Research On Control System Of Rolling-round & Welding Manipulator

Under the policy of national industrial upgrading,it is necessary to study the automatic welding manipulator equipment.For enterprises,it not only improves the output of enterprises,but also greatly improves the welding quality.Under the premise of increasing labor costs,the traditional mode of operation has been changed.Even without welding experience,welding can be carried out directly.To a certain extent,it reduces the labor cost of enterprises and improves the overall competitiveness of enterprises.Through on-the-spot investigation of the cooperative enterprise,the process of rolling and welding of motor shell is understood.Combining with welding experience and consulting relevant documents of welding process,the overall structure scheme of the welding equipment of rolling and circular welding manipulator is formulated according to the actual requirements of the enterprise.In this paper,the main content is to study the automatic production of rolling-round welding manipulator.Combined with the advantages of manual welding process,the overall control scheme of rolling-round welding manipulator is worked out.In addition,according to the action flow of the rolling-round welding manipulator,the scheme design of the automatic control system is determined.Siemens S7-200 SMART series PLC is selected as the main controller of the rolling-round welding manipulator equipment,and Willon touch screen is selected as the man-machine interface.The load requirements and precision characteristics of the rolling-round welding manipulator are reasonably selected.Taking the model of servo motor,the pneumatic system of the rolling-round welding manipulator is designed and the electrical circuit of the control system is reasonably arranged to improve the electromagnetic anti-interference performance of the control system.Then the PLC control program and the man-machine interface are compiled to make the equipment run automatically according to the designed control flow.Repeated positioning accuracy of servo motor plays a key role in the welding quality of motor shell.In order to achieve smooth surface of welding seam of motor shell,it is necessary to ensure the repetitive positioning accuracy of servo motor.Therefore,the output mode of controller pulse and the positioning mode of driver are reasonably selected.Pulse output mode uses pulse + control direction,pulse output port controls the frequency and number of pulses,and motor rotation direction depends on the level of SIGN input port.Position control mode is adopted in the positioning mode of driver,that is,the controller transmits position pulse command,which is processed by position command processing unit and position control,reasonably set the electronic gear ratio of the driver to improve the operation accuracy,improve the loop response bandwidth and reduce the phase lag error.After determining the output mode of the controller pulse and the positioning mode of the driver,the zero return mode of the servo motor is designed.Aiming at the problems in the debugging of the rolling-round welding manipulator equipment,the structure and control action of the equipment were improved accordingly.A lot of experiments were carried out to obtain the accurate welding parameters of the motor case,and to optimize the welding parameters,in order to improve the welding performance of the rolling-round welding manipulator equipment and the welding of the motor shell.The connection quality meets the production requirements of the cooperative enterprise.