CN204631569U - A kind of based on HYUNDAI robot flexibility weld car control system - Google Patents
A kind of based on HYUNDAI robot flexibility weld car control system Download PDFInfo
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- CN204631569U CN204631569U CN201420662325.1U CN201420662325U CN204631569U CN 204631569 U CN204631569 U CN 204631569U CN 201420662325 U CN201420662325 U CN 201420662325U CN 204631569 U CN204631569 U CN 204631569U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model relates to and a kind of belongs to automobile manufacturing field based on the HYUNDAI robot flexibility control system that is welded.Object is to provide a kind of robot flexibility welding line electric-control system framework, realizes the automatic control to robot flexibility welding line.Employing is that the PROFIBUS-DP bus redundancy looped network formula of core controls with PLC, consider the semaphore of field apparatus, be specifically divided into six sections of PLC control areas, body platform line is PLCl, main line is divided into PLC2 and PLC3, and logistics conveyer system is PLC4, PLC5 and PLC6; Communication between PLC adopts RPROFIBUSDP/DP coupling mechanism to connect, and byte data, by carrying out internal reproduction at coupling mechanism, exchanges between the DP main website of two networks; By the division of labor of 6 PLC, break the whole up into parts and make control task counter mould, and a part of PLC processing power more than needed, be convenient to the reliability of guarantee system and facilitate later stage Function Extension; Device has friendly man-machine interface, simple to operate, and test is convenient, with low cost.
Description
Technical field
The present invention relates to and a kind of belong to automobile manufacturing field based on the HYUNDAI robot flexibility control system that is welded.
Background technology
Control system is the co-ordination that the core of robot flexibility welding line which control each ingredient of production line.The dirigibility of the technical advance of control system, integrity and Control for Dependability method and validity directly determine automaticity and the production efficiency of production line.
Robot flexibility welding line is made up of whole line control system, supervisory system and security protection system three parts.Whole line control system is used for the control system many employing PROFIBUS-DP fieldbus formation hierarchical control framework of control based on SIEMENSPLC of whole piece automatic assembly line flow process; Supervisory system is used for the monitoring of whole line robot flexibility production procedure; Security protection system is then relatively independent of whole line control system and supervisory system, for the security control of whole production line.
Summary of the invention
The object of the utility model embodiment is to provide a kind of robot flexibility welding line electric-control system framework, realizes the automatic control to robot flexibility welding line.
Described device comprises: welding line power distribution and automatically controlled layout portion, the forceful electric power (380VAC and 220VAC) of whole line body is in tree-shaped distribution, and the source of welding current, each switch board power supply, robot power supply and welding utility appliance power supply are all that branch independently uses power supply like this line inspection can be facilitated can to avoid because node contact is bad or Insulation Problems and cause the generation of power-down conditions without intermediate node from main power supply.In addition cable choose and distribution becomes simple, do not need to increase progressively cross section step by step.To power thought according to whole line classification, according to the forceful electric power power-supply service of the power-supply service Pattern completion whole piece robot flexible welding wiring of base plate line equipment.The signal power source of whole line adopts 24VDC direct current supply to be that the standardization of raising system and modularization adopt the whole line of classification design to adopt three tunnel officials to flow power supply altogether to the direct current supply of welding line to be respectively 24V1DC, 24V2DC, 24V3DC, and this three tunnels official flows power supply and supplies the input signal of base plate line, output signal and safety signal respectively.
Another object of the utility model embodiment is to provide a kind of robot cell's control technology.Described device comprises: robot control system, according to functional requirement dividing system module, is associated in hierarchical mode between module, and every layer of levels that can only be adjacent exchanges information, therefore, is also called the hierarchical structure based on Function Decomposition.Multi-robot system functional hierarchy mainly contains: Ren Bei, decomposition and distribution, sector planning, the management of matchmaking protocol, the execution of task and monitoring (process of the detection and treatment k sensing data of accident, action executing and function.The advantage of hierarchical structure is the function of system and well arranged, is easy to realize.
Multi-robot system compared with unit workstation have greater flexibility to complete complex task that individual machine people cannot complete as the application in vehicle body, automobile door welding, gluing etc.Because multi-robot system can complete different subtasks respectively concurrently, can decomposing for complexity of task, can decompose and carry out to each robot in system simultaneously, therefore greatly can enhance productivity, and avoid redundancy that unit workstation may bring thus make design more perfect.Welding line robot manipulating task is mainly with the artificial working material of machine, build welding line robot control system, multiple actuator is loaded to complete specific works robot end, end effector of robot totally can be divided into welding gear class, Gripper attachment class, labeling equipment class and automatic double surface gluer class to be ensure to realize the flexibility of welding line and many applicabilities of robot on welding line application scenario, and robot control system adopts classification PROFIBUS-DP bus marco to carry out the flexible switching of satisfied different end effector.Field module ET200R compact conformation, for the treatment of digital quantity signal, the robots such as protection also realize by PROFIBUS bus and VALVEUNIT communication the gas circuit action control control-ET200R-H field module of gripping apparatus mainly being realized to STAMPER; BORRISESTAMPER has PROFIBUS-DP interface, can be connected by PROFIBUS with external unit.
By the control strategy using robot to do main website, there is following several advantage:
(1) isolate peripheral hardware and the line body PLC of robot, during on-line debugging, detail programming can have been carried out to robot separately easily, accelerate field adjustable progress;
(2) can debug some external unit of robot separately;
(3) standardization, the modularization programming that realize robot is easy to;
(4) bus connects the reliability of the system that adds, and decreases the probability of wiring error, facilitates fault diagnosis.
Another object of the utility model embodiment is the unit controls design and the modeled programming that provide a kind of robot system.Described device comprises: welding gun controls and module programming part is considered, the welding gun that uses in cost factor domestic robot welding line mostly is pneumatic self-balance robot welding gun, and welding gun is divided into one-way trip and double stroke, single head and double end and the kind such as power frequency and intermediate frequency welding gun.For the application of spot welding, HYUNDAI robot provides the software package of choosing dress, this kit is installed can generates the button and menu applied for spot welding in robot demonstrator, and create USERSPOT and USER_GRP two files in TP (TechnologyPackage) file, they are is the function program that controls for welding gun and gripping apparatus respectively and provides these the two kinds program frames applied.Be made up of 4 functional modules according to the routine package that spot-welding technology requires and guarantee procedure reliability is developed:
(1) welding gun action control module: realize opening greatly of welding gun, action is closed in little open and close, and checks and initialization according to the state of call parameters Butt welding gun monitoring each actuation time;
(2) time-sequence control module is welded: the signal mainly completing robot and welding controller is mutual, the control of welding pressure, welding current and sequential, and welding is reported to the police;
(3) warning and man-machine friendship E module: each abnormality mainly occurred for above-mentioned two kinds of functions carries out warning when there are some frequent faults, provides Y/N to select when needing manual intervention to work as;
(4) debug function module: the function of writing for convenience of debugging.As missing solder DRY_RUN.
The work that gripping apparatus control and module programming part are responsible for part in pickup uses gripping apparatus.Programme in USERGRP file and to be made up of 7 functional modules:
(1) the opening and closing movement control module of gripper: the grouping completing gripper controls, and reserves 1/0 configuration interface of standard, according to the difference of size and complexity, configures different gripping apparatus, realizes the grouping Time-sharing control of gripper;
(2) vacuum occurs, destroys and air blowing control module: 1/0 configuration interface reserving standard, configures different gripping apparatus according to size is different with complexity, thus realize the grouping Time-sharing control of vacuum cup;
(3) workpiece sensing module: the I/O configuration interface reserving standard, in final robot pick-and-place part application program convenient inquiry workpiece presence sensor state and according to Machine Design and technological requirement workpiece presence sensor distributed to different grippers or sucker facilitates monitoring module to monitor the state of workpiece presence sensor;
(4) real-time monitoring module: all gripper states, vacuum state and workpiece sensing state are monitored in real time, the appearance of the fortuitous events such as main defence is died, collision etc., make position on fixture of each state of gripping apparatus and workpiece and state in real time in monitoring, can be realized by two kinds of modes;
(5) warning and human-computer interaction module: the abnormal conditions mainly for above-mentioned various function are reported to the police, and to dangerous manual operations providing Y/N man-machine interaction;
(6) debugging module: dry running DRY_RUN card function is provided;
(7) hand-guided welding gun and gripping apparatus action module: during convenient debugging, Butt welding gun and gripping apparatus carry out various manual control.
Instrument switching control and module programming Some tools handoff functionality, except the control that TOOLCHANGER is correlated with, also have the chain controlling functions between the over cap on rifle and gripping apparatus frame, instrument perception and each instrument.These all functions are by 4 module compositions:
(1) TOOL_CHANGER action control module: mainly control to put instrument, grab instrument, detect the hardware protection that TOOLCHANGER duty also will carry out the instrument of putting on hardware circuit;
(2) instrument interlocking module: by arranging intermediate variable TOOL_ON_ROBOT to interlock, TOOLONROBOT and hardware signal associated tool coding TOOLCODE distinguishing from implementation tool hardware;
(3) action control module of over cap COVER: the opening and closing movement controlling all over caps;
(4) alarm module: the alarm completing abnormal conditions.For the control of other equipment, as coating system, servo torch, laser welding systems is all complete modular programming by setting up corresponding routine package, makes field programming task become relatively simple, the program of writing safety have consistance more.
Work complement mark part, spot welding robot's working cycle will complete a lot of task, often will complete the task of nearly about 10 for one, the complicated station robot that flexibility is high in circulating especially.Our reserved 12 variablees indicate the job schedule of robot, form standardized logical base figure number, process task called after JOB_RDY(according on welding line), in order to and plc communication, PLC obtains these signals in order to control corresponding equipment to coordinate the operation of robot and to differentiate whether robot completes a working cycle smoothly.Such as after robot grip, call JOB_RDY (1), after completing, call JOB_RDY (2), go welding after changing welding gun, call JOB_RDY (3) after having welded, finally return HOME point.Above four kinds of logical interlock signals are all particular importances, have not allowed any mistake.Which kind of therefore, play chess in volatile data area no matter use PLC system all should ensure being perfectly safe of these signals and these signals will be existed in memory variable with power down.First three plant interlocking logic actual write in robot application program due to the most application of the complicacy of technique be mutually nested, interweave, it is arranged side by side that to be not only between a kind of logical internal three logics be also like this.By the flexible Application to these four kinds of logics, the welding line security logic inter lock problem of nearly all complexity can be solved.
Another object of the utility model embodiment is also to provide a kind of whole line traffic control technology.Described device comprises: the control hardware framework of whole line, communicates mutually between the distributed PLC of network control system, and the information interaction processing each subsystem is the important means realizing coordination and cooperation, realize system dynamic operation, complete assignment of mission.Control system is the Automated condtrol realizing robot welding line in order to meet production engineering specifications.Therefore, the design and processes design of control hardware is closely-related.
The utility model is implemented in pot large according to the required electric current of detection for the present situation of current isolating switch checkout equipment, the appearance that the high interocclusal record in time of precision accurately waits is asked, the framework of dual micro processor is adopted at hardware aspect, design high-precision digital AC constant-current source, Current adjustment precision can reach 1%, in addition, every platform pick-up unit can independently detect two isolating switchs simultaneously, substantially increase inspection method efficiency and reliability, and can product real-time data record be carried out, and trial target data can be returned to host computer by RS485 industrial bus, carry out fail-safe analysis, quality is and guided to be the system of awarding.Device has friendly man-machine boundary enzyme, simple to operate, and test is convenient, with low cost.
Accompanying drawing explanation
Fig. 1 is the Control System NetWork structural drawing that the utility model embodiment provides;
Fig. 2 is the station control flow chart that the utility model embodiment provides;
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model and to be not used in restriction the utility model.
Fig. 1 shows and to be welded Control System NetWork structural drawing based on HYUNDAI robot flexibility, and robot flexibility welding line base plate line changes the junction box collection that rifle dish signal all adopts hub to enter modular receive nearest inner cover ET200S interface and the regulator cubicle of load module by rigid line again from rolling a signal, lifter signal and robot.According to power supply thought power-supply service Pattern completion whole line robot flexibility welding line six PLC according to base plate line PLC and the direct supply design of all components and parts equipment of line body of direct supply.Robot flexibility welding line electric-control system layout control system will be divided into multistation workstation from automobile welding lines from logic control angle, employing is that the PROFIBUS-DP bus redundancy looped network formula of core controls with PLC, consider the semaphore of field apparatus, specifically be divided into six sections of PLC control areas, body platform line is PLC1, main line is divided into PLC2 and PLC3, and logistics conveyer system is PLC4, PLC5 and PLC6.Communication between PLC adopts RPROFIBUSDP/DP coupling apparatus to connect, and byte data, by carrying out internal reproduction at coupling mechanism, exchanges between the DP main website of two networks.By the division of labor of 6 PLC, break the whole up into parts and make control task counter mould, and a part of PLC processing power more than needed, be convenient to the reliability of guarantee system and facilitate later stage Function Extension.But the logistics conveyer system of whole line mutually will cooperate and will carry out a large amount of data between an entirety 6 PLC
The l trouble-free operation of the whole line of mutual guarantee processes emergency in time and also facilitates host computer to monitor whole line simultaneously.Demonstration determines that the lotus root conjunction adopting DPCOUPLER with the PROFIBUS fieldbus of Siemens to carry out many PLC is connected by analysis, thus makes 6 PLC websites carry out effective data communication, ensures the smooth and easy operation of whole line.
Fig. 2 is the station control flow chart that the utility model embodiment provides, and realizes station coordination and E lock by detecting respective sensor signals.Base plate line (Underbodyline) is made up of 4 automatic welding stations, 1 artificial welding post and 1 station of reaching the standard grade.Often kind of vehicle completes number of packages amount 7, number of welds totally 257, gluing 3000mm.The controlled device of this line comprises 1 LENZEPICK-UP, the LIFT of 1 UP, the ROLLERCONVEYER of 6 UP, 3 Siemens E as 1ITP270,8 HYUNDAI robots 10 automatic for GRIPPER2 platform STAMPER and 16
WELDINGGUN and 6 WELDTIMER.Visible control object is more, and steering logic is comparatively complicated, and for this reason, we adopt a Siemens S7414PLC as the master controller of base plate line.Main line (Mainline) has 2 prepackages station, 6 automatic welding stations, 2 transition stations and 1 station of reaching the standard grade.Often kind of vehicle completes number of packages amount 10 number of welds totally 1344 gluing 15200mm.The controlled device of this line comprises 2 LENZEPICK-UP, and the ROLLERCONVEYER6 platform Siemens of the LIFT'10 platform UP of 1: the U ￡ 1ITP2704 platform HYUNDAI standard C HA that crouches crouches JCONVEYER16 platform HYUNDAI robot 23 G sun PPER38 WELDINGGUN and 19 WELDINGTIMER.Visible control object is more, and steering logic is comparatively complicated, and we adopt Liang Ge Siemens S7414PLC as the master controller of main line for this reason.
Pipeline 1 (Transportline1) major function is transported to adjustment line (Finishingline) what roll off the production line from vehicle body, the equipment of putting on a suit of armour is the lifter of 2 UP, and 8 are prized (SKID) feed station clearly, control object is less, control task is relatively simple, adopt the master controller of PLC as this line of Siemens 87300 model, this PLC is PLC4.Adjustment line (Finishingline) mainly installs four-door two-lid, and to doing last inspection reparation from vehicle body, is then transported to Painting Shop from the vehicle body line that just can enter to rub, enters subsequent processing.Adjustment line is made up of 15 stations, and control object is less, and control task is relatively simple, and adopt the master controller of PLC as this line of Siemens 87300 model, this PLC is PLC5.The major function of pipeline 2 (Transportline2) is that qualified for final inspection giving friction line from vehicle body and the skid of sky is sent back to base plate line is added new logistics circulation, and has a certain amount of empty sled of pooling feature preservation.Mainly comprise 1 LIFTER and more than 40 sled feed station, control object is less, and control task is relatively simple, and adopt the master controller of PLC as this line of a Siemens S7300 model, this PLC is PLC6.
The foregoing is only preferred embodiment of the present utility model and oneself; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (2)
1. one kind based on HYUNDAI robot flexibility weld car control system, it is characterized in that: adopt with PLC be core PROFIBUS-DP bus redundancy looped network formula control, consider the semaphore of field apparatus, specifically be divided into six sections of PLC control areas, body platform line is PLCl, main line is divided into PLC2 and PLC3, logistics conveyer system is PLC4, PLC5 and PLC6, communication between PLC adopts RPROFIBUSDP/DP coupling apparatus to connect, byte data is by carrying out internal reproduction at coupling apparatus, exchange between the DP main website of two networks, by the division of labor of 6 PLC, break the whole up into parts and make control task counter mould, and a part of PLC processing power more than needed, be convenient to the reliability of guarantee system and facilitate later stage Function Extension.
2. one according to claim 1 is based on HYUNDAI robot flexibility weld car control system, it is characterized in that: each robot station has 2 HA020W robots, robot uses two positioning fixtures to complete 2, solder joint 35, serial number mark 1, these equipment all use field module to control, for discrete 1/0 point, ET200S module is adopted to carry out collect and transmit, robot sub-network mainly contains PS5OOOBOSCHMEDIUMFREQUENCYWELDINGTIMER, in order to welding current, the accurate control of welding pressure parameter and the management to electrode life, the perception of T200S module primary responsibility instrument, the folding that the lid of rifle dish is changed in protection controls, and cooling water switch controls and traffic monitoring, compressed-air actuated monitoring, robot side IP67ET200R-H field module, in order to the communication with 1/0 signal on soldering turret and TOOLCHANGER, ET200R-W field module, in order to 1/0 signal and communication on soldering turret side and soldering turret, robot also realizes the control to gripping apparatus by PROFIBUS bus communication, ET200R-H field module mainly realizes gas circuit action control.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945944A (en) * | 2016-05-18 | 2016-09-21 | 华东理工大学 | Remote real-time monitoring system for welding robot system |
| CN107255994A (en) * | 2017-07-14 | 2017-10-17 | 江苏联峰能源装备有限公司 | A kind of blooming mill system discrete type network control system |
| CN107471230A (en) * | 2017-09-30 | 2017-12-15 | 四川大学 | A kind of intelligent coordinated operation-control system of blade multirobot |
| CN108788429A (en) * | 2017-05-03 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of vehicle side welding and assembling production lines control system |
| CN108927616A (en) * | 2018-08-31 | 2018-12-04 | 长春理工大学 | Robot welding product line region pneumatic welding rod holder power and cooling control system |
| CN109202339A (en) * | 2018-11-30 | 2019-01-15 | 常州伟泰科技股份有限公司 | A kind of method at intelligent management welding procedure scene |
| CN109277708A (en) * | 2017-07-20 | 2019-01-29 | 天津玛特检测设备有限公司 | The projection welding and spot welding of automobile body sheet metal part integrate robot welding system and method |
| CN109676270A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | Vehicle body flexible intelligent production line |
| CN109759750A (en) * | 2018-11-30 | 2019-05-17 | 常州伟泰科技股份有限公司 | A kind of site welding inspection of construction and the method remotely monitored |
| CN114406578A (en) * | 2022-02-14 | 2022-04-29 | 上海众冠智能设备有限公司 | Automobile welding flexible production line based on digital factory and welding method |
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- 2014-11-09 CN CN201420662325.1U patent/CN204631569U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105945944A (en) * | 2016-05-18 | 2016-09-21 | 华东理工大学 | Remote real-time monitoring system for welding robot system |
| CN105945944B (en) * | 2016-05-18 | 2019-10-11 | 华东理工大学 | A kind of remote real-time monitoring system for welding robot system |
| CN108788429A (en) * | 2017-05-03 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of vehicle side welding and assembling production lines control system |
| CN107255994A (en) * | 2017-07-14 | 2017-10-17 | 江苏联峰能源装备有限公司 | A kind of blooming mill system discrete type network control system |
| CN109277708A (en) * | 2017-07-20 | 2019-01-29 | 天津玛特检测设备有限公司 | The projection welding and spot welding of automobile body sheet metal part integrate robot welding system and method |
| CN107471230A (en) * | 2017-09-30 | 2017-12-15 | 四川大学 | A kind of intelligent coordinated operation-control system of blade multirobot |
| CN108927616A (en) * | 2018-08-31 | 2018-12-04 | 长春理工大学 | Robot welding product line region pneumatic welding rod holder power and cooling control system |
| CN109202339A (en) * | 2018-11-30 | 2019-01-15 | 常州伟泰科技股份有限公司 | A kind of method at intelligent management welding procedure scene |
| CN109759750A (en) * | 2018-11-30 | 2019-05-17 | 常州伟泰科技股份有限公司 | A kind of site welding inspection of construction and the method remotely monitored |
| CN109759750B (en) * | 2018-11-30 | 2020-08-11 | 常州伟泰科技股份有限公司 | Method for on-site welding construction inspection and remote monitoring |
| CN109676270A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | Vehicle body flexible intelligent production line |
| CN114406578A (en) * | 2022-02-14 | 2022-04-29 | 上海众冠智能设备有限公司 | Automobile welding flexible production line based on digital factory and welding method |
| CN114406578B (en) * | 2022-02-14 | 2022-11-18 | 上海众冠智能设备有限公司 | Automobile welding flexible production line based on digital factory and welding method |
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