Automatic Cable Soldering Robot Motion Planning And Control Program Design And Development

Cable soldering is a labor-intensive process with strong repeatability.The existing cable soldering process is too cumbersome.The skill and fatigue of the soldering workers are the direct factors that affect the surface quality of the soldering.In order to improve the work efficiency of soldering workers and reduce the labor intensity of soldering workers,industrial robots can be introduced for automated soldering.However,the existing soldering robots on the market are relatively low in flexibility,and the application scenarios are mostly circuit board soldering on a two-dimensional plane.The realization of multi-station processing is poor and the soldering tools are not universal.To this end,this paper designs a set of flexible automatic cable soldering robot cell system that can perform three-dimensional soldering tasks in nonplanar space,and develops a matching offline programming software based on the system design.In this system,the industrial robot works in coordination with the automatic soldering device to realize the robot’s automatic cable soldering operation and improve the automation of the cable soldering process.The main research work of this paper is as follows:(1)The system framework is designed for the automatic cable soldering robot unit,which mainly includes the industrial robot St?ubli TX90 with six degrees of freedom,the automatic tin-out device,and the electric soldering iron clamping tool matched with the end of the St?ubli TX90 robot arm.And drew the frame diagram of the whole system,which vividly described its operation mode.(2)For the industrial robot St?ubli TX90,its kinematic trajectory during automatic soldering is planned.Its main contents include industrial robot forward and reverse kinematics,robot joint space trajectory planning,and five-point transition soldering trajectory planning for a single welding cup.And the process planning in the robot automatic soldering process.(3)According to the requirements of the robot automatic soldering process,the process flow of robot automatic cable soldering is developed for a specific part to be welded.And by consulting the relevant data,the robot automatic soldering process parameter set was initially drawn out,and then the optimal process parameter set of the robot automatic cable soldering was obtained by horizontal orthogonal test.(4)Using VC++ and Qt5.0 joint programming,we designed and developed the simulation software of the automatic cable soldering robot unit,which can control the St?ubli TX90 industrial robot for automatic soldering tasks,and integrates the communication between the TX90 robot and the automatic soldering device Package,in addition,the software can also be configured for different soldering processes.The software was used to carry out physical experiments to verify the effectiveness and reliability of the automatic cable soldering robot unit.