Six-shaft robot control system used for pipe fitting welding

Abstract

The invention provides a six-shaft robot control system used for pipe fitting welding. The six-shaft robot control system used for pipe fitting welding comprises a main control board, an embedded type controller and a movement controller. The movement controller is connected with servo motor drivers of six joint shafts, and the main control board controls motor linkage of the six joint shafts through the embedded type controller and the movement controller so as to control movement postures of the robot; the main control board comprises a logic control module, a path planning module, a movement control module and a network control module, wherein the logic control module is used for optimizing the program and completes the operation of logic control; the path planning module selects an appropriate movement track according to the size of a welded workpiece and obtains an optimal path; the movement control module is used for controlling the tail end movement to achieve linear and curvilinear movement operations and movement tracking, so that the robot moves to a target point; and the network control module is used for real-time monitoring the whole process and offline programming of movement of the six-shaft robot. The control system is simple in structure, small in size, easy to operate, low in cost, high in efficiency and reliability, and the welding quality is good.

Description

technical field [0001] The invention relates to a control system, in particular to a six-axis robot control system for welding pipe fittings. Background technique [0002] The welding between pipes has complex welds, dust and metal splashes during welding, and the welding environment is relatively harsh. Therefore, welding robots for welding between pipes have been widely used, but existing welding robots have the following shortcomings : [0003] 1. The control system is relatively complex, inconvenient to operate, and cumbersome to program, such as figure 2 As shown, the control system is highly integrated in the main board and the control panel, and the degree of openness is relatively low. It requires professional training for operators to teach the robot well and implement welding of pipe fittings; [0004] 2. It is not easy to obtain the optimal path of the welding torch. When obtaining the optimal path, it is often necessary to perform multiple simulations in the ...

AI Technical Summary

Problems solved by technology

[0003] 1. The control system is relatively complex, inconvenient to operate, and cumbersome to program, such as figure 2 As shown, the control system is highly integrated in the main board and the control panel, and the degree of openness is relatively low. It requires professional training for operators to teach the robot well and implement welding of pipe fittings;

[0004] 2. It is not easy to obtain the optimal path of the welding torch. When obtaining the optimal path, it is often necessary to perform multiple simulations in the computer. The welding trajectory is determined manually based on experience. During the welding process, the center point of the welding torch is not accurate enough, which is prone to deviation and partial welding. The robot cannot effectively cooperate with the pipe fittings;

[0005] 3. The precision of the end fixture cannot meet the requirements of welding, and the requirements for the overall quality of the operators are relatively high, which cannot meet the production needs of the enterprise

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