Design Of Tube Cutting Robot Control System Based On Advanced Sensor

With the furthering of China’s reform, China’s economy has been developing rapidly. Thehigh-speed development of the economic brings unprecedented opportunities and challengesfor the development of Chinese welding industry. Welded structure has been widely applied inthe field of construction, marine oil and bridges. Cutting steel material is the first step ofwelding products, in order to ensure the quality of welding products, must guarantee thecutting quality.In the relatively backward technology era, cutting intersecting line has to be donemanually, manual cutting engineering is very complicated, it is difficult to guarantee thecutting quality. The development of the modern cutting technology and CNC technologypromote the development of the CNC cutting robot, and the advanced automated cuttingtechnology gradually replace the original manual cutting mode of production. With thedeepening of the development of science and technology, all kinds of welding structurequality requirements gradually increase, so high performance, high efficiency, fully functionalcutting robot is more and more popular, the market demand is broad.According to the production requirements of the welding process, combined withadvanced sensor technology and modern robot control technology, we design the tube cuttingrobot control system based on advanced sensor. The system uses a motion control cardrealizes the linkage control of CNC cutting machine, has the characteristics of simpleoperation, high cutting efficiency and good quality, and also has played a significant role inpromoting the production efficiency This system is mainly used in the cutting of theintersecting line with groove.This cutting robot adopts the roller-mechanical structure, system has five-axis, includingrotation, telescopic shaft, radius, spin axis, gun pendulum shaft. In the industrial controlsystem commonly use centralized control and distributed control structure, this system usesthe centralized control structure combination of industrial PC and multi-axis motion controlcard. Because the computer has powerful data processing capability and rich interface, PC isresponsible for information exchange, data processing and control algorithms. System usesthe motion control card’s powerful motion control function to complete the coordinatedcontrol of each axis. Due to the selection of motion control card supports only four linearinterpolation of the shaft and system adopts five-axis mechanical structure, in order toimprove the precision of the cutting process, we design the multi-axis coordinated control mode based on four-axis interpolation and multi-axis. To facilitate the operation of theequipment, designed the interactive interface with perfect function, which is easily to operateand can display clearly. The interface includes the main program interface, stroke controlinterface, parameter input interface, cutting type selection interface and advanced parameterssetting interface. In order to make the cutting robot functions richer, we designed thebreakpoint re-cut, parameter input validation, read the file to input parameters, record run logand other important features to meet production needs. Because of the tubes are generally notvery standard pipe, there is always this or that defects, the robot use laser sensor to detect theradius variation, in order to guarantee the system stability and cutting accuracy, systemanalyzed the source of the error and developed a real-time adjustment track strategy,according to measurement error using PID control algorithm to achieve error compensation.The other possible causes of cutting error are analyzed, and the corresponding solvingmethods are proposed in this article. Through field test, this system can be safe and reliablerunning, and also it has convenient operation and high processing efficiency, cutting precisioncan meet the requirement of production.