The makings robot application in numerical control machine tool falls on

1mm5. Drive form: Complete servo drive 6. Paw drive: Pneumatic is dynamoelectric perhaps, differ according to workpiece custom-built, change ungual function automatically 7. Process designing means: Teach programming, AS language process designing 8. Makings storehouse / carry a line: Differ according to workpiece machine of custom-built rectangular coordinates 1. The machine makes limits level journey artificially: 1000mm-20000mm vertical distance: 200mm-3000mm workpiece rotates: ± 180 degrees 2. Traversal speed: Horizontal campaign is the biggest speed: 3000mm/s perpendicular campaign is the biggest speed: 1000mm/s3. Fixed position precision: Horizontal motion repeats precision: ± 0.

1mm perpendicular motion repeats precision: ± 0.

1mm4. Transmission form: Form of horizontal motion drive: Synchronous belt / gear rack is perpendicular athletic drive form: Synchronous belt / gear rack / filar lever 5. Suffer loading capacity: The biggest laden 1000kg6. Motion controls a system: PLC/ motion controls card / CNC7. Paw drive: Pneumatic / dynamoelectric, differ according to workpiece custom-built, change ungual function automatically 8. Makings storehouse / carry a line: According to workpiece the robot of two kinds of forms can finish different and custom-built above very well the fluctuation material that processes work works. Have the characteristic of its oneself. Articulatory type machine tool expects robot work efficiency is tall up and down, behavioral metre is fast, cover an area of a space small, but cost investment is relatively a few higher. Coordinate type machine tool expects robot work efficiency is tall up and down, cover an area of a space relatively a few bigger. But the investment of cost wants a lot of less. The chooses to watch the scene even technology of these two kinds of forms and demand will decide. Requirement of modern treatment craft is efficient quality, the machine tool expects the robot is having the character that accords with this times meaning up and down, it will lead craft of this times treatment qualitative flight. Machining center of a VM600 of company of Nantong machine tool is stemmed from increase work efficiency and the need that reduce staff work intensity, add installed to be able to be finished automatically on, the robot that next makings work. Finish when the robot on after makings, defend the door is shut, workpiece holds clip automatically, after treatment is finished, tool is loosened, defend the door is opened, again by robot discharge. 1.

Hardware requirement is transformed this in, we added the pneumatic tool that can realize automatic outfit to place newly, the pneumatic that be opened automatically and shuts defends the door, output interface through PLC input, what achieve working status with the robot is respondent. To realize a movement reach safety accurately, be like next requirements to the configuration of hardware: (1) pneumatic tool, set clamping apparatus clamp to reach loosen reach the designated position detect switch. (2) pneumatic defends the door, set open the door reach close reach the designated position detect switch. (3) control tool and defend the electromagnetism a powerful person of door movement is two double electronic-controlled electromagnetism a powerful person. 2. If the graph is shown 1 times,machine tool of working logic block diagram and robot complete the control process technological process that arrests treatment and makings, Kui makings jointly. Graph 1 (1) from the graph 1 can see the machine tool defends of the door opening is to be after full treatment end, defend of the door shut also want ability is given out after machine tool and robot are alternant and respondent close a statement, pass real test, add up to of these two time has 4s left and right sides, if use the time with the each axis mobile restoration after the preparative time before good cutting and cutting ably, can the blame cutting time that utmost ground reduces this 4s to control, achieve our work efficiency goal thereby. Through tackling key problem, we discover best settlement when method is machining process swift end namely, by the robot direct control opens the door, finish when the robot again on after makings job, control directly by the robot again close. After altering via this, integral handling time was compressed about 3.

5s. (2) the circumstance that if maintain,can exist sometimes considering the robot or misfires when breakdown, and we hope the machine tool can keep again machine, continuously treatment product, for this we are added in machine tool side installed " robot mode " with " artificial mode " switch knob, should lie " artificial mode " when, park robot buy position to tighten at the same time, defend at this moment of the door, shut control by the machine tool. Come so, can appear defend of the door, shut can control by the machine tool already, also but by robot pilot case (actually, below normal circumstance, be like in front be said to should be in " artificial mode " when, the robot is stopped to tighten by buy condition, the robot is to won't be given out, of the instruction that close the door) , stem from the consideration on safety only, control machine tool defends the electromagnetism a powerful person of door movement, gas movement should design its report: Carry out a movement when electromagnetism a powerful person gets report, after the movement is finished, break phone, cannot let electromagnetism a powerful person be in the condition of long-term electrify namely. Undertaking electronic-controlled when the design, be necessary to explain a bit, because defend of the door close to want to be controlled by the machine tool already, want to be controlled by the robot again, and control order should leave with getting the door, the door shuts reach the designated position signal will end, and install the door on the door to leave, the door shuts reach the designated position detect switch has only each, how to mix for the machine tool does the robot control unit twice to use? And make sure machine tool and robot are respective even the independent character of circuit of power supply of 24VDC direct current source. We designed the control circuit that like the graph 2 ～ graph shows 4 times. Graph 2 note: SQ1, SQ2 is defend the door opens, close reach the designated position detect switch; X0.

0, X0.

1 input signal address for machine tool PLC. Graph 3 note: KA1, KA2 is auxiliary relay; Y0.

0, Y0.

1 output signal address for machine tool PLC. Graph the PLC logic on 4 machine tools is shown 5 times like the graph. Graph 5 note: Alexandrine X0.

0, X0.

1 input signal address for machine tool PLC; Y0.

0, Y0.

1 output signal address for machine tool PLC. (3) discovery is returned to be in when the machine tool when use work of work of executive tool clamp can appear sometimes by accident signal, and machine tool and robot do not know right-down, continue to carry out treatment, build the attaint of didymous tool or cutting tool thereby. We pass careful observation, found a reason finally -- the occurrence as a result of other state, the robot did not set the work that needs treatment on tool actually, when the machine tool carries out tool clamp to command, in the procedure that the clamp crock on tool is prompting the shift that place claw, the tool clamp that can give out an instant reachs the designated position signal, let machine tool and robot mistake had been finished for tool clamp movement. When the PLC of the machine tool control program changed a machine tool to command in executive tool clamp later, only tool clamp signal can give out period of time continuously (like 1s) , just think tool clamp movement is finished normally. CNC Milling