基于以太网技术的通用双机弧焊工作站
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摘要
以机器人焊接工作站在汽车零部件制造中的应用为基础,提出一种适用于多种焊接夹具的工作站解决方案。采用分层集散控制方式,提高了整个系统的效率和运行能力。基于同步控制理论制定了适用于双机器人协调焊接的控制策略。开发了由大量结构体和数组构成的夹具自由编辑系统,能兼容多种不同类型的夹具。构建了由主控制器为核心的工业控制系统,采用人机交互界面和现场检测设备,实现了对工作站运行状况的监控和预警。
Based on the application of robot welding workstation in automobile parts manufacturing,a workstation solution for multiple welding jig is put forward. The efficiency and operational capability of the whole system are improved by means of layered control.Based on the theory of synchronous control,a control strategy for dual robots coordinated welding is developed. A free compiling system consisting of a large number of structures and arrays is developed to be compatible with many different types of jigs. The industrial control system is constructed by the main controller. The monitoring and early warning of running status of workstation is realized by using human-computer interaction interface and on-site detection equipment.
Based on the application of robot welding workstation in automobile parts manufacturing,a workstation solution for multiple welding jig is put forward. The efficiency and operational capability of the whole system are improved by means of layered control.Based on the theory of synchronous control,a control strategy for dual robots coordinated welding is developed. A free compiling system consisting of a large number of structures and arrays is developed to be compatible with many different types of jigs. The industrial control system is constructed by the main controller. The monitoring and early warning of running status of workstation is realized by using human-computer interaction interface and on-site detection equipment.
引文
[1]李冬兰.基于汽车车架机器人焊接工作站的研究与应用[D].江西:南昌大学, 2010.
[2]蒋文辉.基于Internet的多机器人协调控制方法研究[D].广东:华南理工大学,2012.
[3]蒋力培,王泽,俞建荣,等.组合式焊接自动化控制系统[J].焊接学报,1994,4(15):270-274.
[4] Yu Shi,Ding Fan. Research of Control System of Robotic Welding Positioner[J]. Welding in the World,2005,49(1-2):4-6.
[5]王家海,庞旭昱.基于DELMIA/Robotics的白车身焊接机器人路径仿真研究[J].北京:机电产品开发与创新,2009(1):1-22.
[6]王玮,严隽琪,范秀敏.仿真环境下多机器人焊接路径的优化[J].上海交通大学学报,2001(5):11-14.
[7]王政著.焊接工装夹具及变位机械:性能、设计、选用[M].北京:机械工业出版社,2001:7-10.
[8]何京文.机器人焊接系统离线编程的实例研究[C].第三界中国CAE工程分析技术年会论文集.
[9]陈美宏,焦恩璋.弧焊机器人工作站协同作业研究[J].机床与液压,2011,39(15):124-125.
[10] S B Chen,N Lv. Research evolution on intelligentized technologies for arc welding process[J]. Journal of Manufacturing Processes,2014:112-114.
[11]张铁,欧阳帆.双机器人协调焊接任务规划及仿真[J].焊接学报,2012,33(12):11-12.
[12]刘海江,姜东东,张春伟.侧位多工位多机器人防干涉问题的研究[J].机械设计,2011(6):33-35.
[13]肖珺,何京文,张广军,等.不同型号双焊接机器人协调控制[J].上海交通大学学报,2010(44):111-112.
[14]董晓雨.机器人焊接工装的即插即用控制技术的研究[D].上海:上海交通大学,2008.
[15] Ying Hua Zhang. Design of Supervisory Control System for Welding Robot Product Line[J]. Advanced Materials Research,2014(971):1189-1190.
[16]郑超超.一种焊接机器人工作站仿真系统设计与研究[D].广东:华南理工大学,2016.
[17]朱友超.机器人焊装线系统控制技术研究[D].安徽:合肥工业大学,2008.
[2]蒋文辉.基于Internet的多机器人协调控制方法研究[D].广东:华南理工大学,2012.
[3]蒋力培,王泽,俞建荣,等.组合式焊接自动化控制系统[J].焊接学报,1994,4(15):270-274.
[4] Yu Shi,Ding Fan. Research of Control System of Robotic Welding Positioner[J]. Welding in the World,2005,49(1-2):4-6.
[5]王家海,庞旭昱.基于DELMIA/Robotics的白车身焊接机器人路径仿真研究[J].北京:机电产品开发与创新,2009(1):1-22.
[6]王玮,严隽琪,范秀敏.仿真环境下多机器人焊接路径的优化[J].上海交通大学学报,2001(5):11-14.
[7]王政著.焊接工装夹具及变位机械:性能、设计、选用[M].北京:机械工业出版社,2001:7-10.
[8]何京文.机器人焊接系统离线编程的实例研究[C].第三界中国CAE工程分析技术年会论文集.
[9]陈美宏,焦恩璋.弧焊机器人工作站协同作业研究[J].机床与液压,2011,39(15):124-125.
[10] S B Chen,N Lv. Research evolution on intelligentized technologies for arc welding process[J]. Journal of Manufacturing Processes,2014:112-114.
[11]张铁,欧阳帆.双机器人协调焊接任务规划及仿真[J].焊接学报,2012,33(12):11-12.
[12]刘海江,姜东东,张春伟.侧位多工位多机器人防干涉问题的研究[J].机械设计,2011(6):33-35.
[13]肖珺,何京文,张广军,等.不同型号双焊接机器人协调控制[J].上海交通大学学报,2010(44):111-112.
[14]董晓雨.机器人焊接工装的即插即用控制技术的研究[D].上海:上海交通大学,2008.
[15] Ying Hua Zhang. Design of Supervisory Control System for Welding Robot Product Line[J]. Advanced Materials Research,2014(971):1189-1190.
[16]郑超超.一种焊接机器人工作站仿真系统设计与研究[D].广东:华南理工大学,2016.
[17]朱友超.机器人焊装线系统控制技术研究[D].安徽:合肥工业大学,2008.