开放式管道插接专用焊接机器人控制系统

针对管道插接形成的空间相贯线焊缝,开发了一套基于PC+PMAC模式的开放式焊接机器人控制系统.提出以焊缝位姿信息为基准的焊枪轨迹控制、焊枪姿态控制和焊接工艺参数控制的三位一体逻辑控制模式,实现了真正意义上的焊接机器人运动与焊接电源参数的集成化控制.提出连续参数控制和规划参数控制两种控制方法,建立了分层递阶结构的控制系统软件,实现了焊接过程的状态检测.结果表明,该控制系统适应性强,系统运行平稳可靠,能够很好的完成空间相贯线的焊接任务.

An open architecture control system of special arc-welding robot for intersection welding seam

Based on the PC+PMAC control mode,an open architecture control system of special arc-welding robot was developed for welding seam of intersection.The trinity logic control model of welding trajectory control,welding torch pose control and welding parameters control were put forward based on welding seam,which realized the real meaning of integrated control for welding robot movement and the welding power parameters.Two control methods of PPC and CDC were put forward and a hierarchical architecture of control system software was established,which realized the state detection of the welding process.The experimental results show that the control system has strong adaptability,good portability and can accomplish the welding of seam of intersection well.