CN107807614B - Numerical control machine tool machining control system and control method - Google Patents
Numerical control machine tool machining control system and control method Download PDFInfo
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- CN107807614B CN107807614B CN201710968231.5A CN201710968231A CN107807614B CN 107807614 B CN107807614 B CN 107807614B CN 201710968231 A CN201710968231 A CN 201710968231A CN 107807614 B CN107807614 B CN 107807614B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/34013—Servocontroller
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Abstract
The invention relates to the technical field of machining, and discloses a numerical control machine tool machining control system, which comprises: the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction, and the preset machining instruction is used for controlling the numerical control machine tool to machine a workpiece; the manipulator is used for loading and unloading and transferring the workpiece; the connection terminal board is used for connecting the numerical control machine tool and the manipulator, receiving a state signal of the numerical control machine tool or the manipulator and sending the state signal to the main control unit; and the main control unit is used for controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal and the cooperative processing instruction. The invention also provides a numerical control machine tool machining control method which is applied to the system. The invention shortens the construction time of the automatic production line, reduces the construction difficulty of the automatic production line and saves the labor cost of a numerical control machine tool user.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a numerical control machine tool machining control system and a control method.
Background
For improving degree of automation, reducing the labour cost, for the digit control machine tool install the last manipulator of going up material additional, connect into automatic production line through the manipulator with the digit control machine tool, become digit control machine tool user's general demand. Additionally arranging a manipulator for the numerical control machine tool, and modifying a control circuit of the numerical control machine tool to enable the manipulator and the numerical control machine tool to exchange information through a switch signal; and designing the control logic of the manipulator controller, and modifying the PLC program of the numerical control system to enable the manipulator and the numerical control machine tool to work cooperatively to complete workpiece processing.
A user of the numerical control machine tool usually purchases numerical control machine tools of different brands in batches according to production needs and market conditions, and when a manipulator is additionally arranged to form an automatic production line, the numerical control machine tools of the same brand are difficult to use; the existing numerical control machine tool is equipped with a plurality of numerical control system brands from dozens to hundreds, and the instruction system and the development environment of the PLC program of the numerical control machine tool of each brand are self-organized and can not be used universally.
Therefore, when the mechanical arm is additionally arranged on the numerical control machine tools of numerical control systems of different brands of the same production line, the cooperative work between the numerical control machine tools and the mechanical arm can be realized only by using different PLC program instruction systems and development environments for each model of numerical control system, the technical difficulty is high, the requirements on related engineering technicians are high, time and labor are consumed, and meanwhile, the labor cost of a user of the numerical control machine tool is increased invisibly.
Disclosure of Invention
The invention provides a numerical control machine tool machining control system and a system, which are used for solving the problems that when a manipulator is additionally arranged on a numerical control machine tool with a plurality of brands at present, a PLC program of the numerical control machine tool needs to be modified, the technical difficulty is high, and time and labor are consumed.
An embodiment of the present invention provides a machining control system for a numerical control machine tool, including:
the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction, and the preset machining instruction is used for controlling the numerical control machine tool to machine a workpiece;
the manipulator is used for loading and unloading and transferring the workpiece;
the connection terminal board is used for connecting the numerical control machine tool and the manipulator, receiving a state signal of the numerical control machine tool or the manipulator and sending the state signal to the main control unit;
and the main control unit is used for controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal and the cooperative processing instruction.
Furthermore, the number of the numerical control machine tools is a plurality, and each numerical control machine tool is used for finishing a corresponding machining procedure; the manipulator is specifically used for feeding and discharging, and the workpiece is transferred between numerically-controlled machine tools of adjacent machining processes.
Furthermore, the numerical control machine tool machining control system further comprises an I/O terminal board, the main control unit is connected with the I/O terminal board through a serial bus, the I/O terminal board comprises a plurality of expansion interfaces, and each expansion interface is connected with the corresponding numerical control machine tool through an I/O line.
Further, the I/O terminal board and the main control unit are disposed at the manipulator side, and the communication terminal board is disposed at each numerical control machine side.
Further, the main control unit is used for acquiring the state signals of the numerical control machines through the connection terminal board.
Further, the state signal includes a machine tool protective door opening signal, a machine tool protective door closing signal, a machine tool chuck clamping signal, a machine tool chuck loosening signal, a machining operation signal, a machining fault signal or a machining completion signal.
Further, the above-mentioned main control unit specifically is used for according to status signal with collaborative machining instruction, control the digit control machine tool opens/closes the lathe guard gate, presss from both sides tightly/unclamp the lathe chuck, and the main control unit still is used for controlling the manipulator goes up unloading to transport between the digit control machine tool of adjacent manufacturing procedure the work piece.
Further, the main control unit is further configured to send an online/offline signal for controlling the numerical control machine tool to work online/offline with respect to the manipulator.
On the other hand, the embodiment of the invention also provides a numerical control machine tool machining control method, which is applied between the numerical control machine tool and the manipulator, wherein the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction; the numerical control machine tool is connected with the manipulator through a communication terminal board, and the method comprises the following steps:
acquiring a state signal of the numerical control machine tool or the manipulator before processing a workpiece, and controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal of the numerical control machine tool or the manipulator before processing and the cooperative processing instruction so as to finish the feeding work of the workpiece;
controlling the numerical control machine tool to machine the workpiece according to the preset machining instruction;
and acquiring a state signal of the numerical control machine tool or the manipulator after the workpiece is processed, and controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal of the numerical control machine tool or the manipulator after the workpiece is processed and the cooperative processing instruction so as to complete the blanking work of the workpiece.
Further, the state signal of the numerical control machine tool or the manipulator before the workpiece is machined includes: a manipulator feeding position signal, a machine tool chuck clamping signal, a manipulator feeding completion signal or a machine tool protection door closing signal;
the state signal of the numerical control machine tool or the manipulator after the workpiece is processed comprises: a machine tool protective door opening signal, a manipulator blanking in-place signal, a machine tool chuck loosening signal or a manipulator blanking completion signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator before processing a workpiece, controlling the manipulator and the numerical control machine tool to work in a cooperative manner according to the state signal of the numerical control machine tool or the manipulator before processing and the cooperative processing instruction, and finishing the feeding work of the workpiece, and specifically comprises the following steps:
controlling a manipulator to clamp a workpiece to reach a chuck of a numerical control machine tool, and generating a manipulator feeding position signal;
controlling the chuck of the numerical control machine tool to clamp, and generating a clamping signal of the machine tool chuck;
controlling the manipulator to loosen and withdraw from the numerical control machine tool protective door to generate a manipulator feeding completion signal;
controlling the protective door of the numerical control machine tool to be closed to generate a machine tool protective door closing signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator after the workpiece is machined, controlling the manipulator and the numerical control machine tool to work in a cooperative mode according to the state signal of the numerical control machine tool or the manipulator after the workpiece is machined and the cooperative machining instruction, and finishing the blanking work of the workpiece, and specifically comprises the following steps:
controlling a protective door of the numerical control machine tool to be opened to generate a protective door opening signal of the machine tool;
controlling the manipulator to stretch into a protective door of the numerical control machine tool, clamping the workpiece and generating a manipulator blanking in-place signal;
controlling the chuck of the numerical control machine tool to loosen, and generating a chuck loosening signal of the machine tool;
and controlling the mechanical arm to clamp the workpiece to exit from a protective door of the numerical control machine tool.
According to the embodiment of the invention, a PLC program of the numerical control machine tool is not modified, a cooperative processing instruction corresponding to a numerical control system of the numerical control machine tool is added in a preset processing instruction, a contact terminal board is matched to collect a state signal of the numerical control machine tool or the manipulator, and signal logic processing between the numerical control machine tool and the manipulator is completed through the cooperative processing instruction and the state signal, so that the cooperative work of the manipulator and the numerical control machine tool is realized. The cooperative processing instruction of the embodiment of the invention can be preset according to the numerical control system of the numerical control machine tool of each brand, so that the construction time of the automatic production line is shortened, the construction difficulty of the automatic production line is reduced, and the labor cost of a user of the numerical control machine tool is saved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram showing the construction of a numerical control machine tool machining control system according to an embodiment of the present invention;
FIG. 2 is a detailed schematic of the structure of FIG. 1;
FIG. 3 is a detailed structural view of the numerical control machine tool of FIG. 2;
fig. 4 is a flow chart of a numerical control machine tool machining control method according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When embodiments of the present invention refer to the ordinal numbers "first", "second", etc., it should be understood that the words are used for distinguishing between them unless the context clearly dictates otherwise.
Step number "S" in the embodiments of the present invention is an abbreviation of "Step", which is an abbreviation of Step. The sequence of steps in the embodiments of the present invention is exemplary and not intended to limit the logical relationship between the steps.
The number of the 'several' in the embodiment of the present invention is two or more.
The first embodiment:
referring to fig. 1, fig. 2 and fig. 3, an embodiment of the present invention provides a system for controlling a machining process of a numerical control machine, including:
the numerical control machine tool 110 stores a preset machining instruction and a cooperative machining instruction, wherein the preset machining instruction is used for controlling the numerical control machine tool to machine a workpiece;
a robot 120 for loading and unloading and transferring the workpiece;
a connection terminal board 130 for connecting the numerical control machine 110 and the robot 129, receiving a status signal of the numerical control machine 110 or the robot 120, and transmitting the status signal to a main control unit 140;
the main control unit 140 is configured to control the manipulator 120 and the numerical control machine 110 to cooperatively work according to the state signal and the cooperative processing instruction.
Generally, program instructions (preset processing instructions) of a numerical control system of a numerical control machine tool all provide special M codes for IO control, in the embodiment of the present invention, a cooperative processing instruction may be generated by adding an M code instruction row corresponding to the numerical control system to a preset processing instruction, and the cooperative processing instruction and a state signal may be used to control the robot 120 and the numerical control machine tool 110 to cooperatively work.
The number of the numerical control machine tools 110 is several, and each numerical control machine tool 110 is used for finishing a corresponding processing procedure; the robot 120 is specifically configured to load and unload the workpiece and transfer the workpiece between the numerically controlled machine tools 110 of adjacent machining processes.
In this embodiment, the robot 120 may adopt a truss robot, the truss robot transfers the workpiece from the numerically controlled machine tool of the previous process to the machine tool of the next process for machining, and the truss robot is controlled by the main control unit 140 in the whole process, so that the numerically controlled machine tools of the numerically controlled systems of multiple brands form an automatic assembly line.
When a plurality of present digit control machine tools use a manipulator to go up unloading, adopt parallel connection between the numerical control system of each digit control machine tool and the manipulator, walk the line complicacy, be not convenient for installation and debugging and troubleshooting.
In order to overcome the technical defects, the machine tool processing control system according to the embodiment of the present invention further includes an I/O terminal board 150, the main control unit 140 is connected to the I/O terminal board 150 through a serial bus, the I/O terminal board 150 includes a plurality of expansion interfaces 160, and each expansion interface 160 is connected to the corresponding numerical control machine 110 through an I/O line.
In this embodiment, the I/O terminal board 150 and the main control unit 140 are disposed at the manipulator side, the communication terminal board 130 is disposed at each of the numerically controlled machine tool 110 sides, and each expansion interface 160 is connected to the communication terminal board 150 of the corresponding numerically controlled machine tool 110.
Through adopting I/O terminal board 150 and liaison terminal board 130 for can adopt serial connection between the numerical control system of each digit control machine tool 110 and manipulator 120, the wiring is simpler, has made things convenient for installation debugging and troubleshooting.
In this embodiment, the main control unit 140 is configured to obtain the status signal of each numerical control machine 110 through the connection terminal board 130. The state signals comprise machine tool protective door opening signals, machine tool protective door closing signals, machine tool chuck clamping signals, machine tool chuck loosening signals, machining operation signals, machining fault signals or machining completion signals. The various status signals correspond to the current status of the numerical control machine tool 110.
In this embodiment, the main control unit 140 is configured to control the cnc machine 110 to open/close the machine protection door and clamp/loosen the machine chuck according to the cooperative processing instruction, and the main control unit 140 is further configured to obtain the current state of the cnc machine 110 according to the state signal, and correspondingly control the robot 120 to load and unload materials or transfer the workpiece between the cnc machines 110 in adjacent processing procedures according to the current state of the cnc machine 110.
As a further improvement to the embodiment of the present invention, the main control unit 140 is further configured to send an online/offline signal for controlling the online/offline operation of the numerical control machine 110 with respect to the robot 120. When the numerical control machine tool 110 and the manipulator 120 are in an online state, both participate in the automatic assembly line operation and are controlled by the main control unit 140; when the numerically controlled machine tool 110 is in an offline (off-line) state, the workpiece is processed, but the robot 120 does not perform the loading and unloading operation and the operation of transferring the workpiece, which can be performed manually. The embodiment of the invention can realize convenient conversion of the numerical control machine tool processing control system between full-automatic and semi-automatic processing operation by adding the online/offline signal in the main control unit 140 so as to meet various requirements of numerical control machine tool users.
According to the embodiment of the invention, a PLC program of the numerical control machine tool is not modified, a cooperative processing instruction corresponding to a numerical control system of the numerical control machine tool is added in a preset processing instruction, a contact terminal board is matched to collect a state signal of the numerical control machine tool or the manipulator, and signal logic processing between the numerical control machine tool and the manipulator is completed through the cooperative processing instruction and the state signal, so that the cooperative work of the manipulator and the numerical control machine tool is realized. The cooperative processing instruction of the embodiment of the invention can be preset according to the numerical control system of the numerical control machine tool of each brand, so that the construction time of the automatic production line is shortened, the construction difficulty of the automatic production line is reduced, and the labor cost of a user of the numerical control machine tool is saved.
Second embodiment:
referring to fig. 4, an embodiment of the present invention further provides a method for controlling machining of a numerical control machine tool, which is applied between the numerical control machine tool and a manipulator, where the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction; the numerical control machine tool is connected with the manipulator through a communication terminal board, and the method comprises the following steps:
s101, state signals of the numerical control machine tool or the mechanical arm before the workpiece is machined are obtained, and the mechanical arm and the numerical control machine tool are controlled to work cooperatively according to the state signals of the numerical control machine tool or the mechanical arm before the workpiece is machined and the cooperative machining instruction, so that the workpiece is fed.
And S102, controlling the numerical control machine tool to machine the workpiece according to the preset machining instruction.
S103, acquiring the state signal of the numerical control machine tool or the manipulator after the workpiece is machined, and controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal of the numerical control machine tool or the manipulator after the workpiece is machined and the cooperative machining instruction so as to complete the blanking work of the workpiece.
The main implementation body of the embodiment of the invention can be the main control unit in the embodiment, the state signal is generated and acquired instantly, and the main control unit judges the current state of the numerical control machine tool or the manipulator according to the state signal and controls the manipulator and the numerical control machine tool to work cooperatively.
It should be noted that, after step S103, a transfer step may be further included in which the main control unit controls the manipulator to complete.
The state signal of the numerical control machine tool or the manipulator before the workpiece is machined comprises: a manipulator feeding position signal, a machine tool chuck clamping signal, a manipulator feeding completion signal or a machine tool protection door closing signal;
the state signal of the numerical control machine tool or the manipulator after the workpiece is processed comprises: a machine tool protective door opening signal, a manipulator blanking in-place signal, a machine tool chuck loosening signal or a manipulator blanking completion signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator before processing a workpiece, controlling the manipulator and the numerical control machine tool to work in a cooperative manner according to the state signal of the numerical control machine tool or the manipulator before processing and the cooperative processing instruction, and finishing the feeding work of the workpiece, and specifically comprises the following steps:
controlling a manipulator to clamp a workpiece to reach a chuck of a numerical control machine tool, and generating a manipulator feeding position signal;
controlling the chuck of the numerical control machine tool to clamp, and generating a clamping signal of the machine tool chuck;
controlling the manipulator to loosen and withdraw from the numerical control machine tool protective door to generate a manipulator feeding completion signal;
controlling the protective door of the numerical control machine tool to be closed to generate a machine tool protective door closing signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator after the workpiece is machined, controlling the manipulator and the numerical control machine tool to work in a cooperative mode according to the state signal of the numerical control machine tool or the manipulator after the workpiece is machined and the cooperative machining instruction, and finishing the blanking work of the workpiece, and specifically comprises the following steps:
controlling a protective door of the numerical control machine tool to be opened to generate a protective door opening signal of the machine tool;
controlling the manipulator to stretch into a protective door of the numerical control machine tool, clamping the workpiece and generating a manipulator blanking in-place signal;
controlling the chuck of the numerical control machine tool to loosen, and generating a chuck loosening signal of the machine tool;
and controlling the mechanical arm to clamp the workpiece to exit from a protective door of the numerical control machine tool.
According to the embodiment of the invention, a PLC program of the numerical control machine tool is not modified, a cooperative processing instruction corresponding to a numerical control system of the numerical control machine tool is added in a preset processing instruction, a contact terminal board is matched to collect a state signal of the numerical control machine tool or the manipulator, and signal logic processing between the numerical control machine tool and the manipulator is completed through the cooperative processing instruction and the state signal, so that the cooperative work of the manipulator and the numerical control machine tool is realized. The cooperative processing instruction of the embodiment of the invention can be preset according to the numerical control system of the numerical control machine tool of each brand, so that the construction time of the automatic production line is shortened, the construction difficulty of the automatic production line is reduced, and the labor cost of a user of the numerical control machine tool is saved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A numerical control machine tool machining control system, comprising:
the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction, and the preset machining instruction is used for controlling the numerical control machine tool to machine a workpiece;
the manipulator is used for loading and unloading and transferring the workpiece;
the connection terminal board is used for connecting the numerical control machine tool and the manipulator, receiving a state signal of the numerical control machine tool or the manipulator and sending the state signal to the main control unit;
the main control unit is used for controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal and the cooperative processing instruction;
the number of the numerical control machine tools is a plurality, and each numerical control machine tool is used for finishing a corresponding machining procedure; the manipulator is specifically used for feeding and discharging, and transferring the workpiece between numerically-controlled machine tools of adjacent machining processes;
the main control unit is connected with the I/O terminal board through a serial bus, the I/O terminal board comprises a plurality of expansion interfaces, and each expansion interface is connected with a corresponding numerical control machine through an I/O line;
the I/O terminal board and the main control unit are arranged on the manipulator side, and the communication terminal board is arranged on each numerical control machine side;
the main control unit is used for acquiring the state signals of the numerical control machines through the connection terminal board, and the numerical control systems of the numerical control machines are connected with the manipulator in series.
2. The numerical control machine tool machining control system of claim 1, wherein the status signal comprises a machine tool guard door open signal, a machine tool guard door closed signal, a machine tool chuck clamping signal, a machine tool chuck loosening signal, a machine run signal, a machine fault signal, or a machine complete signal.
3. The nc machining control system of claim 2, wherein the main control unit is specifically configured to control the nc machine to open/close a machine tool guard door and clamp/unclamp a machine tool chuck according to the status signal and the cooperative machining instruction, and the main control unit is further configured to control the robot to load/unload and transfer the workpiece between the nc machine tools of adjacent machining processes.
4. The NC machine tool machining control system of claim 3, wherein the main control unit is further adapted to send an on/off line signal for controlling the NC machine tool to operate on/off line with respect to the robot.
5. A numerical control machine tool machining control method is characterized by being applied between a numerical control machine tool and a manipulator, wherein the numerical control machine tool stores a preset machining instruction and a cooperative machining instruction; the numerical control machine tool is connected with the manipulator through a connection terminal board, and a numerical control system of each numerical control machine tool is connected with the manipulator in series, wherein the method comprises the following steps:
acquiring a state signal of the numerical control machine tool or the manipulator before processing a workpiece, and controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal of the numerical control machine tool or the manipulator before processing and the cooperative processing instruction so as to finish the feeding work of the workpiece;
controlling the numerical control machine tool to machine the workpiece according to the preset machining instruction;
acquiring a state signal of the numerical control machine tool or the manipulator after the workpiece is machined, and controlling the manipulator and the numerical control machine tool to work cooperatively according to the state signal of the numerical control machine tool or the manipulator after the workpiece is machined and the cooperative machining instruction to finish the blanking work of the workpiece;
the state signal of the numerical control machine tool or the manipulator before the workpiece is processed comprises: a manipulator feeding position signal, a machine tool chuck clamping signal, a manipulator feeding completion signal or a machine tool protection door closing signal;
the state signal of the numerical control machine tool or the manipulator after the workpiece is processed comprises: a machine tool protective door opening signal, a manipulator blanking in-place signal, a machine tool chuck loosening signal or a manipulator blanking completion signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator before processing a workpiece, controlling the manipulator and the numerical control machine tool to work in a cooperative manner according to the state signal of the numerical control machine tool or the manipulator before processing and the cooperative processing instruction, and finishing the feeding work of the workpiece, and specifically comprises the following steps:
controlling a manipulator to clamp a workpiece to reach a chuck of a numerical control machine tool, and generating a manipulator feeding position signal;
controlling the chuck of the numerical control machine tool to clamp, and generating a clamping signal of the machine tool chuck;
controlling the manipulator to loosen and withdraw from the numerical control machine tool protective door to generate a manipulator feeding completion signal;
controlling the protective door of the numerical control machine tool to be closed to generate a machine tool protective door closing signal;
the method comprises the steps of acquiring a state signal of the numerical control machine tool or the manipulator after the workpiece is machined, controlling the manipulator and the numerical control machine tool to work in a cooperative mode according to the state signal of the numerical control machine tool or the manipulator after the workpiece is machined and the cooperative machining instruction, and finishing the blanking work of the workpiece, and specifically comprises the following steps:
controlling a protective door of the numerical control machine tool to be opened to generate a protective door opening signal of the machine tool;
controlling the manipulator to stretch into a protective door of the numerical control machine tool, clamping the workpiece and generating a manipulator blanking in-place signal;
controlling the chuck of the numerical control machine tool to loosen, and generating a chuck loosening signal of the machine tool;
and controlling the mechanical arm to clamp the workpiece to exit from a protective door of the numerical control machine tool.
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| CN112356037B (en) * | 2020-11-23 | 2022-03-29 | 江西联创光电超导应用有限公司 | Method and controller for induction heating of conductor bar based on manipulator |
| CN114397860A (en) * | 2021-12-10 | 2022-04-26 | 无锡中车时代智能装备有限公司 | Machine tool remote control method and equipment for rotor copper bar machining |
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| CN105945635A (en) * | 2016-06-16 | 2016-09-21 | 苏州红松江精密机械设备有限公司 | Machine tool loading unloading mechanical hand, multi-machine tool linked loading unloading system and method |
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