| In industry, a lot of welding work needs to be done in field.For the field welding of large scale workpiece, manual welding has shortcomings, such as low effiency,unguaranteed quality and so on.Therefore we designed a kind of Crawling Arc Welding Robot for the field welding of large scale workpiece. It can be well adapted to site conditions, and complete the welding task with high quality.In this paper, with the structured light vision sensor as the detection device, we designed the crawling arc welding robot control system and give practical control algorithm.The control system includes a visual sensor, a frame grabber, a motion control card and a industrial control computer. The weld information was collected by the camer in the visual sensor. After that, the frame grabber upload the information to the IPC.Then the weld feature information will be gotten through the the image information processing. At last,with a series of algorithm processing, the feature information will be delivered to the motion controler to control the adjustment movement.At begin, from the hardware level we comment each part of the control system.Then for the problem encountered during the actual welding, corresponding solution was proposed.Finally,the welding application related algorithm is discussed and the relevant application program flow chart.is given too.The main research contents are as follows:Firstly, we put forward a control scheme for the crawling arc welding robot, in which the structured light vision sensor is the detection device. Secondly, against the robot vision control system, we explained the triangulation principle which the structured light vision measurement is based on. By analyzing two different kinds of visual control theme, we propose the arc welding robot visual control scheme based on image, and analyze the dynamic process of the control theme.Furthermore, combined with the actual welding seam tracking requirements and the actual robot mechanical structure, we propose specific solutions for different problems.Through the analysis of seam tracking process, we put forward three practical problems which have affected the accuracy of seam tracking, and appropriate practical solutions were given for those issues.In the final part of the deviation adjustment, inorder to achieve good stability and fast response, we present a fuzzy control method based on deviation and deviation change rate through simulating welder welding operation. Finally, in accordance with the requirements of the welding process, the article gives the actual welding application, and with the existing hardware and software conditions we present a torch oscillation control method based on the Windows platform multimedia timer.Our control system design well applied to the actual site welding, its welding efficiency is far good than manual welding. |
