| In order to acquire stable quality of welding productions, improve producing efficiency and suit for the requirements of advanced manufacturing technologies, it is an inevitable trend to realize automatic welding production. 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 servo control have been done in this paper.In the basis of analyzing the characteristic of welding technics, a five-axis coordinated automatic welding machine is designed to realize workpiece's movements in X-axis and Y-axis, as well as the welding torch's movement in Z-axis and gestures' swing around X and Y. In this servo control system, step motors are adopted to make up of a economic numerical control system, and a AC4161 digital board is chosen to be interface between computer and the machine's implement driver system.According to the hardware structure introduced above, the mathematics model of intersection-line seam between ellipsoidal head and connection pipe is expounded in this paper, and the process of rough interpolation calculation is discussed in emphasis. After the error checkout and adjustment of disperse points, servo control displacements of five step motors are obtained.Control pulse distribution of each step motors is realized with software method, the single control pulse sequence is established separately in two situations: one in ideal state and the other in instance of considering acceleration and deceleration of step motors, and the servo control algorithm of five-axis coordinated is studied. In need of the exact interpolation, a software time-delay function, which is used to control the time interval of output pulse, has been tested and compiled in upper computer.Communications between computer and digital I/O board has been come true using DLPORTIO.DLL, by adopting modularization design method, the movement servo... |
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