自動化焊接機器人螺柱焊工作站，采用PLC總控制方式。主要包括：對機器人控制，實現手動、自動的操作方式，并保持和機器人的實時通信，在機器人出現故障時能及時反饋信號并停止后續(xù)操作；與采用的人機控制界面（觸摸屏）進行通信，實現對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電嘴更換程序（亦可以對系統(tǒng)功能進行擴展，實現其他功能）等，通過I/O口設計不同的信號，在按下啟動按鈕后，PLC將相應信號發(fā)送給機器人，由其調用執(zhí)行不同的子程序，實現相應的動作。 自動化焊接機器人螺柱焊

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

考慮到機器人工作站的要求，PLC主控系統(tǒng)實現了對工作站各設備單元的報警指示功能，包括控制變壓器電源信號、機器人控制柜報警信號、弧焊報警信號、螺柱焊機報警信號、冷卻水流量、壓縮空氣壓力、圍欄鎖及光柵等，通過系統(tǒng)控制界面（觸摸屏）和工位狀態(tài)指示燈進行顯示。在任何故障情況下，系統(tǒng)會切斷機器人伺服供電電源，中斷機器人運行程序，待故障排除之后，重新開始工作。

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.

當弧焊機器人運行到程序設定位置時，會發(fā)送一個通知信號給PLC，PLC確認該信號后，發(fā)指令給螺柱焊機器人，通知其開始運行，達到程序設定位置時也會發(fā)送一個通知信號給PLC，等待其確認后接收后續(xù)程序執(zhí)行指令，即機器人運行指令均由PLC發(fā)出，確保機器人運行在區(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.