水火弯板机器人运动控制系统设计

Design of Motion Control System for Line Heating Robot

针对船体外板自动化加工程度低的问题,本文设计了水火弯板机器人运动控制系统。该系统的电气控制部分采用主从二级协同控制方式,主控制器负责轴运动控制,辅助控制器负责阀门控制与安全保护,大幅提高机器人稳定性和可靠性。上位机模块则根据水火外板加工需求设计出操作方便的人机交互界面,实现用户对机器人的远程控制和船体外板的自动化加工。

Aiming at the problem of low degree of the automatic of the ship hull plate processing,a motion control system of the line heating robot was designed in this paper.The electrical control part of the system was adopted master-slave two level coordinated control mode.The main controller was used for motion control,the auxiliary controller was used for valve control and safety protection,which were greatly improved the stability and reliability of the robot.The upper computer module was designed according to the requirement of line heating.And the human-computer interaction interface was easy to be operated by the user,and could realized the remote control of the robot and the automatic processing of the ship hull plate.