The hardware of the microcomputer control system of a welding robot is mainly composed of the interface circuit of the S7-200 PLC microcomputer controller and the sensors and motors.
The S7-200 manipulator module is selected: CPU module, I/O module, and D/A module, the CPU module can complete the messy real-time control function, its instruction execution time, there are various arithmetic logic operation instructions and PWM operation and other messy instructions, interrupt response, high-speed pulse output and other functions, there are a large number of bit memory, counters and timers, and 8K bytes of EPROM and so on; The I/O module selects transistor port, with optocoupler blocking, input and output voltage 24V, contact switching frequency 4KHz; The analog-to-digital conversion time of A/D and D/A modules, resolution 12 bits, input scale, and output scale.
The main input and output interface of the robot
(1) I/O port
I/O input and inlet, including welding start, stop, reset, welding method selection, welding car and torch adjustment and other 16 switching inputs, plus pendulum photoelectric sensor switching input, a total of 17 I/O input points.
I/O output, 3 enable and 3 direction outputs of three stepper motors, 2 enable and 2 direction outputs of two DC motors, 4 outputs of power, welding, centering, fault indicator light, a total of 14 I/O outputs.
(2) A/D and D/A ports
A/D inlet, 5 channels of swing amplitude, swing speed, welding speed, left lag time, right delay A/D input, 1 channel center azimuth sensor, front CCD welding car tracking and rear CDD welding torch tracking two photoelectric sensors, a total of 8 channels of A/D output.
D/A output, the control signal of the frequency modulation of the welding seam tracking stepper motor selects one D/A output, and the control signal of the welding speed digital display selects one D/A output, and a total of two D/A outputs are used.
(3) HSC high-speed counter
The swing detection of the swing stepper motor uses HSC1 high-speed counter to accurately complete the swing control after detecting the cadence of the stepper motor.
(4) PWM pulse width modulation
The speed regulation of the two DC motors, through the PWM high-speed pulse width modulation signal output by the Q0.0 and Q0.1 of the PLC host, controls the DC motor drive circuit, and converts the PWM pulse signal output by the PLC module into an adjustable DC motor driving voltage signal.
Robot skills are high-tech skills formed by integrating multiple disciplines such as computer, control theory, mechanism, information and sensing skills, artificial intelligence, and bionics, and the current research on robot skills is very active.
From the current research status at home and abroad, the research on welding robot skills mainly focuses on seven aspects: welding seam tracking skills, offline programming and path planning skills, multi-robot harmonious control skills, special arc welding power supply skills, welding robot system simulation skills, robot welding process methods, and remote control welding skills. The following will focus on the seam tracking system of mobile welding robots.
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