Research On All Position Welding Robot System Of Intersecting Line

The intelligent manufacturing is changed because of the introduction of industry 4.0,and the rapid development of industrial automation is promoted.In the field of welding,the automation of welding is becoming more and more important.The inertia of the traditional welding robot is large in complex intersecting line and all position welding,the phenomenon of system interference is common,and the welding limitation is obvious,It is not enough to meet the requirements of welding automation,welding robots need to be constantly innovated and developed.In order to determine the structure of the robot,write the program,and realize the function of motion control,the spatial characteristics of the threedimensional curve of the pipe intersecting is studied.A model of intersecting line with representative characteristics is built by using mathematical equations,and the posture model of the welding torch and the welding speed model are further established.According to the particularity of intersection curve,and in order to overcome the interference of the position and posture of the welding gun,the whole structure of robot is built based on cylindrical coordinate system,the robot rides on the branch pipe and the motion mechanisms is independent.The space gesture of the welding torch relative to the weld is analyzed in depth,a new type of welding torch which can adjust its working Angle is designed,the torch itself has certain real-time adjustment ability.In the process of automatic welding,the all position welding is complected by the welding gun and robot.Based on the mechanism scheme of the whole robot,developing a matching control system with PMAC motion control card as the core,the parameters of the PMAC are set.By Combining the MFC function in the VS2010 platform and the PComm32 PRO dynamic link library,the friendly monitoring operation interface is built.In order to test the correctness of the deduced mathematical model of the intersecting line,and verify the feasibility and practicality of the designed welding robot mechanism in the welding process,the welding robot is simulated by AUTODESK and MATLAB software.The results show that the motion equation of intersecting line is correct,and the Welding robot can meet the requirement of full position welding in the process of welding motion.