A Research Focused On Adaptive Control System For Irregular Weld Of Welding Robot

Welding automation is an inevitable trend in welding technology.The welding robots can maintain a high quality in repetitive welding,which can save a prodigious amount of labor resources.The localization and industrialization of welding robots play an fundamental role in promoting the transformation of China’s manufacturing industry to intelligent manufacturing,which also mean a great deal to the development of large equipment production industry in China.Based on the four-axis Cartesian coordinate robot platform,this paper makes a deep research into the automatic welding control system and the irregular weld adaptive algorithm of the teach-repeat model robots.It designs a teach-repeat model automation control system based on rectangular welding robots.Based on STM32F103 Microprocessor,it designs a hardware Circuit that can accomplish a teach-repeat control model.Based on the integrated controller hardware platform and μC/OS-II real-time operating system,it completes the software develop.It also achieves detecting the initial location of the weld in the form of butt joint and T-type joint by touching.By observing welding quality problems caused by irregular changes in weld width during welding,this paper analyses the causes of irregular welds and the importance of irregular weldability.On the basis of teach-repeat control model,an adaptive algorithm of irregular weld algorithm is proposed.According to the weld width information of real-time detection,it can adjust the wobble control of the welding torch to adapt to the weld width change.Finally,the installation and commissioning of the teaching welding system is completed.By experiment with simulating welding of the semi-physical platform for the welding torch swing,detecting the initial location of the weld and adapting to irregular weld to test the independent test and the systemic simulation.The experiment shows that the integrated control system is stable,high precision,low system manufacturing cost and easy to learn,which can greatly reduce the operator’s training time and facilitates the popularization of rectangular coordinate welding robots.