Robot Welding Line Control Method And Beat Optimization

With the continuous develepment of industrial robot technoligy,more and more robot welding production lines are used in the production process.There is important practical significance to research the control method of robot welding line and production rhythm.Considering the roboe welding line has the characteristics of numerous production equipments, and the equipments accused have long distance between each other, and the complex environment of the workshop.and numerous interference factors, this paper puts forward distributed I/O control strategy based on Profibus-DP fieldbus. The control system selects work station as control unit, use the master-slave communication way to realize the communication between the master PLC and slave PLC within each control unit. To realize the coordinated control of the whole line, this paper adopts the coupler to link the master PLC of each work station together so as to realize the information interaction among the stations. On this basis, this paper exploit the experiment platform of robot welding line to verify the control strategy.This paper studied the production rhythm problem caused by the uneven distribution of the task among work stations of the robot welding line with the characteristics of multistation, streamline, and continuous operation. Based on the research about the production line balance in domestic and overseas, According to the second category of balancing problem,namely finding the best takt time under the condition of a given work-stat number and working hours in each process.Analyze the problem and establish the mathematical modle,then put forward an improved double-population genetic algorithm to solve the balancing problem.This paper uses the priorities of all the welding processes order as constraint conditions,the cross probability and mutation probability are selected according to the population individual fitness rational,improved the searching efficiency of algorthm and the reliability of the solution.The effectiveness of the algorithm is verified by the classic example.Finally,this paper solved the work station balance problem of the switch shell welding line increased the rate of the balance,and the produce beat was optimized.