基于固高控制器的焊接机器人控制系统设计

摘要

针对送变电、风力机、大型户外广告牌塔筒的棱管与法兰焊接工艺，开发棱管法兰自动焊机。本次设计选择了GTS-800-PV-PCI和GTS-400-PV-PCI两个系列运动控制器实现对整个焊接系统的控制。在对棱管法兰自动焊机控制系统的控制方式总体设计的基础上，将系统主要构建于固高运动控制卡的软硬件基础之上。控制系统采用“PC+固高”的硬件构架平台。以PC机作为上位机，实现运动控制、轨迹规划及后台管理与运算等工作，固高作为下位机实现前台实时运动控制与检测。软件结构采用开放结构、模块化设计，便于更改不同的使用。本论文采用远程控制方法，实现操作者“零暴露”生产。%In this paper, aiming at the edge pipe and flange welding process of the transmission and distribution, wind ma-chines, outdoor billboards tower, the tube flange edge automatic welding machine is developed. It chooses two series motion controllers like the GTS-800-PV-PCI and the GTS-400-PV-PCI to control the entire welding system. Based on the overall design of the edge flange automatic welding machine control system, the system is mainly built on the solid foundation of soft-ware and hardware of the Googol motion control card, and the "PC + Googol" hardware architecture platform is used in the control system. Setting the PC as the upper computer, tasks such as the motion control, the trajectory planning and the back-stage management and other computing tasks are realized, while the real-time motion control and foreground testing could be achieved when the Googol is as the lower computer. It uses open architecture and modular design in the software structure, so it is easy to change different use. This paper uses remote control methods to achieve"zero-exposure" production for the oper-ators.