Applied To The Welding Robot Displacement Machine Control Research

In modern industry,with the development and application of welding automation and robot technology,the welding robot would achieve the more and more complex task, therefore,the single welding robot has been not enough to meet the needs of the current task. In order to improve the welding quality of welding robot,the space gesture of welding- gun and seam position of welding during welding must be ensured. Welding robot trajectory is usually implemented by adjusting the joint rotation Angle,but robot joints affected by mechanical mechanism,and cannot achieve spatial arbitrary trajectory motion. So this paper in single welding robot workstation as the research object,on the basis of original control system of robot,extends a displacement machine coordinated control system,and uses the homogeneous coordinate transformation method of matrix to in-depth research the trajectory of intelligent control of the welding robot and displacement machine. Completed the task of off- line programming of welding automatic tracking and coordinated movement of welding robot and displacement machine,and laid a solid theoretical foundation for realizing welding automation and intelligent.This article based on the siasun SR10 six degrees of freedom welding robot control system,designs the independent displacement machine and welding robot coordinated control method. First of all,designing the welding robot and displacement machine control system and expounding the development environment and the data structure of the control system,and putting forward the welding robot and displacement machine path planning thought,through visual sensor. Then respectively introduces automatic control system of welding robot and deflection existed in the coordinate system,and through the coordinate system of the homogeneous coordinate transformation matrix in the process of welding robot and displacement machine movement relationship and get mutual conversion control algorithm. Third,though the high pressure pipeline valve welding experiment on weld path and the movement of welding-torch gesture planning, and realizing the welding robot and coordinated motion control of deflection machine. Last, the adaptive welding robot technology is put forward by laser vision sensing system,getting the weld break shape and welding characteristics. The implementation of seam starting tests before welding, and welding seam tracking in the process,and then realizing the welding automation and intellectualization.