抛光打磨机器人智能控制系统研究与开发  

Development of Intelligent Control System for Polishing Robot

作　　者：王淼[1] 杨宜民[1] 李凯格[2] 陶林[1] 仵桂学 

机构地区：[1]广东工业大学自动化学院,广州510006 [2]广东省自动化研究所广东省现代控制技术重点实验室广东省现代控制与光机电技术公共实验室,广州510070

出　　处：《组合机床与自动化加工技术》2015年第12期94-96,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广东省科学院优秀青年科技人才基金(rcjj201504);广东省自动化研究所所长基金(C201401)

摘　　要：为解决手工抛光打磨效率低、对人体损伤大,传统机器人抛光打磨操作复杂、成本高等问题,采用PLC控制五自由度抛光打磨机器人本体,实现复杂曲面的运动控制和力控制,并基于MCGS组态软件技术实现人机交互,从而实现抛光打磨系统的智能化控制。该控制系统可以实时监控现场参数,对工艺流程的参数进行设置,使操作、维护更加方便。对保温瓶的抛光打磨实验结果显示:抛光打磨时间为1.4s,较手工方式需3s而言,效率提高约47%。In order to solve the low efficiency of manual polishing,on the human body injury,the traditional robot polishing the complex operation and the cost higher problems. The system is used PLC to control the five degrees of freedom robot polishing,to realize the motion control and force control of complex curved surface. The system is also combined w ith the M CGS configuration softw are technology,so as to realize the human-computer interaction and the intelligent polishing system. The control system can real-time monitoring of site parameters and process parameters on the set. it has good human-computer interaction,stable and reliable,strong practicability and high degree of intelligence. The experimental on the thermos bottle results show that： the intelligent system of polishing time is 1. 4 seconds. Compared w ith the traditional manual polishing time is about 3 seconds,the polishing efficiency is increased by 47%.

关 键 词：抛光打磨机器人 PLC 智能控制系统 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]