九轴水火弯板机器人运动控制系统设计  

Design of Motion Control System for Nine-axis Line Heating Robot

作　　者：王全刚[1] 程良伦[2] 

机构地区：[1]广东工业大学自动化学院,广州510006 [2]广东工业大学计算机学院,广州510006

出　　处：《组合机床与自动化加工技术》2016年第3期90-92,96,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：广东省部产学研结合项目:船体外板加工成型智能机器人研制及产业化(2010B090400126)

摘　　要：针对现阶段船体外板水火加工自动化水平普遍不高,工人手工烧板效率低、成本高、精度差、劳动强度大的现状,设计出基于TRIO嵌入式运动控制器和可编程逻辑器件PLC的九轴水火弯板机器人运动控制系统,通过弯板机器人九轴联动,实现火枪头按照规划火路对钢板进行自动水火加工。设计了TRIO与PLC之间的自由口通用串行通信协议,保证了控制系统通信的可靠性。该系统提升了船体外板加工的效率和质量,降低了生产成本和体力支出,能够完全满足水火弯板的自动化加工需求。For the present stage of hull plate line heating process that the automation level is not high,the manual plate burning has many disadvantages such as lowefficiency,high cost,poor accuracy,high labor intensity of the situation,we designed the motion control system for nine-axis line heating robot based on TRIO embedded motion controller and programmable logic controller PLC. Through nine axes linkage of line heating robot,the system achieved automatic processing for line heating according to the planned design of the fire road. We also designed the free port universal serial communication protocol between TRIO and PLC. In this way,it can ensure the reliability of communication of the control system. This system improved the efficiency and quality of hull plate process and reduced production cost and energy expenditure,fully met the needs of automatic process of line heating.

关 键 词：九轴联动 水火弯板 串行通信 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]