movement of welding torch in the welding progress,this project propose a plan to combine the logarithm helix motion control of weldingtorch and the welding seam tracking system.2) Analysis of logarithm helix of cement-mixers vane is also included in thisproject. The equation of motion which expresses the seam of cement-mixers vane isdeduced base on cone logarithm helical curve. By comparing different hardwaredevelopment platforms, the Beckhoff system is applied on this welding system. TheBeckhoff system is used to resolve the logarithm helix motion of welding torch. Andthe electronic cam meter is used to achieve the three-axis motion of logarithm helix.3) This project also analyses the theory of triangulation measurement. Further-more, in order to achieve the tracking of welding seam, the laser is used in this projectto detect the deviation of welding seam. Then the deviation data is sent to step motorby EtherCAT and a closed-loop control is applied on the welding torch which is on thecross slide shelf.And in the end, in order to prove the feasibility of this kind of welding system, aseries of experiments on the performance of both logarithm helix motion and weldingseam tracking is tested. This project also provides the analysis and the solutions on thenon-constant welding speed and the oscillation of welding torch in the experiment.The experiment result shows that this motion control system of cement-mixers vanecan perfectly satisfy all kinds of welding requirements.