自動(dòng)化焊接機(jī)器人螺柱焊工作站，采用PLC總控制方式。主要包括：對(duì)機(jī)器人控制，實(shí)現(xiàn)手動(dòng)、自動(dòng)的操作方式，并保持和機(jī)器人的實(shí)時(shí)通信，在機(jī)器人出現(xiàn)故障時(shí)能及時(shí)反饋信號(hào)并停止后續(xù)操作；與采用的人機(jī)控制界面（觸摸屏）進(jìn)行通信，實(shí)現(xiàn)對(duì)焊接夾具等工裝的控制要求，滿足人工操作和工件的裝夾；

The automatic welding robot screw welder workstation adopts PLC overall control mode. Mainly including: controlling the robot, implementing manual and automatic operation methods, and maintaining real-time communication with the robot, timely feedback signals and stopping subsequent operations when the robot malfunctions; Communicate with the adopted human-machine control interface (touch screen) to achieve control requirements for welding fixtures and other fixtures, and meet the requirements of manual operation and workpiece clamping;

針對(duì)系統(tǒng)單元不同的工作程序，如主程序、夾具子程序及螺柱焊槍導(dǎo)電嘴更換程序（亦可以對(duì)系統(tǒng)功能進(jìn)行擴(kuò)展，實(shí)現(xiàn)其他功能）等，通過(guò)I/O口設(shè)計(jì)不同的信號(hào)，在按下啟動(dòng)按鈕后，PLC將相應(yīng)信號(hào)發(fā)送給機(jī)器人，由其調(diào)用執(zhí)行不同的子程序，實(shí)現(xiàn)相應(yīng)的動(dòng)作。 自動(dòng)化焊接機(jī)器人螺柱焊

For different work programs of system units, such as the main program, fixture subroutine, and screw welding gun conductive nozzle replacement program (which can also be extended to achieve other functions), different signals are designed through I/O ports. After pressing the start button, the PLC sends the corresponding signal to the robot, which calls and executes different subroutines to achieve corresponding actions. Automated welding robot screw welding

考慮到機(jī)器人工作站的要求，PLC主控系統(tǒng)實(shí)現(xiàn)了對(duì)工作站各設(shè)備單元的報(bào)警指示功能，包括控制變壓器電源信號(hào)、機(jī)器人控制柜報(bào)警信號(hào)、弧焊報(bào)警信號(hào)、螺柱焊機(jī)報(bào)警信號(hào)、冷卻水流量、壓縮空氣壓力、圍欄鎖及光柵等，通過(guò)系統(tǒng)控制界面（觸摸屏）和工位狀態(tài)指示燈進(jìn)行顯示。在任何故障情況下，系統(tǒng)會(huì)切斷機(jī)器人伺服供電電源，中斷機(jī)器人運(yùn)行程序，待故障排除之后，重新開(kāi)始工作。

Considering the safety requirements of the robot workstation, the PLC main control system has implemented alarm indication functions for each equipment unit of the workstation, including control transformer power signal, robot control cabinet alarm signal, arc welding alarm signal, screw welding machine alarm signal, cooling water flow rate, compressed air pressure, fence safety lock and safety grating, etc., which are displayed through the system control interface (touch screen) and workstation status indicator lights. In any fault situation, the system will cut off the power supply of the robot servo, interrupt the robot's running program, and resume work after the fault is resolved.

當(dāng)弧焊機(jī)器人運(yùn)行到程序設(shè)定位置時(shí)，會(huì)發(fā)送一個(gè)通知信號(hào)給PLC，PLC確認(rèn)該信號(hào)后，發(fā)指令給螺柱焊機(jī)器人，通知其開(kāi)始運(yùn)行，達(dá)到程序設(shè)定位置時(shí)也會(huì)發(fā)送一個(gè)通知信號(hào)給PLC，等待其確認(rèn)后接收后續(xù)程序執(zhí)行指令，即機(jī)器人運(yùn)行指令均由PLC發(fā)出，確保機(jī)器人運(yùn)行在區(qū)域。

When the arc welding robot runs to the program set position, it will send a notification signal to the PLC. After the PLC confirms the signal, it will send instructions to the screw welding robot to notify it to start running. When it reaches the program set position, it will also send a notification signal to the PLC. After waiting for its confirmation, it will receive subsequent program execution instructions, that is, all robot operation instructions are issued by the PLC to ensure that the robot runs in a safe area.