基于Ethernet的开放式机器人等离子熔射成形系统研究

提出了基于工业以太网（Ethernet）的机器人等离子熔射成形系统．基于Ethernet建立PC与Motoman UP 20机器人之间的通讯连接，开发了机器人控制软件，实现了PC对机器人的主机控制以及作业文件交互等功能．基于MPI（Multi Point Interface）网络连接PC与等离子熔射设备的控制核心Siemens S7 300型PLC．最终实现了以PC机为核心，集成成形过程监控、机器人熔射路径自适应调整和机器人实时监控等子功能的开放式机器人等离子熔射成形系统，并自主开发了SprayMonitor成形过程监控软件．实验结果表明，该系统能够根据熔射皮膜温度、厚度等在线检测信息进行熔射路径智能自适应调整和加工策略自行调度，实现了等离子熔射成形与机器人运动执行的一体化控制，提高了成形系统的柔性．

An Open Architecture Robotic Plasma Spray Forming System Based on Ethernet

A robotic plasma spray forming system based on industrial Ethernet is presented.Communications between PC and Motoman UP-20 robot are set up with Ethernet,and the specific robot control software is developed,whose main functions include the host control by PC and the exchange of working jobs,etc.The control center of all plasma spray equipment,Siemens S7-300 PLC,is connected to PC by MPI(Multi-Point Interface).Finally,the open architecture robotic plasma spray forming system is realized,which uses PC as its kernel and integrates process monitoring of spray forming,adaptive adjustment of robot spray trajectories,real time monitoring of robot and other sub-functions.Moreover,the SprayMonitor software for process monitoring is developed.Experimental results show that the intelligent adaptive adjustment of robot spray trajectories and the self-dispatch of manufacturing strategies are realized by the resultant system according to such online measurement results as temperature and thickness of the sprayed coatings.Flexibility of the forming system is promoted by integrating plasma spray forming with robot motion control.