1. Underlying manipulators
As the center of the control system, the applicability of the underlying controller is crucial to the whole system. Its function directly affects the reliability of the control system, the speed of data processing and real-time data collection. The working environment of mobile robots is harsh, and there are many sources of disturbance. Therefore, it is very important to choose a stable and reliable motion controller, which not only satisfies the requirements of the system, but also has excellent scalability and compatibility.
In order to realize the effective control of the peripheral equipment of the robot, the manipulator provides a corresponding device layer control function, which can directly access the hardware register of the control robot to control the operation of the robot, and the control function can make the device driver no longer depend on specific hardware, so the effective control of the robot can be realized through the call interface control function.
2. Electrical system
After selecting the hardware of the wheeled omnidirectional mobile robot control system, the electrical system was designed according to the hardware composition of the mobile robot. The electrical system of mobile robots mainly consists of three parts: the main circuit, the servo drive system circuit and the PLC control system circuit.
The main circuit of the mobile robot control system is controlled by PLC and relay. In other words, a relay consists of a coil and an auxiliary contact. When the coil is energized, its corresponding normally open contact closes and the normally closed contact is disconnected.
3.I/O equipment
The I/O device segment contains the I/O refresh cycle (typically 4ms) and the size of the I/O data image area. The engineering equipment module of the soft PLC programming system is visualized to meet the different requirements of I/O equipment for different robots. The robot primarily uses other signals as the end actuator I/O, which is connected to the connector at the end of the robot arm to ensure its function.
4. PLC program
In the underlying controller, the PTO motion control command of the programming software step7 PROFESSIONAL V12 is used to control the four steering servo motors through position control, so as to control the steering angle of the four wheels. In addition, an extended analog output module is used to output voltage values and operate the four-wheel motors that drive the robot. Excluding hardware factors, the quality of the program directly determines the function of the movement. Therefore, the development of the plan is an important part of the overall design.
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KUKA robots are inspected and maintained twice a week
1. Scrub each axis of the robot.
2. Check the accuracy of TCP.
3. Check the residual level.
4. Check whether the zero position of each axis of the robot is accurate.
5. Clean the filter behind the water tank of the welder.
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Introduction to the KUKA Robot Offset Command
EXAMPLE1:
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; EXAMPLE2:
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The most important thing in welding operations is to ensure the quality of welding.
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The KUKA robot is equipped with a gripper function
1. Move the gripper to an open area, stop all mechanical maintenance operations on the gripper, pay attention to safety!
2. Copy the "Program Pictures and Configuration Files" folder to a USB flash drive and plug it into the control cabinet
3. In SmartPAD...
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1. Before replacing the KVGA, the following preparations must be made:
1. The robot control system must be in a shutdown state and maintained to avoid unauthorized accidental restart.
2. The buffer is turned off.
3. Put the feeder cable in a powerless state.
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The wiring and clarification of the corresponding interface are as follows:
1. X1 connector: power supply interface of control cabinet.
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1. The boot coordinate system is invalid
The world coordinate system is based on the gun head, in this coordinate system, all the actions of the robot are in accordance with the gun head as the vertex to complete the movement, the XYZ direction does not change the direction of the gun, if the robot moves in the world coordinate system, the gun head also changes ...
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The loading and unloading robot connects multiple punches and hydraulic presses together, reducing the investment in continuous stamping dies and high-speed punches, and realizing automatic continuous production with general equipment and molds. The loading and unloading manipulator can be connected with the coil active cutting system; The material can be vacuumed ...
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KUKA robots use subroutine technology for work factors
1. Why do KUKA robots use subroutine skills to work?
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KUKA Robot Teach Pendant KRC4 Troubleshooting
1. Fault phenomenon:
KUKA Robot Teach Pendant KRC4 The screen is out of order, and the mouse arrows do not move when touching the screen, and there is no change in orientation.
2. Causes: There are many reasons for the formation of this phenomenon.
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Gear oil filling for the A1 axis of the KUKA robot
1. Connect the oil pump to the discharge hose.
2. Increasing the required amount of oil through the discharge hose.
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