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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。
In view of the present situation that the automation level of welding technology in shipbuilding industry is generally not high, the cost of artificial welding is high, the efficiency is low and the quality is uneven, a gantry type eight Axis welding robot motion control system. Through the controller TRIO drive robot eight-axis linkage, to achieve large-size large curvature hull plate automatic welding, PLC to ensure the correct logic of the system operation, a variety of electrical signal control and acquisition. Two controllers through the RS232 free port protocol to achieve stable two-way serial communication. Experiments show that the welding motion control system greatly improves the welding efficiency and quality, reducing the labor intensity of workers, there is a strong application and promotion of value.