基于TRIO和PLC双控制器的船舶焊接机器人运动控制系统设计  

Design of Motion Control System for Ship Welding Robot Based on TRIO and PLC Dual Controller

作　　者：乔荣华[1] 董建刚[1] 张永恒[1] 

机构地区：[1]榆林学院信息工程学院,陕西榆林719000

出　　处：《热加工工艺》2016年第11期253-256,共4页Hot Working Technology

基　　金：陕西省教育厅科学研究计划项目(2013JK1168)

摘　　要：针对现阶段船舶制造业焊接工艺的自动化加工水平普遍不高、人工焊接成本较高、效率低下、质量参差不齐的现状,设计出一种基于嵌入式运动控制器TRIO和PLC的龙门架式八轴焊接机器人运动控制系统。通过控制器TRIO驱动机器人八轴联动,实现了大尺寸大曲率船体板材的自动化焊接,PLC保证了系统运行的正确逻辑、各种电气信号的控制和采集。两个控制器之间通过RS232自由口协议实现稳定双向串行通信。试验证明,该焊接运动控制系统大大提高了焊接效率和质量,降低了工人劳动强度,有较强的应用和推广价值。Aiming at the automation level of processing at the present stage of shipbuilding industry that the welding process is generally not high, manual welding status is in high costs, efficiency is low and quality is uneven, a portal frame type eight axis welding robot motion control system was designed, based on embedded motion controller TRIO and PLC.Through TRIO controllers, the robot eight axis was driven, and automatic welding of large size and large curvature hull plate was achieved. PLC ensured the correct logic, system control and acquisition of electrical signals, and two controllers realized the stable communication to each other through the RS232 free port protocol. It is proved by experiments that the welding motion control system greatly improves the welding efficiency and quality, and reduces the labor intensity of workers, so it has strong application and promotion value.

关 键 词：焊接机器人 TRIO PLC 八轴联动 串行通信 

分 类 号：TG409[金属学及工艺—焊接] TP23[自动化与计算机技术—检测技术与自动化装置]