KUKA工业机器人基础入门与应用案例精析+2

内容简介

本书基于作者多年与KUKA机器人相关的从业经验来编写，全书共7章，主要围绕KUKA机器人的机械、电气、操作、配置软件、编程软件以及应用等方面展开。其中，第1章以机器人系统组成展开，主要讲述了机器人本柜、通线、示教器操作以及机器人相关等内容；第2章以机器人投入运行展开含系统线路连接、回路、数据备份、投入运行设置、零点标定等内容；第3章主要围绕机器人编程展开，内括运动编程以及逻辑信号编程等；第4章介绍基于WorkVisual软件的机器人工程项目配置，如机器人项目的上传与、通线与I/O信号的配置、长文本编辑等；第5章从软件编程角度出发，分别讲述了OrangeEdit软件和WorkVisual软件在编程方面的使用；第6章与第7章分别围绕码垛工作站以及上下料工作站展开，其中涉及I/O配置、坐标系建立、联机表单编程、KRL语言编程、流程分解、程序清单等内容。为便于读者学书课件，请联系296447532获取。
本书适合从事KUKA机器人现场维护、调的工程技术人员，以及高校和职业院校自动化、工业机器人等相关专业的学生学考。

目录

前 言
第1章　KUKA机器人系统 ...............................................................................................................................1
1.1　认识工业机器人 ............................................................................................................................................2
1.2　KUKA工业机器人品种 ................................................................................................................................2
1.3　机器人机械系统构成 ....................................................................................................................................3
1.4　控制柜分类 ....................................................................................................................................................3
1.5　机器人控制系统构成 ....................................................................................................................................4
1.5.1　控制系统操作面板 ..................................................................................................................................4
1.5.2　控制系统元件 ..........................................................................................................................................5
1.5.3　网络系统 ..................................................................................................................................................6
1.5.4　KCB..........................................................................................................................................................7
1.5.5　KSB ..........................................................................................................................................................8
1.5.6　KEB ..........................................................................................................................................................8
1.5.7　KLI ...........................................................................................................................................................9
1.5.8　CCU网络接口.........................................................................................................................................9
1.6　示教器SmartPad介绍 .................................................................................................................................10
1.6.1　SmartPad概览 .......................................................................................................................................10
1.6.2　SmartPad拔插 .......................................................................................................................................12
1.6.3　操作界面介绍 ........................................................................................................................................13
1.6.4　菜单使用 ................................................................................................................................................14
1.6.5　语言切换 ................................................................................................................................................14
1.6.6　更换用户组 ............................................................................................................................................15
1.7　机器人的 ..............................................................................................................................................16
第2章　KUKA机器人投入运行 ....................................................................................................................17
2.1　机器人系统线路连接 ..................................................................................................................................18
2.2　机器人回路连接与屏蔽 ......................................................................................................................21
2.3　机器人机制 ..........................................................................................................................................23
2.3.1　触发停机方式 ........................................................................................................................................23
2.3.2　停机方式 ................................................................................................................................................24
2.3.3　相关装置 ........................................................................................................................................25
2.3.4　附加防护装置 ................................................................................................................................26
2.3.5　运行方式与防能 ............................................................................................................................26
2.4　机器人运行设置 ..........................................................................................................................................26
2.4.1　初次上电设置 ........................................................................................................................................26
2.4.2　投入运行模式 ........................................................................................................................................28
2.5　数据的备份与还原 ......................................................................................................................................29
2.6　机器人运动 ..................................................................................................................................................302.6.1　机器人轴运动 ........................................................................................................................................30
2.6.2　相关坐标系介绍 ....................................................................................................................................33
2.6.3　建立工具坐标系 ....................................................................................................................................35
2.6.4　建立基坐标系 ........................................................................................................................................39
2.6.5　机器人当前位置显示 ............................................................................................................................40
2.6.6　坐标系中移动机器人 ............................................................................................................................41
2.6.7　机器人系统信息提示 ............................................................................................................................43
2.6.8　增量式手动移动 ....................................................................................................................................44
2.7　机器人零点标定 ..........................................................................................................................................45
2.7.1　零点标定的必要 ................................................................................................................................45
2.7.2　电子校准装置 ........................................................................................................................................46
2.7.3　次零点标定 ........................................................................................................................................46
2.7.4　偏量学...............................................................................................................................................47
2.7.5　工具负载数据 ........................................................................................................................................48
第3 章　KUKA 机器人编程基础 ....................................................................................................................51
3.1　程序文件的使用 ..........................................................................................................................................52
3.1.1　创建程序模块 ........................................................................................................................................52
3.1.2　程序模块构成 ........................................................................................................................................54
3.1.3　程序文件编辑 ........................................................................................................................................54
3.2　联机表单方式创建运动指令 ......................................................................................................................54
3.2.1　程序模块的打开 ....................................................................................................................................55
3.2.2　程序模块结构 ........................................................................................................................................55
3.2.3　PTP 运能 ........................................................................................................................................56
3.2.4　LIN 运能 ........................................................................................................................................59
3.2.5　CIRC 运能 .....................................................................................................................................61
3.3　变量的应用 ..................................................................................................................................................63
3.3.1　变量概述 ................................................................................................................................................63
3.3.2　变量声明 ................................................................................................................................................63
3.3.3　变量初始化 ............................................................................................................................................66
3.3.4　变量运算 ................................................................................................................................................67
3.3.5　数组变量 ................................................................................................................................................68
3.3.6　程序错误处理 ........................................................................................................................................69
3.3.7　常用系统变量 ........................................................................................................................................69
3.3.8　变量监视 ................................................................................................................................................71
3.4　联机表单创建逻能 ..............................................................................................................................72
3.4.1　能 ................................................................................................................................................72
3.4.2　简单切能 ........................................................................................................................................72
3.4.3　时间等能 ........................................................................................................................................75
3.4.4　信号等能 ........................................................................................................................................763.4.5　脉冲切能 ........................................................................................................................................78
3.5　KRL 流程控能 .....................................................................................................................................79
3.5.1　无限循环编程 ........................................................................................................................................79
3.5.2　计数循环编程 ........................................................................................................................................81
3.5.3　当型循环编程 ........................................................................................................................................82
3.5.4　直到型循环编程 ....................................................................................................................................83
3.5.5　IF 分支编程 ...........................................................................................................................................83
3.5.6　SWITCH-CASE 分支编程 ....................................................................................................................84
3.5.7　跳转指令编程 ........................................................................................................................................85
3.6　结构化编程 ..................................................................................................................................................86
3.6.1　结构化编程方法 ....................................................................................................................................86
3.6.2　局部子程序 ............................................................................................................................................88
3.6.3　全局子程序 ............................................................................................................................................89
3.7　程序文件执行 ..............................................................................................................................................89
3.7.1　初始化运行 ............................................................................................................................................89
3.7.2　SUBMIT 解释器状态 ............................................................................................................................90
3.7.3　驱动装置状态 ........................................................................................................................................90
3.7.4　程序状态 ................................................................................................................................................91
3.7.5　程序运行方式 ........................................................................................................................................92
3.7.6　程序在T1 方式下运行 .........................................................................................................................92
3.7.7　程序在AUT 方式下运行 ......................................................................................................................93
第4 章　WorkVisual 软件配置机器人 .........................................................................................................95
4.1　WorkVisual 软件介绍 ..................................................................................................................................96
4.2　WorkVisual 软件与控制系统连接 ..............................................................................................................96
4.3　上传项目 ......................................................................................................................................................98
4.4　设备管理 ......................................................................................................................................................99
4.5　编目管理 ....................................................................................................................................................101
4.6　控制系统组件 ............................................................................................................................................102
4.7线结构 ....................................................................................................................................................102
4.8　BECKHOFF I/O 模块配置 ........................................................................................................................104
4.9　机器人输入/ 输出端配置 .........................................................................................................................107
4.10　长文本编辑 ..............................................................................................................................................109
4.11　项目 .................................................................................................................................................. 110
第5 章　KUKA 机器人编程软件使用 ..........................................................................................................111
5.1　OrangeEdit 软件编程 ................................................................................................................................. 112
5.1.1　创建文件 .............................................................................................................................................. 113
5.1.2　运动编程 .............................................................................................................................................. 116
5.1.3　逻辑信号编程 ......................................................................................................................................121
5.1.4　流程控制编程 ....................................................................................................................................1275.1.5　模板的应用 ..........................................................................................................................................132
5.2　WorkVisual 软件编程 ................................................................................................................................138
5.2.1　创建程序模块 ......................................................................................................................................138
5.2.2　运动编程 ..............................................................................................................................................141
5.2.3　逻辑信号编程 ......................................................................................................................................143
5.2.4　流程控制编程 ......................................................................................................................................145
5.2.5　模板的应用 ..........................................................................................................................................146
5.3　KUKA 机器人编程实践 ............................................................................................................................149
5.3.1　基础工作梳理 ......................................................................................................................................149
5.3.2　WorkVisual 在线连接 ..........................................................................................................................150
5.3.3　WorkVisual 在线编辑 ..........................................................................................................................151
第6 章　码垛工作站应用精析 .......................................................................................................................157
6.1　码垛工作站 ................................................................................................................................................158
6.2　系统各部分连接 ........................................................................................................................................160
6.3　系统I/O 模块配置 .....................................................................................................................................161
6.4　机器人输入/ 输出端配置 .........................................................................................................................162
6.5　系统I/O 清单 .............................................................................................................................................162
6.6　坐标系的建立 ............................................................................................................................................163
6.7　相关知识点拓展 ........................................................................................................................................165
6.8　机器人码垛程序框图 ................................................................................................................................166
6.9　传送带控制框图 ........................................................................................................................................167
6.10　码垛动作分解 ..........................................................................................................................................168
6.11　目标点示教 ..............................................................................................................................................168
6.12　程序清单 ..................................................................................................................................................170
第7 章　上下料工作站应用精析 ..................................................................................................................175
7.1　上下料工作站 ............................................................................................................................................176
7.2　系统各部分连接 ........................................................................................................................................179
7.3　系统I/O 模块配置 .....................................................................................................................................179
7.4　机器人输入/ 输出端配置 .........................................................................................................................180
7.5　系统I/O 清单 .............................................................................................................................................180
7.6　坐标系的建立 ............................................................................................................................................181
7.7　机器人上下料程序框图 ............................................................................................................................183
7.8　传送带装置控制框图 ................................................................................................................................185
7.9　上下料动作分解 ........................................................................................................................................185
7.10　示教目标点 ..............................................................................................................................................185
7.11　程序清单 ..................................................................................................................................................187
7.12　本章说明 ..................................................................................................................................................192