视觉控制数控机床机器人上下料PLC编程及研究  

PLC Programming and Research on Visual Control of Loading and Unloading of CNC Machine Tool Robot

作　　者：廖志青 韩伟 魏文锋 刘楚生 LIAO Zhiqing;HAN Wei;WEI Wenfeng;LIU Chusheng(School of Mechanical Engineering,Guangzhou City University of Technology,Guangzhou 510800,China;Guangzhou Numerical Control Equipment Co.,Ltd.,Guangzhou 510700,China)

机构地区：[1]广州城市理工学院机械工程学院,广州510800 [2]广州数控设备有限公司,广州510700

出　　处：《自动化与仪表》2024年第4期69-73,共5页Automation & Instrumentation

基　　金：2022年广东省普通高校特色创新项目(2022KTSCX182)。

摘　　要：针对汽车发动机缸体数控加工自动化上下料的机器人、视觉系统和输送链等设备PLC编程及控制等问题,探究西门子PLC控制器与康耐视相机、FANUC机器人之间的连接控制通信方法。规划设计PROFINET总线网络通信控制系统框架,以及视觉图像通过PROFINET进行传输的方法和参数设置。研究机器人如何根据视觉图像模板,检测在传送带上无序摆放的缸体零件位置偏移数据,调整手爪位置准确抓取零件的方法。通过时序控制方法协调机器人、视觉系统和输送链之间的动作节拍,提高系统运转的定位精准度和可靠性,实现高效高精度的智能化无人操作数控加工。Aiming at the problems of PLC programming and control of robots,vision systems,conveyor chains,and other equipment for automatic loading and unloading of automotive engine cylinder blocks in numerical control machining,the connection control and communication methods between Siemens PLC controllers,Cognex cameras,and FANUC robots were explored.The framework of the PROFINET bus network communication control system,as well as the method and parameter settings for visual image transmission through PROFINET were planned and designed.The method of how the robot can accurately grasp the parts by detecting the displacement data of cylinder body parts placed disorderly on the conveyor belt based on the visual image template and adjusting the position of the gripper was studied.The timing control method was used to coordinate the movement rhythm between the robot,vision system,and conveyor chain,improving the positioning accuracy and reliability of system operation,and achieving efficient and high-precision intelligent unmanned CNC machining.

关 键 词：视觉图像 总线控制 数字孪生 偏移抓取 时序控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]