本文介绍了一种自定义Harting端子总线结构的开放式弧焊机器人控制器, 构成控制器的各个子板卡均通过统一的电器接口与总线基板连接, 各模块可灵活定制和搭配, 从而在该控制器的进一步推广中, 非研发人员能够根据具体工程需求对控制器功能进行裁剪或扩展。在摆动焊接控制环节, 一种以解析方法为主的轨迹插值算法被应用于弧焊机器人控制器, 该算法除适用于直线焊缝的摆动焊接外, 还适用于以空间平滑曲线为基线的正弦摆动焊接。初步试验结果显示, 该弧焊机器人控制器能够实现6自由度工业机器人焊接作业的运动控制, 尤其对于沿空间圆弧和二次曲线的正弦摆动焊接能够收到良好的控制效果。上海翻译公司

This article introduces an open type arc welding robot controller with custom Harting terminal bus structure, each daughter board card composed of controller is connected to bus base plate through unified electrical interface, each module can be flexibly customized and matched; thus in the further promotion of the controller, non R & D personnel can cut out or extend the controller function according to specific engineering requirements. In the swing welding control link, a trajectory interpolation algorithm that gives priority to analytic method is applied to arc welding robot controller; the algorithm is not only applied to swing welding of straight bead, but also applied to sine swing welding that takes space smooth curve as the baseline. Preliminary test results show that the arc welding robot controller can realize the motion control of 6 degree-of-freedom industrial robot welding operation, particularly, it can achieve good control results for sine swing welding along space circular arc and quadratic curve.

本课题研制出一种基于自定义总线的多主从、模块化的弧焊机器人控制器, 其核心部分共有8个模块组成, 即: CPU、ARM控制卡、多轴运动控制器、实时总线卡、非实时总线卡、I/O卡、防护电路和存储设备。该控制器硬件系统结构及其与外部设备的交互情况如图1所示: 北京翻译公司

The subject has developed a multi-master-slave and modular arc welding robot controller based on custom bus, its core part is made up of 8 modules, i.e. CPU, ARM control card, multi-axis motion controller, real-time bus card, non real-time bus card, I/O card, protection circuit and storage device. Interaction conditions of hardware system structure of the controller and peripheral equipment is shown as Fig. 1: