基于KUKA工业机器人的柔性加工系统研发

根据工业机器人作业范围大、柔性好、自由度高等优点,以KUKA工业机器人为平台,研究开发了由工业机器人、加工主轴系统、PC机组成的机器人柔性加工系统。针对机器人KR C4控制系统接口特点,开发了基于PROFIBUS/DP通讯的加工主轴控制系统;设计转接法兰,实现加工主轴与机器人机械本体系统的集成。在PC机上进行数控加工轨迹规划,开发了将标准APT数控代码转换为KRL机器人语言的加工离线编程软件。在机器人手持编程器编程环境下运行离线编程文件,实现了加工参数的可编程化和自动化。通过试样的刻字加工实验,验证了该机器人柔性加工系统的合理性和可行性。

Development of a Flexible Machining System Based on KUKA Industrial Robot

Industrial robots have advantages in large scope operation ,good flexibility and high degree of freedom .Based on the KUKA industrial robot platform ,a flexible machining system is developed which combines robot system ,machining spindle system and PC .According to the characteristics of the robot KR C4 control system interface ,a PROFIBUS/DP‐based machining spindle control system is designed .The machining spindle is connected with robot body through an adapter flange .PC completes CNC trajectory design ,and a machining off‐line programming software is developed ,which can transform APT numeric control code to KRL robot language . The programmability and automation for processing parameters is realized through conducting robot off‐line programming file in handheld programmer .The rationality and feasibility of robotic machining system are verified in a carving experiment .