造船工程焊接机器人自动化控制器的设计及应用  

Design and application of welding mobile robot controller in shipbuilding engineering

作　　者：毛新红[1] 

机构地区：[1]新疆生产建设兵团兴新职业技术学院,新疆乌鲁木齐830074

出　　处：《电焊机》2015年第10期82-89,共8页Electric Welding Machine

摘　　要：描述移动焊接机器人在控制硬件和软件方面的发展。该机器人可以在双壳船舶结构中移动并执行焊接任务。控制硬件包括一个主控制器和一个焊机控制器。控制软件包括四层,每一层都由模块组成。合适的模块组合能够保证控制软件执行所需任务。控制软件是在QNX操作系统下用C语言编程开发。针对控制软件模块化的体系结构,将其设计为四层:任务管理、任务计划、任务操作和任务执行。移动焊接机器人运用嵌入式控制器和控制软件成功执行所需任务。This paper describes the development of mobile welding robot control in the aspects of hardware and software. The robot can move in the double hull ship structure and perform welding tasks. The control hardware consists of a main controller and a welding machine controller. The control software includes four layers. Each layer is composed of modules. The appropriate module combination can ensure control software to perform the required task. The control software is under the QNX operating system programming language developed by C. Aiming at the control system architecture of modular software design, the four layer： task management, task planning, task operation and task execution. Welding mobile robot using embedded controller and control software can perform required tasks successfully.

关 键 词：造船焊接工艺 移动焊接机器人 控制器 

分 类 号：TG409[金属学及工艺—焊接]