Research And Design On Control System Of Welding Manipulator In4-DOF Of The Mini Vehicle

With the promotion of China’s comprehensive economic strength, rapid development of China’s automobile industry, micro-car has entered the stage of explosive growth in China, but China’s automobile production automation rate cannot match the car producing country. A micro-car body welding major of a manufacturing enterprises in China are still using manual welding, with which investment is low, equipment maintenance is easy, Solder joints are unequally distributed, with poor, quality and human-machine engineering. Robot has a series of advantages, such as a high degree of automation, good welding quality,, Good flexibility and so on, but its prophase investment and maintenance cost is high, is bad for the cost control of the company’s existing products, So they need to proceed from the actual production of enterprises, seeking for a manual and automated production system to meet the requirement of lower manufacturing costs and a certain degree of automation balance of lean.On the basis of in-depth investigation on welding machine with manipulator institutions, combining with the welding process requirements, This article firstly design a control system as a whole. Control system including follows:Based on the mechanical characteristics to determine motor type selection and calculation of electric motor selection; according to the driving motor characteristics, select the appropriate drive controller, meet the welding requirements; Control system consist of the PC, PLC, servo drives, servo motor. Under the premise of determining the overall control system, drawing a system control of electrical schematics.The article research and analyze trajectory control algorithm, introducing the interpolation classification in detail. Selecting data sampling interpolation algorithm for trajectory control on the basis of comparison which is suitable for control systems and making a description of data sampling interpolation for linear and circular interpolation in detail. According to the control system hardware characteristics, designing and realizing the trajectory control software program. Planning and implementing for the whole control system software. Setting the parameters of control system, to ensure the stability and accuracy of the system to meet design requirements and try to have the system run, monitoring the motor of rotation by CX-Server software, verifying the system’s performance and design requirements.For control system designed in this article, Manufacture of electrical control cabinet and the writing of PC software has completed, and through the test run, running is stable.