四自由度上下料工业机器人控制系统研究

Control System Research of Industrial Robot With Four Degrees of Freedom for Loading and Unloading Workpieces

在数控加工行业中,要求提高加工精度和加工效率,降低生产成本,从而导致生产线自动化程度的提高,为了最大化地提高数控机床的加工效率,解放劳动力,上下料工业机器人在数控机床加工过程中的应用也越来越广泛。本次开发的控制系统是基于PMAC的四坐标上下料工业机器人的控制系统。系统以PMAC运动控制器+上位机为控制平台。PMAC运动控制器控制各个伺服电机的运动;基于PMAC编写的上位机人机界面用来实时监控状态和完成用户对整个系统的基本控制。功能丰富完整,具有实施价值。

In the numerical control processing industry,more and more demand to improve machi-ning precision and machining efficiency and reduce production costs.This lead to the improvement of automation production line.In order to improve the efficiency of numerical control machine tool pro-cessing and liberate the workforce,loading and un-loading of industrial robots application in CNC ma-chine tool processing is becoming more and more widely.The development of the control system is based on four coordinate with PMAC and industrial robot control system.This system with PMAC mo-tion controller ＋ PC as control platform.PMAC motion controller control the movement of each servo motor.Man machine interface based on with PMAC used to real time monitoring status and complete the user the basic control of the whole system.This have feature rich and com-plete implementation.