Study On Precise Controls Of Welding Robot Of Multi Orifice Cover

With the progress of science and technology and the demand of the social production,the traditional manual welding cannot meet the need of modern high-tech products manufacturing quality and quantity. Using robot welding instead of manual welding is the inevitable trend of social development. In the petrochemical, electric power, boiler and other manufacturing industries, there are a lot of welding work of multi orifice cover. Due to the welding seam contour of multi orifice and connecting tube being relatively complex,general welding robot is difficult to meet the production requirements. For this condition we still use manual welding, and the poor working conditions of welding process, the high labor intensity, the high production cost, the low production efficiency, seriously hindered the automation production. In this paper, based on the present status of multi orifice cover and the welding characteristics and requirements, developed a set of special welding robot system for multi orifice cover.By analyzing the characteristics of multi orifice cover welding, the design requirements of welding robot system was put forward, and established the welding system scheme suitable for multi orifice cover, the composition of welding robot system is described, so carried on the reasonable selection of the welding robot system hardware(including robot body, welding power, welding positioner, etc.). Briefly introduces the design of the structure and working principle for special welding robot system.Has completed the structure design of the welding robot end device, the multi-function of robot, allowing robots have the double function of welding and grinding weld at the same time.Set up a series of coordinate system which is suitable for multi orifice cover welding.On the basis of the estabilished coordinate system the curve position model, robot and weld position displacement machine curve under the coordinated movement model, and the welding torch posture in the process of the welding were deduced. The mathematical motion model that was deduced has a certain practicality and generality, which provides a theoretical basis for weld track control.To explore the current several kinds of welding robot movement control scheme.According to the welding characteristics and requirements of multi orifice cover, finally we chose the industrial PC and motion controller KR C4 mode motion control, off-line programming combined with laser seam tracking trajectory motion control, which has advantages of openness and reliability. Briefly introduce KRC4 and the movement of thecontrol system controller hardware, and complete modular design for the software of the control system. And based on Windows system, interface design is studied by using Visual c + + software development tools.Verifies the correctness of the welding robot motion equation and tests the feasibility of the welding by using robot by combined use of UG,MATLAB and ADAMS simulation software.