The Software Design And Implementation On Control System Of T-joint Welding Robot

In the construction of offshore platform installation process,welding technology is applied largely,and the application of welding robot for improving labor productivity,labor intensity and the working environment has practical significance.With the development of science and technology,In order to improve labor productivity and labor intensity and working environment,the application of welding robot is becoming a trend.For the welding robot in the complex working conditions,the control of the welding path requires high precision and fast response.Therefore,on the basis of the hardware design of the welding robot,it is of great significance to carry out the research on the welding trajectory planning,and to realize the complex welding trajectory through the design of the control system software.In this paper,based on the investigation of the welding characteristics of the offshore platform T joint,the software and hardware architecture of the T-joint welding robot was designed,which was based on the research of multi dimension and multi DOF driving system.Based on the theory modeling and 3D simulation,the mathematical model of the welding joint space trajectory of T-joint was developed,and studied the algorithm of space trajectory planning.Through the research on demand analysis and control strategy of control software,developed a multi function control software system has good man-machine interface,the system can realize user management,parameter setting,trajectory planning and real-time monitoring of welding and other functions,very good to meet the needs of engineering construction to solve the welding,offshore platform jacket the T-joint automatic welding track complex software control problems.The experimental results show that the software system designed in this paper can meet the requirements of automatic welding process of T-joint,and has the characteristics of friendly interface,easy operation and stable operation.The engineering application shows that ocean platform jacket T-joint of welding robot system design is reasonable,stable and reliable operation,can replace the manual operation,effectively reduce the labor intensity,and improve production efficiency.