机器人等离子喷涂成形一体化控制软件系统

Integrated control software systems for robotic plasma spray forming

针对机器人等离子喷涂成形过程中机器人运动执行与喷涂工艺协调、工艺优化、数据管理与算法执行等多重需求,开发了基于OPC与Ethernet的SprayMonitor控制软件系统,实现了对机器人运动与喷涂成形工艺的一体化控制.采用开放式OPC通信协议实现PC与PLC之间高速通信,基于Ethernet建立PC与机器人的数据通信连接,以PC为控制核心应用COM技术开发软件平台,集成了PLC现场设备控制的安全稳定性与机器人精确动作执行的优势,有效改善了机器人等离子喷涂系统柔性,提高了成形性与涂层质量.

A control software system of spray-monitor was developed ba sed on OPC（OLE for process control） protocol and Ethernet to meet the multiple requirements of the coordination of robotic motion execution and plasma spray,process optimization,data management,and algorithm execution and so on during the forming process of robotic plasma spray.The present software allows the integrated control performance of robotic motion and plasma spray forming.The opening OPC protocol was applied for the data communication between PC（personal computer） and PLC（programmable logic controller）,and the communication between PC and robot is established based on the data transmission medium of Ethernet.PC was selected as the central controller of the system with the help of the process monitoring software developed on the basis of COM（component object model） technology.The superiorities of PLC over the stable and safe control of field apparatus and that of robot over precise motion were effectively integrated to enhance the formability and coatings quality of the resultant robotic plasma spray system.