Research Of Welding Robot Controller Based On ARM

At present, China’s Labour force decrease year by year, in order to guarantee the sustainable development of our economy, require automation level enhances unceasingly. In the field of mechanical manufacturing, the using of welding robots has greatly increased the level of welding automation. In order to improve the level of machining and welding equipment manufacturing, this paper designed the XYZR four axis rectangular coordinate welding robot control system.Based on the analysis of the welding robot control system at home and abroad, this article presents the weld controller hardware circuit and some software systems. It mainly researches the human-computer interaction interface, seam tracking, welding current voltage acquisition control, FATFS system transplantation and other issues, the main research contents were as follows:Firstly, analyses the advantages and disadvantages of welding robots at home and abroad, to determine the object of this study is XYZR rectangular coordinate welding carriage. According to the function parameters and size parameters of welding dolly, determine the project implementation plan, and select the stepper motor.Secondly, to subdivide projects module, designs the welding robot controller hardware circuit, including liquid crystal display circuit, power management module, analog signal output circuit, alarm circuit, signal detection circuit of sensor, storage module, matrix keyboard teaching module, the welding protective gas detection module. Finally, by the whole machine commissioning, verify the rationality of the hardware circuit.Thirdly, On the basis of fully understand the principle of seam tracking, after comparing various sensors, this paper proposes a higher tracking precision of seam tracking scheme, designs the robot welding seam tracking system based on the eddy current sensor.Fourthly, To contrast function welding robots at home and abroad, designs two different welding control system, namely: teach reappearance and eddy current sensor weld seam tracking system. Through detailed calculation and derivation, obtain the software realization method of linear interpolation, arc interpolation, inverse arc interpolation and so on.Fifthly, Based on the design of hardware circuit, designs the welding robot control system software. Mainly includes the FATFS system transplantation, algorithm of teaching and reappearing, weld seam tracking algorithm, the welding voltage and current regulation, the human-computer interaction interface.Sixthly, set up welding carriage physical test platform, the whole machine test was carried out on the welding carriage. Mainly includes: the controller power supply system voltage test, JTAG download function test, limit alarm function test, welding protective gas detection test, teaching and reappearing, eddy current weld tracking system test, welding current, wire feed speed test, finally test the man-machine interface.Finally, to summarize research work, raises the issues of improvement.