基于通用机器人控制器的色谱试验机器人设计  

Design of Chromatographic Test Robot Based on Universal Robot Controller

作　　者：黄青丹 吴培伟 魏晓东 王婷延 李助亚 HUANG Qingdan;WU Peiwei;WEI Xiaodong;WANG Tingyan;LI Zhuya(Guangzhou Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Guangzhou Guangdong 510410,China)

机构地区：[1]广东电网有限责任公司广州供电局,广东广州510410

出　　处：《机床与液压》2024年第14期128-135,共8页Machine Tool & Hydraulics

基　　金：中国南方电网有限责任公司科技项目(GZHKJXM20200069)。

摘　　要：针对绝缘油色谱分析快速响应、全自动化控制的需求,提出以某公司通用机器人控制器为核心的色谱试验机器人控制方案。通过EtherCAT工业总线实现控制器与伺服的控制与数据交互,基于AtMega2560的外部工控板扩展系统输入输出实现多外部设备的控制;上位机通过网络通信的方式实现控制器与色谱仪、震荡仪的控制与交互,进而实现绝缘油色谱分析流程的全自动化控制;只需将待分析的瓶装油样放入油样放置区,通过上位机选择油样数量与类型,启动色谱分析控制系统就可自动完成油样制备、震荡分离、油气分离、色谱分析全过程,此控制方案操作简单且便于后期维护。通过实际油样进行试验验证,结果表明:所提控制方案性能稳定且高效,绝缘油组分分析的重复性与准确性均达到国标要求。In view of the demand for fast response and fully automated control of insulation oil chromatography analysis,a chromatographic test robot control scheme was proposed based on the intelligent universal robot controller of a company.The control and data interaction between the controller and servo was achieved through EtherCAT industrial bus,and an external industrial control board extension system was introduced based on AtMega2560 to achieve input and output control of multiple external devices.The control and interaction of controller,chromatograph and oscillometer were realized through the communication mode of upper computer,thus achieving fully automated control of the insulation oil chromatography analysis process.The bottled oil samples to be analyzed was placed in the oil sample storage area,the quantity and type of oil samples were selected through the upper computer,and the chromatography analysis control system was started to automatically complete the entire process of oil sample preparation,oscillation separation,oil gas separation and chromatography analysis.This control scheme is easy to operate and easy to maintain in the later stage.The test verification was performed through actual oil samples.The results show that the control scheme has stable and efficient performance,and the repeatability and accuracy of component analysis of insulation oil meet the requirements of national standards.

关 键 词：机器人控制器 自动控制 网络通信 色谱分析 

分 类 号：TM411[电气工程—电器]