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font-variant-east-asian: normal; font-stretch: normal; font-size: 16px; font-weight: 400; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2.1 控制系统组成</h3><p>五轴铣削混联机器人控制系统采用 PLC 作为核心控制部件，可以降低对操作人员的危害 [3]。操作人员可以通过触摸屏对五轴铣削混联机器人进行远程控制，主要包括对五轴铣削混联机器人的 3 个电动缸的伸缩运动控制，2 个旋转电动机的旋转控制、电主轴的转速控制，实现对五轴铣削混联机器人的实时控制。五轴铣削混联机器人的控制系统如图 2 所示。</p><p>控制系统主要由 1 个触摸屏、2 个控制器、3 个电动缸、2 个电动机及 1 个电主轴组成。通过上位机将运动控制程序下载到控制器中，触摸屏程序下载到触摸屏中，控制器接收触摸屏发出的指令，收到指令后，控制器根据运动程序发出各种运动控制指令，传输到电动缸和电动机的伺服驱动器，伺服驱动器根据收到的指令控制电动缸、电动机及电主轴的运动。PLC 控制器发出指令使各个电动机安全平稳地运行。电动机、电动缸、减速器的型号如表 1 所示。</p><p><img src="/bethel/upload/images/202608/17872143804221.png" title="17872143804221.png" alt="image.png"/></p><p>表 1 硬件型号</p><p>表格</p><table><thead style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;" class="firstRow"><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">编号</th><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">设备名称</th><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">品牌及型号</th><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">数量</th></tr></thead><tbody style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">1</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">电动机</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">松下 MSMF082L1V2M</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">电动机</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">台达 ECMA‑C11330D4</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">3</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">3</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">减速器</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">住友 D25‑89</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">/</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">4</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">减速器</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">住友 A25‑119</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">/</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">5</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">触摸屏</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">TP‑900Comfort</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">1</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">6</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">PLC</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">ST40</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2</td></tr></tbody></table><h3 style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 16px; font-weight: 400; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2.2 PLC 的 I/O 点分配</h3><p>S7‑200 SMART 是西门子 PLC 系列中的经典产品，具有功能强、扩展性较好、价格低廉的特点 [4]。其中 ST40 模块共有 40 个 I/O 通道，ST40 有 24 个数字量输入通道，16 个数字量输出通道，可同时控制 3 个电动机轴。由于有 3 个电动缸和 2 个电动机，需要 2 台 ST40 对其进行控制。并且要对每台 ST40 的 I/O 点进行分配，第 1 台 ST40 的 I/O 分配主要是对五轴铣削混联机器人的 3 个电动缸进行控制，如表 2 所示。</p><p>表 2 第 1 台 ST40 的 I/O 分配</p><p>表格</p><table><thead style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;" class="firstRow"><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">PLC 地址</th><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">功能</th></tr></thead><tbody style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">I0.0</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">启动按钮</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">I0.1</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">停止按钮</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.0</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 2 支链电动缸脉冲输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.1</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 3 支链电动缸脉冲输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.2</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 2 支链电动缸方向输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.3</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 4 支链电动缸脉冲输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.4</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">运行灯</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.5</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">暂停灯</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.6</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 2 支链电动缸警报清除</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.7</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 3 支链电动缸方向输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q1.0</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 4 支链电动缸方向输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q1.1</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 3 支链电动缸警报清除</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q1.2</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">第 4 支链电动缸警报清除</td></tr></tbody></table><p>第 2 台 ST40 主要用来控制五轴铣削混联机器人中 A、C 轴，对其进行 I/O 点位分配，如表 3 所示。</p><p>表 3 第 2 台 ST40 的 I/O 分配</p><p>表格</p><table><thead style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;" class="firstRow"><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">PLC 地址</th><th style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; text-align: center; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background: none 0% 0% / auto repeat scroll padding-box border-box rgba(0, 0, 0, 0);">功能</th></tr></thead><tbody style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.0</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">C 轴电动机脉冲输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.1</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">A 轴电动机脉冲输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.2</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">C 轴电动机方向输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.4</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">C 轴电动机警报清除</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.5</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">A 轴电动机警报清除</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.6</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">A 轴电动机方向输出</td></tr><tr style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;"><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">Q0.7</td><td style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">电主轴启动</td></tr></tbody></table><h3 style="font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 16px; font-weight: 400; line-height: 24px; flex: 0 1 auto; flex-direction: row; justify-content: normal; align-items: normal; padding: 0px; margin: 0px; background-image: none; background-position: 0% 0%; background-size: auto; background-repeat: repeat; background-attachment: scroll; background-origin: padding-box; background-clip: border-box;">2.3 控制电路设计</h3><p>五轴铣削混联机器人控制电路设计主要包括伺服系统控制回路设计，PLC 输入输出控制回路设计。五轴铣削混联机器人伺服系统中采用 2 套松下伺服驱动器和 3 套台达伺服驱动器。每套伺服驱动器各配备 1 根电源线、1 根编码器线及 1 根抱闸线，与相对应的电动机相连。由于该系统有 5 个伺服系统，需要将五轴铣削混联机器人的伺服电动机、伺服电动缸及对应的伺服驱动器各自连接。伺服系统接线有电动缸伺服系统接线和 A 轴、C 轴伺服系统接线。图 3 为 A 轴、C 轴伺服电动机系统接线，图 4 为伺服电动缸的系统接线。</p><p><img src="/bethel/upload/images/202608/17872143974829.png" title="17872143974829.png" alt="image.png"/></p><p><img src="/bethel/upload/images/202608/17872144077525.png" title="17872144077525.png" alt="image.png"/></p><p>PLC 主要通过 DC24 V 电源给 PLC 供电。PLC 控制器给 5 套伺服驱动器发送脉冲和方向信号，进行伺服电动机和伺服电动缸控制，通过改变 PLC 单位时间发送的脉冲个数和脉冲方向控制电动机转动的速度和方向，完成预定动作 [5]。图 5 为第 2 台 PLC，主要控制五轴铣削混联机器人中的 A 轴、C 轴。图 6 为第 1 台 PLC，主要控制 3 个电动缸。</p><p><img src="/bethel/upload/images/202608/17872144301059.png" title="17872144301059.png" alt="image.png"/></p><p><br/></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E4%BA%94%E8%BD%B4' target='_blank'>五轴</a> <div class="blank30"></div> <!--自动调用自定义字段--> <div class="blank20"></div> <div class="blank30"></div> <!-- 投票 --> <script src="/index.php?case=vote&act=view&aid=3061"></script> <!-- 自定义表单开始 --> <!-- 自定义表单结束 --> <div class="blank60"></div> <!-- 上下页开始 --> <div id="page"> <strong>上一篇</strong><a href="/bethel/5-aix/show-3060.html">铣削五轴混联机器人的结构组成</a> <div class="blank10"></div> <strong>下一篇</strong><a href="/bethel/5-aix/show-3062.html">铣削五轴混联机器人系统软件设计</a> </div> <!-- 上下页结束 --> </div><!-- /container --> <!-- 相关文章开始 --> <div class="blank60"></div> <!-- 页面标题开始 --> <div class="title"> <h3><a><a href='/index.php?case=tag&act=show&tag=%E4%BA%94%E8%BD%B4' target='_blank'>五轴</a> <small>相关内容</small></a></h3> <p></p> <span>——</span> </div> <!-- 页面标题结束 --> <hr class="featurette-divider"> <div class="container list-container"> <!-- 内容列表开始 --> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>21</span> <p>2026-08</p> </div> <h4><a title="水轮机叶片五轴加工试验设计与结果" href="/bethel/5-aix/show-3093.html" target="_blank">水轮机叶片五轴加工试验设计与结果</a></h4> <p>为了验证基于流线场驱动的刀具轨迹规划与考虑机床运动学约束的刀轴矢量平滑策略的有效性，本文设计了基于实体五轴机床的对比切削试验。通过提取切削过程中的物理特征信号与加工后的几何形貌数据，系统评估该技术在复杂水轮机叶片制造中的综合应用性能。1 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list-border-w"> <div class="list-date"> <span>21</span> <p>2026-08</p> </div> <h4><a title="数字孪生技术的精雕SurfMill9.6五轴编程" href="/bethel/5-aix/show-3090.html" target="_blank">数字孪生技术的精雕SurfMill9.6…</a></h4> <p>精雕三维编程软件SurfMill9.6利用数字孪生编程技术，在数控五轴加工过程中建立起了从虚拟到真实的一一映射，即在虚拟环境中搭建起了真实加工的场景。只要虚拟环境中编写的刀具路径是安全的，那么真实的加工过程就是安全的。基于数字孪生技术的五轴编程过程如图2所示。从图2可以看出，虚拟… <a href="/bethel/5-aix/show-3090.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>21</span> <p>2026-08</p> </div> <h4><a title="数字孪生技术五轴编程产生背景" href="/bethel/5-aix/show-3089.html" target="_blank">数字孪生技术五轴编程产生背景</a></h4> <p>数字孪生技术五轴编程产生背景五轴联动数控加工技术是一种比较先进的切削加工技术[1]，在航空航天、复杂模具的加工制造领域有着广泛的应用[2]。工件一次装夹可以完成多个面的加工，特别适合空间形状较为复杂的产品加工，但是这种设备的刀具空间移动轨迹相应较为复杂，很难人为地进行直观判断，这… <a href="/bethel/5-aix/show-3089.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr class="featurette-divider"> <!-- 页面标题开始 --> <div class="title"> <h3 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