CN110456659A - A kind of emulation design method based on industrial robot loading and unloading work station - Google Patents
A kind of emulation design method based on industrial robot loading and unloading work station Download PDFInfo
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- CN110456659A CN110456659A CN201910675753.5A CN201910675753A CN110456659A CN 110456659 A CN110456659 A CN 110456659A CN 201910675753 A CN201910675753 A CN 201910675753A CN 110456659 A CN110456659 A CN 110456659A
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- industrial robot
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- lathe
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- 238000013461 design Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004088 simulation Methods 0.000 claims abstract description 23
- 238000012360 testing method Methods 0.000 claims description 13
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000011161 development Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The present invention relates to a kind of emulation design methods based on industrial robot loading and unloading work station, and the emulation design method is the following steps are included: S1: establishing lathe and industrial robot model using three-dimensional software, model file is imported into RobotStudio software；S2: control parameter is determined based on the industrial robot model, industrial robot simulation model is determined according to the control parameter；S3: designing the parameter of Smart component according to industrial robot operation logic, carries out Simulation Control to the industrial robot simulation model.The present invention realizes the design of Simulation to industrial robot loading and unloading work station, the foundation of feasibility is provided for the design of industrial robot lathe loading and unloading, the reliability of design scheme is helped to improve using robot simulation technology, shorten the project implementation period, the field adjustable time is reduced, the debugging efforts efficiency of industrial robot is improved.The theoretical foundation of work station design is provided for designer and manager simultaneously, reduces Design of Production Line, the cost of debugging.
Description
Technical field
The present invention relates to work stations to emulate field, more particularly to a kind of imitative based on industrial robot loading and unloading work station
True design method.
Background technique
In the production of modern manufacturing industry, all it be unable to do without lathe and is equipped as processing equipment.Machine industry is manufacturing
Basic industry, and push the backbone industry of the national economic development.Since founding of New, country is to China's machine industry
It just gives and significantly supports.Development of China's machine industry after decades, realizes from scratch, from small to large
Industry size, technology also have significant progress in continuous explore.But lathe loading and unloading work is because repeatability is high, just
Gradually replaced industrial robot.
System emulation can simulate material object before product manufacturing and production line use, thus reasonable disposition production line,
The investment risk of equipment is reduced, the production duration is shortened, production efficiency is improved, avoids unnecessary do over again.Industrial robot is ratio
Equipment costly, it is impossible to be imparted knowledge to students and be trained as industrial robot loading and unloading work station with many true industrial robots
The testing equipment of instruction.Analogue system can provide a convenience and flexible test instrument and means thus, and can be industry
Robot charge work station feasibility provides theoretical foundation and test platform.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of design of Simulation based on industrial robot loading and unloading work station
Method facilitates flexible test instrument to provide for industrial robot loading and unloading work station, while being industrial robot loading and unloading
Work station feasibility provides theoretical foundation.
A kind of technical solution of emulation design method based on industrial robot loading and unloading work station of the invention is:
A kind of emulation design method based on industrial robot loading and unloading work station the following steps are included:
S1: lathe and industrial robot model are established using three-dimensional software, model file is imported into RobotStudio
In software；
S2: control parameter is determined based on the industrial robot model, industrial robot is determined according to the control parameter
Simulation model；
S3: the parameter of Smart component is designed according to industrial robot operation logic, to the industrial robot simulation model
Carry out Simulation Control.
As further improvement to above-mentioned technical proposal, the work station further includes AGV transport vehicle, using three-dimensional software
AGV transport vehicle model is established, model file is imported into RobotStudio software；It is determined based on AGV transport vehicle model
Control parameter determines AGV transport vehicle simulation model according to the control parameter；Smart is designed according to AGV transport vehicle operation logic
The parameter of component carries out Simulation Control to the AGV transport vehicle simulation model.
As further improvement to above-mentioned technical proposal, to the connection between each components in the industrial robot
Relationship is detected, and testing result is obtained；It is closed in the connection that the testing result is each components in industrial robot model
It is to determine the corresponding property parameters of industrial robot model in normal situation.
It is each in the industrial robot model in the testing result as further improvement to above-mentioned technical proposal
Connection relationship between a components is deposited in an exceptional case, is modified to the industrial robot model；After amendment
Industrial robot model in connection relationship between each components detected and corrected operation, until the industrial machine
Connection relationship in device people's model between each components is normal.
As further improvement to above-mentioned technical proposal, there are three the lathe tools, three C-shaped distributions of lathe.
As further improvement to above-mentioned technical proposal, the industrial robot is located at the space that the lathe surrounds
It is interior.
The beneficial effects of the present invention are:
Emulation design method based on industrial robot loading and unloading work station of the invention is realized on industrial robot
The design of Simulation at blanking work station provides the foundation of feasibility for the design of industrial robot lathe loading and unloading, utilizes machine
People's emulation technology helps to improve the reliability of design scheme, shortens the project implementation period, reduces the field adjustable time, improves work
The debugging efforts efficiency of industry robot.The emulation design method based on industrial robot loading and unloading work station can be with actual production
It is synchronous, the theoretical foundation and test platform of the design of industrial robot loading and unloading work station are provided for designer and manager, is reduced
Design of Production Line, the cost of debugging, improve production efficiency.
Detailed description of the invention
Fig. 1 is the flow chart of the emulation design method of the invention based on industrial robot loading and unloading work station；
Fig. 2 is a kind of work of the emulation design method design using of the invention based on industrial robot loading and unloading work station
Make the structural schematic diagram stood；
In figure: the first lathe of 1-；The second lathe of 2-；3- third lathe；4- industrial robot；5-AGV transport vehicle.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
The specific embodiment of emulation design method based on industrial robot loading and unloading work station of the invention, such as Fig. 1 institute
Show, comprising the following steps:
S1: lathe, industrial robot and AGV are established using Solidworks software and transport vehicle model, by model file
It imported into RobotStudio software；
S2: control parameter is determined based on the industrial robot model and AGV transport vehicle model respectively, according to the industry
Robot model's control parameter determines industrial robot simulation model, determines AGV according to AGV transport vehicle model control parameter
Transport vehicle model emulation model；
S3: according to the parameter of industrial robot operation logic and AGV transport vehicle operation logic design Smart component, to institute
It states industrial robot simulation model and AGV transport vehicle simulation model carries out Simulation Control.
In step s 2, the connection relationship between components each in industrial robot is detected, obtains detection knot
Fruit；Testing result be industrial robot model in each components the normal situation of connection relationship under, determine industrial machine
The corresponding property parameters of people's model.In the connection relationship presence that testing result is in industrial robot model between each components
In the case where exception, industrial robot model is modified；To each components in revised industrial robot model it
Between connection relationship detected and corrected operation, the connection relationship between components each in industrial robot model
Normally.
In step s3, as the important component of industrial robot, the motion profile emulation of fixture is most important.Folder
The Smart component of tool is by 5 seed group such as Attacther, Detacher, LineSensor, PoseMover and LogicGate
Part is constituted, and the dynamic effect of completion includes: when clamping: fixture is to open posture first, and two sides clamp workpiece, workpiece toward centre
It is mounted on fixture；When release: when fixture reaches placement location with workpiece, two sides are unclamped toward both sides, and fixture becomes opening
State, workpiece stay in placement location.The function of Attacther sub-component is on one child to Parent of installation；Detacher
The function of sub-component is to remove a mounted object；The function of LineSensor sub-component has been to detect whether any object
Line segment intersection between two o'clock；The function of PoseMove sub-component is moving mechanical equipment to a defined posture；
The function of LogicGat sub-component is the logical not operation for carrying out digital signal.
The fixture course of work is: when industrial robot clamp movement is to take-off location, sensor starts to detect, and works as detection
After contacting to product with fixture, picking action is triggered.When industrial robot motion is to releasing position, release movement is executed, from
And product is installed on machine tooling center.
The Smart component of AGV transport vehicle is by Soure, Quene, LinearMover, PlaneSensor and LogicGate
Deng 5 subassemblies constitute, the dynamic effect of completion includes: when charging: AGV transport vehicle support the pile plate with raw material along track
When being moved to pile plate placement position, pile plate is put down, AGV transport vehicle leaves this work station along track；When discharging: AGV transport vehicle edge
Track come pile plate and place position, support is walked with the pile plate of workpiece processed, leaves work station along track.Source
The function of sub-component is the duplicate for creating workpiece；The function of Queue sub-component is that the duplicate of Source component is placed on team
It is handled together in column；The function of LinearMover sub-component is to move the object in queue along rail linearity；
The function of PlaneSensor sub-component is whether in place to detect trolley；The function of LogicGate sub-component is to carry out digital signal
Logical not operation.
The course of work of the Smart component of AGV transport vehicle is:
Charging stage: control Source duplication AGV transport vehicle enter work station track front end, into queue after along
Track is mobile, until leaving work station；Source duplication pile plate and raw material (position is above AGV transport vehicle) are controlled, into team
It being moved after column along track, movement speed is identical as AGV transport vehicle, when having arrived pile plate placement position, trigger sensor
PlaneSensor picks out queue, mobile to stop；
Discharging stage: control Source duplication AGV transport vehicle enter work station track front end, into queue after along
Track is mobile, until leaving work station；When AGV transport vehicle, which reaches pile plate, places position, meeting trigger sensor PlaneSensor,
Pile plate and workpiece can be moved along track, leave work station, and speed is identical as AGV transport vehicle.
As shown in Fig. 2, using the emulation design method design of the invention based on industrial robot loading and unloading work station
A kind of work station, including the first lathe 1, the second lathe 2, third lathe 3, industrial robot 4 and AVG trolley 5.First lathe 1,
Second lathe 2 and the C-shaped distribution of third lathe 3, industrial robot 4 are located at the first lathe 1, the second lathe 2 and third lathe 3 and enclose
At regional center position.The work-based logic of the work station are as follows: the pile plate for filling blank is delivered to industry by AGV transport vehicle 5
At pile board fixing structure at robot 4, AGV transport vehicle 5 carries out other work after unloading pile plate.Industrial robot 4 is to first
Lathe 1, the second lathe 2 and third lathe 3 distinguish feeding, while the first lathe 1, the second lathe 2 and third lathe 3 being processed
At work-piece pile on pile plate.When whole blanks on pile plate just complete the process and by code on pile plate when, AGV transport
Vehicle 5 is run to pile plate fixed position, and the workpiece filled after processing is carried out, meanwhile, another AGV transport vehicle 5 will fill
The pile plate of full blank is delivered at pile board fixing structure.
Emulation design method based on industrial robot loading and unloading work station of the invention is realized on industrial robot
The design of Simulation at blanking work station provides the foundation of feasibility for the design of industrial robot lathe loading and unloading, utilizes machine
People's emulation technology helps to improve the reliability of design scheme, shortens the project implementation period, reduces the field adjustable time, improves work
The debugging efforts efficiency of industry robot.The emulation design method based on industrial robot loading and unloading work station can be with actual production
It is synchronous, the theoretical foundation and test platform of the design of industrial robot loading and unloading work station are provided for designer and manager, is reduced
Design of Production Line, the cost of debugging, improve production efficiency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of emulation design method based on industrial robot loading and unloading work station, it is characterised in that: the following steps are included:
S1: lathe and industrial robot model are established using three-dimensional software, model file is imported into RobotStudio software
In；
S2: determining control parameter based on the industrial robot model, determines that industrial robot emulates according to the control parameter
Model；
S3: designing the parameter of Smart component according to industrial robot operation logic, carries out to the industrial robot simulation model
Simulation Control.
2. the emulation design method according to claim 1 based on industrial robot loading and unloading work station, it is characterised in that:
The work station further includes AGV transport vehicle, establishes AGV transport vehicle model using three-dimensional software, model file is imported into
In RobotStudio software；Control parameter is determined based on AGV transport vehicle model, determines that AGV is transported according to the control parameter
Defeated vehicle simulation model；The parameter that Smart component is designed according to AGV transport vehicle operation logic, to the AGV transport vehicle simulation model
Carry out Simulation Control.
3. the emulation design method according to claim 1 or 2 based on industrial robot loading and unloading work station, feature exist
In: the connection relationship between each components in the industrial robot is detected, testing result is obtained；In the detection
As a result in the normal situation of connection relationship of each components in industrial robot model, to determine that industrial robot model is corresponding
Property parameters.
4. the emulation design method according to claim 3 based on industrial robot loading and unloading work station, it is characterised in that:
It is deposited in an exceptional case in connection relationship of the testing result between each components in the industrial robot model,
The industrial robot model is modified；Connection between each components in revised industrial robot model is closed
Operation is detected and corrected in system, until the connection relationship in the industrial robot model between each components is normal.
5. the emulation design method according to claim 1 or 2 based on industrial robot loading and unloading work station, feature exist
In: there are three the lathe tools, three C-shaped distributions of lathe.
6. the emulation design method according to claim 5 based on industrial robot loading and unloading work station, it is characterised in that:
The industrial robot is located in the space that the lathe surrounds.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112069613A (en) * | 2020-08-13 | 2020-12-11 | 盐城工学院 | Three-dimensional modeling and motion simulation method for automatic assembly system |
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Application publication date: 20191115 |