上下料机器人第七轴控制系统设计

Development of Seventh Axis Control System for Loading and Unloading Robot

加工中心智能化上下料系统中工件转序通过机器人第七轴,一台机器人可以协调操作多台数控加工设备上下料。本文给出了机器人外部轴-第7轴硬件配置,着重设计了点动、回参考点、上下料位置控制的梯形图,有效地提高了机器人的利用率,并通过现场应用证明了机器人第7轴控制系统的性能可靠性和高稳定性。

In the Intelligent loading and unloading system of the machining center,workpiece processing conversion through the seventh axis of the robot,and a robot can coordinate the operation of a number of NC machining equipment.In this paper,the hardware configuration of the external axis-seventh axis of the robot is given,and the ladder diagram of jog control,mechanical reference point and position control is emphasized,which effectively improves the utilization rate of the robot,and proves the performance reliability and high stability of the seventh axis control system of the robot by field application.