Research Of The Corrugated Plates Welding Robot Control System Based On The Laser Tracking Technology

With the continuous improvement of the industrial automation level in China,as well as the "Made in China 2025" continue to advance,as the main force of automation equipment,industrial robots get more and more attention.In recent years with the corrugated plates were widely used in the truck compartment,container and other industries,the demand for corrugated plates welding robot is growing.Therefore,the development of a corrugated plates welding robot system not only meet the demand of the market,but also consistent with the high-end equipment manufacturing and robotics support areas supported in the "China made 2025" guide.Before the system is developed,the manufacturing process,type,weld characteristics of corrugated plates is analyzed primarily.Based on the analysis,it is determined that the carbon dioxide protection welding as corrugated plate welding way;the principle of the selection parameters such as the wire diameter under different thickness,the welding voltage,welding current and gas pressure is analyzed;the relationship between the control voltage and the given voltage and current is established.Make it realize the adjustment of voltage and current through the host computer software.Based on the research of welding technology,we analyzed the mechanical structure of the corrugated plate welding robot and designed the overall scheme of the control system and its hardware.The mechanical structure of corrugated plate welding robot mainly includes: main body structure and the conveying clamping structure.The mechanical structure of robot adopts rectangular coordinate structure,which mainly includes X axis,Y axis,Z axis,C axis,each movement axis has different functions in the welding process.which is also the source of the design of each axis.And the design of transmission clamping structure is based on feeding,clamping,blanking process.Based on the analysis of the robot mechanical structure,establish the control system of corrugated plates welding robot whose core is the Googol motion controller is established.And designed the hardware connection.As the "eyes" of the robot,the selection of laser tracking and the analysis of detection condition are important prerequisites for the operation of the system.The system uses the LK-G laser tracker of Japan's Keyence Company.And establishes the cross-installation method to obtain the horizontal and vertical position information.In order to obtain the actual position information,determine the method of two-point calibration to calibrate the laser tracker.And through the comparison the RS-232 is determined as the communication mode between motion controller and laser tracker.Based on the research of welding technology and hardware structure,the software system of corrugated plates welding robot is developed.Mainly include: the human-computer interface and the design and function module.Human-computer interface contains main interface,manual interface,automatic interface,I/O diagnostic interface,system parameter interface,processing parameter interface.Function modules include: zero module,communication module,welding processing module,processing pause module,continuous processing module,I/O diagnostic module,parameter setting module and pendulum welding torch module.In order to validate the stability of the system and test the effect of welding,many corrugated plates are used in the welding experiments.It can be concluded from the final welding results: the system can weld more beautiful and complete weld line.