冲压自动生产线上下料机器人示教编程方法

针对由多台机器人及多种辅助设备组成的冲压自动生产线编程量大、运动协调关系复杂、联锁信号多的特点 ,介绍一种离线规划与在线示教相结合的冲压机器人示教编程方法 ,对冲压机器人进行运动轨迹、作业内容等方面的示教 ,降低了示教内容的复杂性 ,节省了在线示教所占用的现场调试和生产时间。

A teach  in programming method of press robot for loading and unloading blank pieces in automatic press line is introduced in this paper. According to the character of large amount in program and inter  locking signals, complexity in motion coordination, a combined teach  in method of off  line planning and on  line teach  in is designed to program the motion trajectory and working tasks. It can simplify the teach  in procedure and save up the time in adjusting and manufacturing.

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