Design Of Multi-station Robot Automation Welding System Of Pipe Pile Plank In End

Pipe pile planks in end are the main parts of pre-stressed concrete pipes and their demands are huge. At present, pipe pile planks in end are produced in an efficient way of continuous rolling, coiled-coil forming and cutting in slices and welding task is very arduous. In addition, since the models of pipe pile planks in end are numerous, we face these issues of greater weight of the end plate and uneven width and uncertain position of welds. In order to improve the welding quality and efficiency of the pile end plate, it's necessary to develop robotic automatic welding system of pipe pile plank in end.This paper integrates automatic robot welding technology and computer vision recognition technology primarily, uses a feeding robot, two supply robots and two welding robots, and designs "multi-station robot automation welding system of pipe pile plank in end" to meet the welding needs of incisions of various pipe pile planks in end. Firstly, according to demands of automatic welding of pipe pile plank in end, design crafts process and overall layout scheme of automatic welding system. Then, according to overall scheme, carry out the hardware and software design of automation welding system.In the hardware design, use the overall system architecture of PLC as the control center controlling five robots and external auxiliary equipments via Profibus-DP field bus, complete electrical system design, carry out the selections of the main hardware equipments like robots, PLC, CCD industry camera and sensors, and carry out robot system calibration by Forward Kinematics.In the software design, design the system's human-machine interface taking advantage of Siemens Flexible 2008 software, laying out the ladder program of S7-300 PLC by step7 software, design the program of a feeding robot, two supply robots and two welding robots by RAPID language, write the weld image processing program of pipe pile plank in end with Halcon software, and carry out simulation of the overall system with Robotstudio software developed by ABB corporation.