CN106444638A - Marine low-speed machine air valve welding robot work station control system - Google Patents
Marine low-speed machine air valve welding robot work station control system Download PDFInfo
- Publication number
- CN106444638A CN106444638A CN201610597461.0A CN201610597461A CN106444638A CN 106444638 A CN106444638 A CN 106444638A CN 201610597461 A CN201610597461 A CN 201610597461A CN 106444638 A CN106444638 A CN 106444638A
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- control system
- robot
- welding
- air valve
- speed machine
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32161—Object oriented control, programming
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a marine low-speed machine air valve welding robot work station control system including a central control system, a robot control system, a welding control system and a sensing detection system. The central control system includes a work station main controller, is communicated with the robot control system through a Profibus DP bus to realize mutual information exchange, acquires the sensing information through an I/O module, and controls a welding robot to move; The robot control system includes a robot control cabinet and a robot demonstrator, controls the robot body and the positioned in a work station to move, is communicated with the welding power supply through a Devicenet bus, and controls a welding system to work; The control system realizes the global control and monitoring of the marine low-speed machine air valve machining procedures, and the marine low-speed machine air valve welding robot work station control system realizes the perfect match of devices, improves the work efficiency, and realizes the automation procedures.
Description
Technical field
The present invention relates to a kind of control system, specifically a kind of for the work of marine low-speed machine air valve welding robot
The control system that stands, belongs to welding processing technical field.
Background technology
Marine low speed diesel engine inlet and exhaust valve bead-welding technology complexity, tradition is many to carry out built-up welding using manual type, and work is strong
Degree is big, and welding efficiency is low, and welding concordance is poor, and product quality is uneven.In order to these problems are solved, robot heap is developed
Weldering work station.However, in marine low-speed machine air valve welding robot workstation, needing to use various processing equipment, such as weld
Robot, transmission equipment, positioner, welding equipment, grinding apparatus, cleaning equipment etc., each equipment forms flow production line, respectively
The job demand of equipment is worked in coordination, and can just make full use of, improve production efficiency.And if each equipment is required for single people
Work or automatically control, be then difficult to realize the perfect cooperation of each equipment.
Therefore, in marine low-speed machine air valve welding robot workstation, it is desirable to have a set of overall control system, realize
Global control and monitoring to marine low-speed machine air valve processor.How a set of simple structure, easy to control, man-machine friendship are set up
Mutually excellent control system becomes the hot issue in industry.
Content of the invention
The technical problem to be solved, is the shortcoming for overcoming prior art, provides one kind and can be applicable to bonding machine
In device people's workstation system, each equipment Perfect Matchings can be realized, work efficiency be improved, realizes the marine low-speed of automated procedures
Machine air valve welding robot workstation control system.
In order to solve above technical problem, the present invention provides a kind of marine low-speed machine air valve welding robot workstation control
System, including central control system, robot control system, welding control system and sensing and detecting system；
The central control system includes work station master controller, by Profibus DP bus and control system of robot
System communication connection, realizes mutual information interaction, and obtains heat transfer agent by I/O module, control welding robot human action；
The robot control system includes robot control cabinet, robot demonstrator, controls work station inner machine people's sheet
Body and positioner motion, are communicated with the source of welding current by Devicenet bus, control welding system work；
Sensing and detecting system includes infrared temperature sensor, pressure switch, cylinder magnetic switch, the infrared temperature sensing
Device is connected with control system by analog quantity communication, and the pressure switch, cylinder magnetic switch are by I/O module to central control
System sends information.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, work station master controller
Including rack, the PLC control system being installed in rack, the control panel for being installed on rack outer surface and tri coloured lantern alarm.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, PLC control system is built-in
Vertical have workpiece welding parameter information management system；With in robot control cabinet, robot demonstrator and work station positioner, weldering
Connect power supply and the communication connection of instrument switching platform.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, instrument switching platform bag
Include positioner air spider, welding gun tooling platform, sanding apparatus tooling platform and clear rifle operating board.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, control panel includes people
Machine dialog box, controlling switch and display lamp；Human computer conversation's window is touch screen, by operation touch-screen change control ginseng
Number, selection control mode and debugging system；At least include that welcome page, user login the page and menu page, according to user class
Other different demarcation is different rights, the menu page content difference.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, controlling switch includes electricity
Source switch, controls the break-make of whole control system power supply；
Operation button, when system is in running status, presses the operation button and selects automatic or manual pattern to being
System is operated；
Stop button, when system is in running status, presses stop button halt system operation；
Scram button, presses rear system cut-off, while button is locked, ejects after dextrorotation, and system will be re-powered；
The on and off switch, operation button, stop button and scram button.Separate, by I/O module and switch board
PLC connects.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, robot demonstrator is used
In being programmed to robot, determine the welding job track of robot, and be recorded in robot control cabinet.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, the Welder of robot
Include attitude and the movement locus of welding gun motion as track, and complete to take arms, fire, sanding apparatus taken, carried out polishing program, put
The operation program of sanding apparatus.
Further, aforesaid marine low-speed machine air valve welding robot workstation control system, by set up part and
The data base of welding parameter, the one-touch automatic welding of information realization of input required product title, model before welding.
The invention has the beneficial effects as follows：A kind of multistation marine low-speed machine air valve welding robot work that the present invention is provided
Station control system, has abandoned existing manual hand manipulation, but Integrated design has gone out a set of overall control system, realized to ship
Global control and monitoring with low speed machine air valve processor.Each equipment Perfect Matchings can be realized, work efficiency is improved, realize
The marine low-speed machine air valve welding robot workstation control system of automated procedures.
Description of the drawings
Fig. 1 is the FB(flow block) of the present invention.
The control panel structural representation of Fig. 2 position present invention.
Specific embodiment
A kind of marine low-speed machine air valve welding robot workstation control system that the present embodiment is provided, as shown in figure 1, bag
Include central control system, robot control system, welding control system and sensing and detecting system.Wherein, central control system bag
Robot master controller is included, is connected with robot control system communication by Profibus DP bus, realize mutual information friendship
Mutually, and by I/O module heat transfer agent is obtained, controls welding robot human action.Robot control system then includes robot control
Cabinet processed, robot demonstrator, control work station inner machine human body and positioner motion, by Devicenet bus and welding
Power source communications, control welding system work.Sensing and detecting system includes that the infrared temperature sensor being installed on welding gun, pressure are opened
Close and cylinder magnetic switch.Wherein, pressure switch is system gas holder pressure switch, in gas holder below welding gun tooling platform
Air pressure is quit work less than 0.5MPa alarm, and cylinder magnetic switch is welding gun baffle plate, a unit cut by grinding head, quick change, clear rifle
The interior switch for detecting whether its action puts in place, such as detection baffle plate is opened or closed, and grinding head is rotated or stopped, and quick change is closed or beaten
Open, inside each unit.And, the communication of infrared sensor analog quantity is connected with main control cabinet and robot control cabinet；Pressure
Switch and cylinder magnetic switch are then connected with main control cabinet and robot control cabinet by I/O module.
Robot controller includes rack, the PLC control system being installed in rack and air switch, relay, PLC electricity
The correlation low-voltage accessories such as source, it is installed on the control panel of rack outer surface.Setting up in PLC control system has workpiece welding parameter to believe
Positioner, the source of welding current and instrument switching in breath management system, with robot control cabinet, robot demonstrator and work station is flat
Platform communication connection.
Control panel then includes human computer conversation's window, controlling switch and display lamp；Human computer conversation's window choosing in the present embodiment
With for touch screen 1, control parameter can be changed, select control mode and debugging system by operation touch-screen；Can check and be
The information such as system running status, manufacturing parameter, the record of production, failure logging.The touch screen interface of the system at least includes welcome page
Face, user are logined the page and menu page and are designed using multi-user mode, are different rights according to class of subscriber different demarcation,
Its menu page content difference.The class of subscriber be divided into operator user 7, engineer user 2, developer user 1 and
Administrator 1.
And instrument switching platform then includes positioner air spider, welding gun tooling platform, sanding apparatus tooling platform and clear rifle behaviour
Station, is connected by I/O module communication, controls the running of each instrument switching platform.
Controlling switch includes on and off switch 6, controls the break-make of whole control system power supply；Operation button 7, when system is in
During running status, press operation button and select automatic or manual pattern to operate system；Stop button 8, when system is in
During running status, the operation of stop button halt system is pressed；Scram button 9, presses rear system cut-off, while button is locked, right
Supination is ejected, and system will be re-powered.Meanwhile, per organizing above controlling switch, all there is corresponding display lamp, including power supply instruction
Lamp 2：In order to indicate the electriferous state of system, after system is powered, the display lamp is lighted, if press scram button, the instruction
Lamp can still be lighted.Run indicator 3：In order to indicate whether system is in running status, light when system is in running status.
Suspend (fault) display lamp 5：When system is in and suspends or break down, the display lamp is lighted.Stop display lamp 4：In order to refer to
Show that system, in halted state, is lighted when system is in halted state.In the present embodiment, one group three on control panel, is additionally provided with
Color display lamp, including tri coloured lantern green 10：In order to whether to indicate system in normal condition, the flicker when system is in normal condition
Light.Tri coloured lantern Huang 11：In order to indicate whether system is in halted state, when system placed in a suspend state when flicker light.Three
Colored lights red 12：Whether there is fault in order to index system, the lamp flicker when system is faulty is lighted.Tri coloured lantern buzzer 13：When
When system has fault, the lamp sounds；After Failure elimination, the lamp is closed；If fault is continued for, it is automatically switched off after 10s.
Meanwhile, robot demonstrator is used for being programmed robot, determines the welding job track of robot, and records
In robot control cabinet, in the present embodiment, the welding job track of robot includes attitude and the movement locus of welding gun motion,
And complete to take arms, fire, take sanding apparatus, the operation program for carrying out polishing program, putting sanding apparatus.And by set up part and
The data base of welding parameter, the one-touch automatic welding of information realization of input required product title, model before welding.
When specifically used, the system for first passing through in change robot demonstrator is arranged, and work station is arranged to local machine
People's switch board control model, is programmed to robot by the robot demonstrator of robot control system, passes through
Profibus DP bus is connected with central control system communication, transmits data, and by Devicenet bus and the source of welding current
Communication, to determine attitude and the movement locus of welding gun motion, teaching is taken arms well, fires, takes sanding apparatus, polishing program, putting and beat
The operation programs such as mill apparatus, welding.It is then possible to automatic transmission be opened on robot control cabinet, press operation button and welded
When connecing, but formally producing, work station mode of operation is changed to by long-range master control cabinet control model by robot demonstrator,
User interface is selected on the touchscreen, after entrance system, input workpiece job number, workpiece model, workpiece figure number and welding position etc.
Parameter, and confirm whether parameter is correct.If parameter input error, return previous step and reset, if parameter is errorless, click on
" automatic running " of the touch-screen menus page selects to enter automatic running interface, and the people that operates machine carries out automatic control flow chart.?
When being welded, robot will enter automatic mode, and welding gun can be welded according to the Sequence motion that early stage teaching pattern is finished.
Choose after needing the workpiece of welding and required displacement board position, then pass through hanging device automatic charging, robot
The robot master controller of work station controls positioner to open by I/O module after the feeding signal for receiving truss robot
Chuck, and hanging device movement is manipulated, and workpiece is in place, point touching screen selects relevant work platform position to be clamped,
Manipulate hanging device and workpiece is put down, chuck is clamped, complete workpiece installation.
And continue to select corresponding workpiece model, figure number, job number and welding journey on the touch screen of work station master controller
The parameters such as sequence, click on the operation button of corresponding platform position in the automatic running page, and the system people that just operates machine initially enters automatic welding
Connect program.Multilamellar welding can be related in welding, need to control interlayer temperature, the temperature of workpiece is detected by infrared temperature measurement system
Degree, and communicated to robot master controller transmission heat transfer agent, when workpiece is cooled to below the temperature of requirement by analog quantity,
Robot is subsequently welded automatically.
Clicking on stop button just can halt system work.When current welding bead has been welded, pause button time-out can be clicked on
Welding.After the completion of welding, operation button can be automatically switched off, and now click on next step and just can enter the blanking page.
Robot master controller sends instruction by Profibus DP bus, controls the chuck of positioner to unclamp, and manipulation is hung
Installing is standby to clamp workpiece, manually takes workpiece away.Now, on the touchscreen click on selection be back to menu page, complete whole from
Dynamic welding process.
In addition to the implementation, the present invention can also have other embodiment.All employing equivalents or equivalent transformation shape
The technical scheme for becoming, all falls within the protection domain of application claims.
Claims (11)
1. a kind of marine low-speed machine air valve welding robot workstation control system, it is characterised in that：Including central control system,
Robot control system, welding control system and sensing and detecting system；
The central control system includes work station master controller, logical with robot control system by Profibus DP bus
News connection, realizes mutual information interaction, and obtains heat transfer agent by I/O module, control welding robot human action；
The robot control system includes robot control cabinet, robot demonstrator, control work station inner machine human body and
Positioner moves, and is communicated with the source of welding current by Devicenet bus, control welding system work；
Sensing and detecting system includes infrared temperature sensor, pressure switch, cylinder magnetic switch, and the infrared temperature sensor leads to
Cross analog quantity communication to be connected with control system, the pressure switch, cylinder magnetic switch are by I/O module to central control system
Transmission information.
2. marine low-speed machine air valve welding robot control system according to claim 1, it is characterised in that：The work
Station control includes rack, the PLC control system being installed in rack and is installed on the control panel of rack outer surface and trichroism
Lamp alarm.
3. marine low-speed machine air valve welding robot workstation control system according to claim 2, it is characterised in that：Institute
State to set up in PLC control system and have workpiece welding parameter information management system；With robot control cabinet, robot demonstrator and work
Positioner, the source of welding current in standing and the communication connection of instrument switching platform.
4. marine low-speed machine air valve welding robot workstation control system according to claim 3, it is characterised in that：Institute
The instrument switching platform of stating includes positioner air spider, welding gun tooling platform, sanding apparatus tooling platform and clear rifle operating board.
5. the marine low-speed machine air valve welding robot workstation control system according to claim or 2, it is characterised in that：
The control panel includes human computer conversation's window, controlling switch and display lamp；Human computer conversation's window is touch screen, by behaviour
Make touch screen change control parameter, select control mode and debugging system；At least include that welcome page, user login the page and dish
Single-page, is different rights, described menu page content difference according to class of subscriber different demarcation.
6. marine low-speed machine air valve welding robot workstation control system according to claim 5, it is characterised in that：Institute
State class of subscriber and be divided into operator user, engineer user, developer user and administrator.
7. marine low-speed machine air valve welding robot workstation according to claim 2, it is characterised in that：The control is opened
Closing includes on and off switch, controls the break-make of whole control system power supply；
Operation button, when system is in running status, presses the operation button and selects automatic or manual pattern to enter system
Row operation；
Stop button, when system is in running status, presses stop button halt system operation；
Scram button, presses rear system cut-off, while button is locked, ejects after dextrorotation, and system will be re-powered；
The on and off switch, operation button, stop button and scram button,
Separate, it is connected with switch board PLC by I/O module.
8. marine low-speed machine air valve welding robot workstation control system according to claim 1, it is characterised in that：Institute
Robot demonstrator is stated for being programmed to robot, determine the welding job track of robot, and be recorded in robot control
In cabinet processed.
9. marine low-speed machine air valve welding robot workstation control system according to claim 1, it is characterised in that：Institute
The welding job track for stating robot includes attitude and the movement locus of welding gun motion, and completes to take arms, fire, take polishing dress
Put, carry out polishing program, put sanding apparatus operation program.
10. marine low-speed machine air valve welding robot workstation control system according to claim 1, it is characterised in that：
By setting up the data base of part and welding parameter, before welding input required product title, model information realization one-touch
Automatic welding.
11. marine low-speed machine air valve welding robot workstation control systems according to claim 1, it is characterised in that：
The control system is divided into manual mode and automatic mode；The manual mode is each equipment in individually operated work station,
During for equipment debugging, engineer testing or abnormality processing；The automatic mode be by setting up the data of part and welding parameter
Storehouse, before welding input required product title, after the information of model, good flow process and program are automatically performed by system according to the rules
The process of welding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597461.0A CN106444638B (en) | 2016-07-26 | 2016-07-26 | A kind of marine low-speed machine air valve welding robot workstation control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610597461.0A CN106444638B (en) | 2016-07-26 | 2016-07-26 | A kind of marine low-speed machine air valve welding robot workstation control system |
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| CN106444638A true CN106444638A (en) | 2017-02-22 |
| CN106444638B CN106444638B (en) | 2018-12-04 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053181A (en) * | 2017-06-09 | 2017-08-18 | 西华大学 | One kind turns to support robot welding control system |
| CN107378333A (en) * | 2017-08-08 | 2017-11-24 | 成都润博科技有限公司 | A kind of integral and intelligent welding robot system and welding method |
| CN107932200A (en) * | 2017-12-18 | 2018-04-20 | 苏州市锐翊电子科技有限公司 | A kind of automatically grinding system |
| CN108544055A (en) * | 2018-04-14 | 2018-09-18 | 上海中船三井造船柴油机有限公司 | Full-automatic build-up welding method for 58% nickel-base alloy in head combustion chamber groove |
| CN109484501A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of robot for load balance |
| CN110561436A (en) * | 2019-09-17 | 2019-12-13 | 华侨大学 | industrial robot data transmission method and system |
| CN112198852A (en) * | 2020-10-09 | 2021-01-08 | 北京北矿智能科技有限公司 | Exception handling method and device, storage medium and electronic equipment |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
| CN114378408A (en) * | 2020-10-06 | 2022-04-22 | 无锡米普勒自动化设备有限公司 | Argon arc welding machine control system and control method |
| CN114428472A (en) * | 2021-12-08 | 2022-05-03 | 中国船舶重工集团公司第七一六研究所 | Control system of intelligent flexible welding workstation |
| CN115781290A (en) * | 2023-02-08 | 2023-03-14 | 中国电子科技集团公司第三十研究所 | Automatic welding and polishing workstation for sheet metal case and control method of automatic welding and polishing workstation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107053181A (en) * | 2017-06-09 | 2017-08-18 | 西华大学 | One kind turns to support robot welding control system |
| CN107378333A (en) * | 2017-08-08 | 2017-11-24 | 成都润博科技有限公司 | A kind of integral and intelligent welding robot system and welding method |
| CN107932200A (en) * | 2017-12-18 | 2018-04-20 | 苏州市锐翊电子科技有限公司 | A kind of automatically grinding system |
| CN108544055A (en) * | 2018-04-14 | 2018-09-18 | 上海中船三井造船柴油机有限公司 | Full-automatic build-up welding method for 58% nickel-base alloy in head combustion chamber groove |
| CN109484501A (en) * | 2018-11-26 | 2019-03-19 | 国网江苏省电力有限公司徐州供电分公司 | A kind of robot for load balance |
| CN110561436A (en) * | 2019-09-17 | 2019-12-13 | 华侨大学 | industrial robot data transmission method and system |
| CN110561436B (en) * | 2019-09-17 | 2022-08-26 | 华侨大学 | Industrial robot data transmission method and system |
| CN114378408A (en) * | 2020-10-06 | 2022-04-22 | 无锡米普勒自动化设备有限公司 | Argon arc welding machine control system and control method |
| CN112198852B (en) * | 2020-10-09 | 2022-03-08 | 北京北矿智能科技有限公司 | Exception handling method and device, storage medium and electronic equipment |
| CN112198852A (en) * | 2020-10-09 | 2021-01-08 | 北京北矿智能科技有限公司 | Exception handling method and device, storage medium and electronic equipment |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
| CN114428472A (en) * | 2021-12-08 | 2022-05-03 | 中国船舶重工集团公司第七一六研究所 | Control system of intelligent flexible welding workstation |
| CN115781290A (en) * | 2023-02-08 | 2023-03-14 | 中国电子科技集团公司第三十研究所 | Automatic welding and polishing workstation for sheet metal case and control method of automatic welding and polishing workstation |
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| CN106444638B (en) | 2018-12-04 |
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Address after: 211121, No. 276, Ling Shun North Road, Lake cooked Town, Jiangning District, Jiangsu, Nanjing Patentee after: Nanjing COSCO marine equipment accessories Co., Ltd Address before: 211121, No. 276, Ling Shun North Road, Lake cooked Town, Jiangning District, Jiangsu, Nanjing Patentee before: NANJING INTERNATIONAL MARINE EQUIPMENT & SPARES Ltd. |
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