接触式作业的冶金机器人自适应控制方法  

Adaptive control method for metallurgical robots with contact operation

作　　者：孙睿 窦刚[1] SUN Rui;DOU Gang(Cold Rolling Division,WISDRI Engineering&Research Incorporation Limited,Wuhan 430223,China)

机构地区：[1]中冶南方工程技术有限公司冷轧分公司,湖北武汉430223

出　　处：《冶金自动化》2024年第5期28-34,共7页Metallurgical Industry Automation

摘　　要：利用冶金机器人代替人工从事一些危险性大、重复性高的劳动已逐渐成为各大钢厂无人化产线建设的重要内容之一。在一些应用场景中,机器人的末端执行器需要和工件紧密接触,当出现异常情况时,机器人可能会触发碰撞报警,需操作工手动操作机器人进行恢复,极大影响了生产效率,且存在较大的安全隐患。针对上述需要进行接触式作业的应用场合,基于ABB系列机器人的Rapid语言开发了碰撞自适应控制方法和防碰撞监测与距离补偿式方法,无需人工手动干预,即可自动进行下一步动作,保障生产工序正常运作。两种控制方法均已在钢厂正式投入使用,效果良好,提高了钢厂的智能化水平。The use of metallurgical robots to replace manual labor to engage in some dangerous and repetitive labor has gradually become one of the important elements of the construction of unmanned production lines in major factories.In some application scenarios,the robot's end-effector needs to be in close contact with the workpiece.When an abnormal situation occurs,the robot may trigger a collision alarm,and require the operator to manually recover the robot,greatly affecting the production efficiency and posing a large safety risk.For those applications that require contact work,based on the Rapid language of ABB series of robots,a collision adaptive control program and anti-collision monitoring along with distance compensation program were developed.Then without manual intervention,the robot can automatically carry out the next action,to ensure the normal operation of the production process.Both solutions have been put into use in the steel plant,the effect is good,and improve the level of intelligence in the steel plant.

关 键 词：机器人 碰撞 Rapid语言 自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TF30[自动化与计算机技术—控制科学与工程]