The application of welding positioning robot control system is becoming more and more popular. It has become the key to locate the bottom plate of the body quickly and accurately, to change the positioning of various types of vehicles in the same production line, and to improve the production efficiency and quality of automobiles.
This paper analyses the control system of welding positioning robot based on Trio controller from different angles.
In the wave of economic development, the production speed of modern automobiles has been accelerating, and new requirements have been put forward in the field of body welding. The traditional body bottom plate positioning device has been unable to meet the specific requirements of modern body welding positioning. It is necessary to objectively analyze various influencing factors according to various aspects of the car body. Based on Trio controller, a scientific and reasonable welding positioning robot control system is constructed, which can scientifically locate the car body bottom plate, switch various types of cars on the production line at any time, accelerate the production speed of the car, reduce the production cost and maximize the production efficiency. Increase the core competitiveness of automobile manufacturing enterprises. As far as welding positioning robot is concerned, it is also called flexible positioning unit. It is closely related to three major technologies: numerical control technology, manufacturing technology and servo control technology. It has been widely used in the welding of automobile body bottom plate. The construction of welding positioning robot body is not complicated, and it has high transmission accuracy, which can effectively meet the specific requirements of the accuracy of car body floor. As far as the control system is concerned, it belongs to the open multi-axis motion control system. There are many important components, such as AC servo system and motion controller. The control system of welding positioning robot based on Trio controller can provide a suitable human-machine interface according to the actual situation. Users can optimize the use of this interface to carry out a series of operations and dynamically control the running state of the robot. Under the action of single axis and multi-axis, the robot can move to the specific positioning of the body floor in the shortest time. Point, smooth realization of positioning. In the construction process, the designer should objectively analyze the Trio controller, accurately grasp the specific requirements of the welding positioning robot control system, formulate a rational overall plan, and scientifically design the hardware and software systems. Designers should accurately grasp the hardware and software of the control system of welding positioning robot, scientifically design its core component, namely Trio motion controller, which can give full play to the role of diversification, such as the realization of logic control signals such as interpolation operation, input and output limit signals, origin signals, and real-time output operation processing knots. As a result, it can be real-time appearing in driving actuator, peripheral equipment, etc. to ensure the smooth realization of motion control of positioning robot. On this basis, the designer should scientifically design IPC, give full play to its diversified role, scientifically set the specific parameters of the robot’s motion axle, clearly display the motion state of the axle and so on, dynamically control the positioning robot in all directions, and real-time monitor the operation of all aspects.
In addition, according to the specific requirements of the welding positioning robot control system based on Trio controller, the designer should optimize the corresponding actuator, optimize the use of position control form, so that the AC servo mechanism can receive a series of impulse control signals from the lower computer smoothly and accurately in the shortest time. Control the specific operation of AC servo motor to ensure the smooth realization of the three-axis positioning function. In the design process, the designer should objectively analyze the control system of welding positioning robot. According to its characteristics, properties and functions, scientifically select Trio controller.
Trio MC206 controller can be used as an important motion controller in the control system, and optimize its diversified advantages, such as high performance and high integration. In the process of operation, Trio MC206 controller can carry out complicated calculation, and the calculation time is short. Under the function of FPGA technology, Trio MC206 controller has good logic processing ability. Under the action of FPGA and DSP, Trio MC206 controller ensures that the integration speed of the robot is significantly improved, which is conducive to further optimizing the control system of the welding positioning robot. In the daily operation process, Trio MC206 controller can successfully complete a series of tasks, such as interpolation operation, speed control. Under the function of Trio MC206 controller, the specific control program in memory is saved in real time, and the computer interacts with each other. A new upper and lower computer mode is constructed to ensure the smooth realization of online operation, set up various parameters scientifically, write motion and logic control program reasonably, and realize multi-axis movement. In the design process, the designer should optimize the hardware and software of the control system according to the Trio controller. One is operation monitoring module and motion control module. Operational monitoring module: In order to improve the overall performance of the welding positioning robot control system based on Trio controller, designers need to adhere to the principle of specific analysis of specific problems, grasp its hardware functions accurately from multiple angles, and design modules scientifically. As far as the operation monitoring module is concerned, it is the core component of the welding positioning robot control system based on Trio controller. In the process of design, designers should grasp the components of operation monitoring module from different angles, such as control panel and touch screen, carry out rational design, interact with other modules under the function of USB and serial port, and be in a unified network structure system, give full play to diversified functions, and scientifically set up robot movement. Parameters, real-time monitoring operation status, tracking operation trajectory and so on. Under the function of operation monitoring module, operators can smoothly realize human-computer interaction, carry out diversified control operations and so on, so as to pave the way for improving the overall performance of the control system. Motion control module: Motion control module is a key module which can not be ignored in the hardware of welding positioning robot control system based on Trio controller. In the process of design, designers should scientifically design the elements of motion control module from multiple angles, namely AC servo system and lower computer.
In the design of AC servo system, the designer can use Minas A4 AC servo drive system to scientifically select the type of motor. In the design of the lower computer, the designer should scientifically select the motion controller, namely Trio MC206 motion controller, to give full play to the diverse functions. For the driver, the designer should optimize the position control form, define the input form of the controller’s command pulse, scientifically control the angle of the motor in the process of rotation by means of the number of command pulses, and dynamically control the specific speed of the motor by means of the pulse frequency. Subsequently, the designer needs to objectively analyze all kinds of control pulses output by the controller from multiple angles, compare and analyze the deviation in this respect, take the deviation as the base point, and dynamically control the rotation of the servo motor with the help of the driver, so as to gradually reduce the deviation value and realize position control. In addition, according to the internal situation of the motion controller, the designer should scientifically set up and give full play to its specific role in the motion control of the positioning robot. Under the function of IPC, the designer can smoothly import a series of control instructions, touch the Trio MC206 motion controller, use the control algorithm, carry out rational calculation and output corresponding in time. Control pulse. After receiving the pulse control signal, the AC servo driver will dynamically control the operation of the corresponding motor and accurately control the movement of the positioning robot. The second is terminal execution module.
In the design of control system hardware, thermostatic element designers should objectively analyze the Trio controller from multiple angles, scientifically design the terminal execution module, scientifically design the degrees of freedom of X, Y and Z axes, scientifically invert the motor, effectively drive the ball screw nuts with the help of gear rotation, reasonably reduce the specific height of the robot, so as to make it conform to reality. Situation. Driven by the motor, X, Y and Z axes can move smoothly alone and jointly with arbitrary axes, simplify the middle rotation link of the positioning robot, scientifically plan the workpiece positioning points, and achieve the goal of accurate positioning on the basis of rational programming. In the design process, the designer should objectively analyze the hardware characteristics of the control system and optimize the use of the front and back-end model, which is composed of a variety of elements. The upper computer management software and communication program have their own characteristics and diverse functions.
Specifically, the upper computer management software belongs to the front-end program, which will run continuously in IPC. The back-end program is the bottom control program, which mainly runs efficiently in the lower computer Trio controller. As far as the communication program is concerned, it also plays an important role in the operation of the control system. It plays a key communication function between Trio controller and IPC, which is conducive to the stable operation of Trio controller and IPC, and improves the overall performance of the control system under Trio controller.
One is the management software of the upper computer. In the design of control system software, the designer should scientifically design the upper computer management software at multiple levels, that is, with the help of Visual Studio. NET 2008 environment, based on C# language, to rationalize the development.
Designers should set up Trio ActiveX control scientifically according to various specific conditions, take Trio controller as the medium, objectively analyze the control system of welding positioning robot, optimize the use of functions in control, i.e. logic and motion control functions, optimize the use of management software, dynamically control the motion controller, and realize communication. News. Qualitative.
The second is the bottom control procedure. The bottom control program plays a key role in the operation of the control system software, and it is one of the effective ways to run the control system of welding positioning robot efficiently under Trio controller. In the design process, the designer should optimize the use of Motion Perfect2 software under Trio controller, optimize the use of Trio Basic language, rationalize the preparation, smooth interpolation operation, dynamic control of motor speed, scientific detection of specific location, real-time input or input I/O logic control. Trio controllers have multiple programs that can run at the same time.
The underlying programs that run at the same time are not unlimited and cannot exceed eight. In this process, users can re-rationalize the underlying control program and scientifically set sub-program modules according to their diversified objective needs, focusing on the hardware and software functions of the control system, to clarify the judgment conditions for the smooth execution of sub-program functions, i.e. the specific global variable VR value and a certain state of I/O.
In addition, the designer should further optimize the underlying control program to improve the performance of the control system software according to the specific conditions of various aspects. In short, in the wave of economic development, automobiles have been closely linked with the daily production and life of the public, playing an irreplaceable important role, and it is urgent to further improve the overall performance of the car body. In the design process, the designer must adhere to the relevant design principles, accurately grasp the Trio controller, according to the overall scheme of the welding positioning robot control system, scientifically design the hardware system, operation monitoring module, motion control module, terminal execution module, reasonably design the software system, the upper computer management software and the bottom control process. Order and so on. Development.