| Welding robot is one of industrial robot which plays a positive role on the developmentof national economy and manufacturing industry. As the control center of the main terminaland the terminal to complete tasks, robot affords different responsibilities, which means robotis a complex system. The integration of advanced electronic technology, robot automaticcontrol technology, computer technology, information processing technology and sensortechnology, etc., greatly promoted the study of robotics remote control applications. Thispaper completed the following tasks:Firstly, introduced the tube end welding robot system, described the job functions of eachpart, analysis the system and selected the appropriate communication module STR-30andtested the module performance by experiments. By these work, remote control of system wasdevised as communicate using carrier sense, time division multiple and multi-band, there isno interference between these frequencies. Wireless communication protocols including datacommunication formats, communication, methods and cyclic redundancy check. Experimentachieved good results.The design of hardware circuit was distinguished by the feature. Manual operator boxuses STC89C516RD+MCU as the core, button control circuit design bases on HD7279, boxalso included liquid crystal display and battery indicator. Communication part is flexiblewhich can be option between STR-30,RS232and RS422.The part of control object usesATmegal28as the core, main function is to receive command and control8254to producepulses to drive motor.Software design of host computer is based on Windows systems, use CSerialPort classand cutting control program works in another thread. The program of manual operator boxand control object was written in MCU language; communicate with each other strictly in thesteps of the protocol.In the end, introduce the design of long-distance cutting robot system, represent theconstitute of long-distance client, local host and local industry control computer. Thesubstratum controller of cutting robots open to client in a certain degree, client would mountthe control arithmetic and control tactics. It has real value with robotics and control-theoreticuse. |
