装填支架焊接机器人工作站设计

发布时间：2018-06-30 00:26

本文选题：焊接机器人工作站 + 装填支架　；参考：《西南交通大学》2017年硕士论文

【摘要】：随着产品向个性化方向的发展,产品更新、改型的周期加快,自动化专机设备难以适应小批量、多品种的生产要求,因此,搭建一个具有柔性化与智能化的焊接机器人工作站变得十分必要。装填支架是由多种组件构成的大型结构件,本文针对装填支架手工焊存在焊接质量难以保证、生产效率低、劳动强度大等问题,并结合其焊接工艺和生产节拍要求以及焊接机器人兼备柔性化、自动化与智能化的特点,提出了基于PLC的焊接机器人工作站方案。为了增加整体柔性,同时为了使焊缝处于合适的焊接位置,设计时还引入了焊接变位机。焊接变位机是机器人工作站的重要辅助设备,也是提高生产效率和焊接质量稳定性的有效方法之一。由于工件在加工、装配过程中的尺寸误差和位置偏差以及焊接工件受热变形等因素的影响引起焊缝偏离示教轨迹,导致焊接缺陷。为了保证焊接质量,需要焊接机器人能够精确寻位和实时检测出焊缝偏差,并重新规划焊接轨迹,因此,焊缝跟踪技术对机器人的焊接至关重要。以西门子S7-1200型PLC、库卡机器人设计了焊接机器人工作站的控制系统硬件和软件,通过西门子触摸屏完成对机器人相关动作的控制、站内所有设备状态显示及报警;调用机器人示教程序,实现对装填支架的自动焊接。经多次调试表明:焊接机器人工作站各部分技术指标正常,达到了设计要求,可以实现装填支架高质量、高效率、高精度的焊接。
[Abstract]:With the development of product towards individuation, the cycle of product renewal and modification is quickened, and the equipment of automatic special machine is difficult to adapt to the requirement of small batch and many kinds of production, so, It is necessary to build a flexible and intelligent welding robot workstation. The loading bracket is a large structural part composed of a variety of components. In this paper, the welding quality is difficult to guarantee, the production efficiency is low, the labor intensity is large, and so on. According to the requirements of welding technology and production rhythm, as well as the flexibility, automation and intelligence of welding robot, the workstation scheme of welding robot based on PLC is put forward. In order to increase the overall flexibility and to make the welding seam in a suitable welding position, the welding positioner is also introduced in the design. Welding positioner is an important auxiliary equipment of robot workstation and one of the effective methods to improve production efficiency and welding quality stability. The welding seam deviates from the teaching track due to the influence of the dimension error and position deviation during the machining and assembly process and the thermal deformation of the welded workpiece, which leads to the welding defects. In order to ensure the welding quality, it is necessary for the welding robot to accurately locate the welding seam, detect the welding seam deviation in real time, and replan the welding trajectory. Therefore, the welding seam tracking technology is very important to the robot welding. The control system hardware and software of welding robot workstation are designed with Siemens S7-1200 PLC and Kuka robot. Through Siemens touch screen, the robot is controlled, and all equipments in the station are displayed and alerted. The robot teaching program is called to realize the automatic welding of the loading support. The test results show that the welding robot workstation has normal technical specifications and meets the design requirements. It can realize high quality, high efficiency and high precision welding of the loading support.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】