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本文介绍了一种采用伺服电机及变频器的方式实现机器人机械本体的移动行走和工件本身的回转等动作,以替代给六轴机器人配置外部轴的费用昂贵的实现方式。这一替代方式在多个企业的自动喷涂系统中获得了应用。控制系统基于西门子S7-200可编程控制器和WinCC组态软件,上下位通讯采用PROFIBUS-DP,是一个典型的FCS系统。外部轴配置替代方法在结构分布上更趋于合理,并且易于维护,项目费用上也更经济实用,人机界面上更加友好和易于操作。
In this paper, a servo motor and frequency converter are introduced to realize the movement of the robot’s mechanical body and the rotation of the workpiece itself, so as to replace the costly implementation of configuring the external shaft of the six-axis robot. This alternative has been applied in many companies’ automated painting systems. Control system is based on Siemens S7-200 programmable controller and WinCC configuration software, the upper and lower communication using PROFIBUS-DP, is a typical FCS system. The alternative to external shaft configuration tends to be more structurally distributed, easier to maintain, more economical in terms of project costs, more user-friendly and easy to operate on the man-machine interface.