The Servo Control Technology Research And Equipment Development Of Multifunctional Automatic Welding Machine

In our country, the development of servocontrol technology restricts the development of automatic welding equipment. Low automation, poor welding quality and little research is the main character. In allusion to the actuality of that there are a majority of intersection-line seams to be welded and it is difficult to implemented manually in actual production, researches in the field of automatic welding machine and servo control technoloty have been done in this paper.First, a five-axis automatic welding machine that can realize the automatic welding of intersection-line seam is designed, it's controlling mechanism of torch's gesture and automatic gripping device is designed in emphasis. In this servo control system, step motors are adopted to establish an economic numerical control system that can realize the open-loop control to the welding equipment. Because of the strong jamming in welding environment, it also takes corresponding resolvent in aspects of both software and hardware.For the automatic welding system, it is important to establish a mathematical model which can characterize the real system accurately and felicitously. Base on the hardware platform that introduced above, it takes the intersection cylinders for example and sets up the mathematical model of five-axis linkage system in the paper. On the basis of this, it derives the prearranged step real-time interpolation method under the constraint of welding accuracy, which can realize the rough interpolation. Then it sets up the single control pulse sequence of step motor according to displacement derived in rough interpolation, and merges the control pulse sequences of five motors to one comprehensive sequence, and then sends it to driver, which can drive actuating mechanism to complete the progress of exact interpolation. Thereafter, it uses MATLAB to simulate the actural trajectory of torch to verify the correctness of interpolation algorithm designed in this thesis. Then, a friendly human-machine interface is designed with Delphi and OpenGL. In the system, it can process the welding data automatically and simulate the welding progress which can prevent the occurrence of fault welding effectively.It analyses the systematic error and accuracy of this open-loop system, and then takes corresponding resolvent. At last, the automatic welding machine is debuged and the preliminary test is finished.The automatic welding machine that is designed in this paper has the characters ofsimple structure, economic and reliable NC system, low cost, friendly interface and simple operation. It provides theoretical foundation for further welding test and research in the development of automatic welding equipment.