Research On Robot Control System For Loading And Unloading Of Indexable Insert

In the machinery manufacturing industry, many small companies are still using the traditional manual way of loading and unloading for the CNC lathe. Because the instability of manual operation, so the production efficiency is not optimistic. In order to meet the requirements of high speed、high precision and multitudinous, for the purposes of automated unmanned production and increase productivity, using automation equipment for loading and unloading when the CNC lathe is working is very necessary. Based on the needs of loading and unloading of indexable insert, the paper developed a robot control system for loading and unloading. The paper mainly includes the following contents:The paper researched the structure design of the robot. And according to the mechanical structure design and operating parameters of the robot for loading and unloading of indexable insert, choosing cartesian coordinate robot as the subject of this study from several different types of robots.In order to meet the requirements of the trajectory which is more stable when the robot is working, the paper respectively researched the natural cubic spline interpolation and the cubic b-spline interpolation and then compared their differences. So, the spline curve fitting techniques optimized the loading and unloading path and the trajectory is more soomth.The paper designed the hardware architecture of the Robot for loading and unloading of indexable insert. Delta motion controller DVP10MC11T as the control core of the system which is connected with the delta servo drive, servo motor and IO module.The paper researched the software design of the Robot for loading and unloading of indexable insert which is depended on the CANopen Builder Software. The motion control program can complete the functions of positioning, loading, unloading, and crawling of the robot for loading and unloading. The human-computer interaction interface which is coordinated with the motion control program completed the software functions of the system.