卧式数控车床上下料三轴机械手的控制系统设计

针对上下料机械手运动频繁且可靠性要求高的特点,设计了基于三菱PLC的卧式数控车床上下料机械手的电气控制系统硬件和软件。硬件系统包括主控制器、触摸屏、伺服系统、电源系统等,软件系统包括运动控制模块、通讯模块、故障检测模块。为了实现机械手工作状态的在线监测,在实时采集机械手伺服电机编码器位置反馈信号的基础上,提出了基于统计过程监控理论的机械手早期故障检测方法。该卧式数控车床上下料三轴机械手的控制系统,具有机械手早期故障检测功能,可提高机械手的工作可靠性。

Control System Design of Tri-axial Manipulator for NC Horizontal Lathe

With the consideration of the features of the tri-axial up and down laoding manipulator for numercial control ( NC ) horizontal lathe, the programmable logical controller ( PLC)-based electrical control system with hardware and software is designed . The hardware modules of the control system were included of the PLC as main controller , the touch screen, the servo system, and the power system .The software modules were included of the motion control program , the communication program ,and the fault diagnosis program .In order to implement online monitoring the working state of the manipulator , the early fault detection method of the manipula-tor was given based on the theory of statistic process monitoring by the position feedback of photoelectric encoder signal of the servo mo -tor collected on the manipulator in realtime .The control system of manipulator on NC lathe has early fault detection function , which can improve operation reliability of the manipulator .