基于Ethernet的开放式机器人等离子熔射成形系统研究  

An Open Architecture Robotic Plasma Spray Forming System Based on Ethernet

作　　者：夏卫生[1] 张海鸥[2] 王桂兰[1] 杨云珍[1] 邹阳[1] 

机构地区：[1]华中科技大学材料成型与模具国家重点实验室,湖北武汉430074 [2]华中科技大学数字制造与装备技术国家重点实验室,湖北武汉430074

出　　处：《机器人》2008年第1期17-21,共5页Robot

基　　金：国家自然科学基金资助项目(50475134,50675081);国家863计划资助项目(2001421150)

摘　　要：提出了基于工业以太网(Ethernet)的机器人等离子熔射成形系统.基于Ethernet建立PC与MotomanUP-20机器人之间的通讯连接,开发了机器人控制软件,实现了PC对机器人的主机控制以及作业文件交互等功能.基于MPI(Multi-Point Interface)网络连接PC与等离子熔射设备的控制核心Siemens S7-300型PLC.最终实现了以PC机为核心,集成成形过程监控、机器人熔射路径自适应调整和机器人实时监控等子功能的开放式机器人等离子熔射成形系统,并自主开发了SprayMonitor成形过程监控软件.实验结果表明,该系统能够根据熔射皮膜温度、厚度等在线检测信息进行熔射路径智能自适应调整和加工策略自行调度,实现了等离子熔射成形与机器人运动执行的一体化控制,提高了成形系统的柔性.A robotic plasma spray forming system based on industrial Ethernet is presented. Communications between PC and Motoman UP-20 robot are set up with Ethernet, and the speeific robot control software is developed, whose main functions include the host control by PC and the exchange of working jobs, etc. The control center of all plasma spray equipment, Siemens S7-300 PLC, is connected to PC by MPI （ Multi-Point Interface）. Finally, the open architecture robotic plasma spray forming system is realized, which uses PC as its kernel and integrates process monitoring of spray forming, adaptive adjustment of robot spray trajectories, real time monitoring of robot and other sub-functions. Moreover, the Spray- Monitor software for process monitoring is developed. Experimental results show that the intelligent adaptive adjustment of robot spray trajectories and the self-dispatch of manufacturing strategies are realized by the resultant system according to such online measurement results as temperature and thiekness of the sprayed coatings. Flexibility of the forming system is promoted by integrating plasma spray forming with robot motion control.

关 键 词：工业机器人 等离子熔射 成形系统 ETHERNET 皮膜温度 智能自适应控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]