打磨机器人系统控制技术研究

发布时间：2018-04-14 20:51

本文选题：工业机器人 + 铸件打磨　；参考：《安徽工程大学》2017年硕士论文

【摘要】：随着国内传统制造产业的转型升级的需求。人口红利减弱的背景下,传统企业的生存的压力不断增大。于此同时,传统制造型企业对机器人应用需求不断提高。现代工业机器人有许多种类型,打磨工业机器人是很多机器人中的一种。用于替代传统人工打磨,主要用于工件的表面打磨、去毛刺、焊缝打磨以及螺孔去毛刺等工作。面向汽车零部件、工业零部件、医疗器材、建材等行业。同时打磨机器人对于工件的打磨也是许多企业面临的技术难点。本文在大量查阅国内外相关文献资料的基础上,深入研究分析,并结合当前企业的实际应用需求和现状,设计了一种打磨机器人控制系统。本文主要从打磨机器人控制系统的整体设计、硬件平台的搭建、软件的控制、仿真分析四个方面出发,对打磨机器人控制系统进行了相关技术研究。本文的主要研究内容如下:(1)打磨机器人控制系统的总体设计设计打磨机器人控制系统,详细介绍了打磨机器人的控制系统组成。分析了打磨铸铁件的工艺要求和打磨机器人的工作原理。(2)打磨机器人控制系统的硬件设计。结合打磨机器人控制系统的体系结构和性能需求,对硬件系统进行分析与设计。主要包括两台ABB和两台EFORT六自由度工业机器人、驱动器、打磨工作台、电主轴、PLC、压力传感器等硬件的设计与选型以及电气图设计。(3)打磨机器人控制系统的软件设计。根据打磨控制系统的功能要求,对打磨控制系统的软件系统进行了设计与实现。包括整个系统的PLC程序的流程和部分子流程的设计,以及西门子PLC程序的编写以及相关调试。(4)打磨机器人系统的仿真分析使用ABB仿真软件RobotStudio6.01建立打磨工作站。配置系统参数,对虚拟示教器的输入输出信号的设置,ABB机器人的离线打磨程序的编写。对打磨轨迹进行分析研究。并进行了正交实验和单因素实验。分析打磨效果并进行实验数据分析。
[Abstract]:Along with the domestic traditional manufacturing industry transformation and upgrading needs.Under the background of the weakening of demographic dividend, the pressure of survival of traditional enterprises is increasing.At the same time, the traditional manufacturing enterprises need more and more robots.There are many types of modern industrial robots. Grinding industrial robots is one of many robots.Used to replace traditional manual grinding, mainly used for surface grinding, deburring, weld grinding and screw-hole deburring and so on.For automotive parts, industrial components, medical equipment, building materials and other industries.At the same time, grinding robot for workpiece grinding is also a technical difficulty faced by many enterprises.On the basis of consulting a large number of related documents at home and abroad, this paper studies and analyzes deeply, and designs a control system of grinding robot according to the actual application demand and present situation of enterprises at present.In this paper, the control system of grinding robot is studied from four aspects: the whole design of grinding robot control system, the construction of hardware platform, the control of software, and the simulation analysis.The main contents of this paper are as follows: (1) the overall design of the control system of the grinding robot the control system of the grinding robot is introduced in detail.The technological requirements of grinding cast iron and the hardware design of the control system of grinding robot are analyzed.The hardware system is analyzed and designed according to the architecture and performance requirements of the grinding robot control system.It mainly includes two ABB and two EFORT six-degree-of-freedom industrial robots, drivers, grinding table, motorized spindle, pressure sensor and other hardware design and selection, as well as electrical diagram design of control system software design of grinding robot.According to the function requirement of grinding control system, the software system of grinding control system is designed and implemented.It includes the design of the PLC program and part of the sub-flow of the whole system, the programming of Siemens PLC program and the related debugging. 4) the simulation analysis of the grinding robot system using the ABB simulation software RobotStudio6.01 to establish the grinding workstation.Configuration of system parameters, setting of input and output signal of virtual teacher and programming of off-line grinding program of ABB robot.The grinding track is analyzed and studied.The orthogonal experiment and single factor experiment were carried out.Analyze the grinding effect and analyze the experimental data.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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