基于现场总线的机器人焊装线控制系统的研究
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摘要
本文描述了国内外焊装线技术的发展现状,并对整个焊装线的布局设计、性能指标、功能设计做了分析,从焊装线的硬件规划、控制网络结构方面对系统平台进行了搭建,使用了基于现场总线技术的分布式I/O控制方案和基于安全总线的安全回路设计方法,简化了控制系统硬件,提高了稳定性,保证了可靠性。论文分析了焊装线常用设备如夹具组、提升机构、锁定销、滚床、变频器、机器人的工作原理及确定了控制功能模块的接口和工作模式,并以地板线工位为例介绍了程序架构和流程控制方法,通过图形化语言组合相应功能模块和配置模块之间的接口变量,完成整线控制系统的编程工作。论文最后分析了焊装线的安全防护设计和措施。
This article describes the development of technology in the welding assembly line at home and abroad, analyses the layout design, performance index, function design in the welding assembly line. In terms of the welding assembly line hardware planning and the structure of control network, this article sets up the system platform, uses the industry distributed I/O control way which based on the field bus technology and the safety loop design method which based on the safety bus, these will simplify the hardware system, enhance the stability and ensure the reliability. This article analyses the working principle of commonly used equipment in welding assembly line such as fixture, lifter, locking pin, roller bed, frequency converter, robot, determines the interfaces and working modes of control module. For an example of the floor line, this article introduces the program structure and process control methods which combine the functional modules and configure the interface variables among modules through graphical language, and completes the programming of assembly line control system. Finally, this article analyses the security design and security measures of the welding assembly line.
This article describes the development of technology in the welding assembly line at home and abroad, analyses the layout design, performance index, function design in the welding assembly line. In terms of the welding assembly line hardware planning and the structure of control network, this article sets up the system platform, uses the industry distributed I/O control way which based on the field bus technology and the safety loop design method which based on the safety bus, these will simplify the hardware system, enhance the stability and ensure the reliability. This article analyses the working principle of commonly used equipment in welding assembly line such as fixture, lifter, locking pin, roller bed, frequency converter, robot, determines the interfaces and working modes of control module. For an example of the floor line, this article introduces the program structure and process control methods which combine the functional modules and configure the interface variables among modules through graphical language, and completes the programming of assembly line control system. Finally, this article analyses the security design and security measures of the welding assembly line.
引文
[1]搜狐网,国务院常务会议通过汽车和钢铁产业调整振兴规划,2009-1-18
[2]搜狐网,汽车下乡对汽车工业发展是个有利契机, 2009-4-2
[3]新民晚报,八部委联手推五大措施促进汽车消费市场,2009-3-3
[4] United Nations Economic Commission for Europe(UNNIECE), International Federation of Robotics(IFR); "World Robotics 2001";United Nations Publications; Geneva 2001
[5]朴用杰等.点焊加工系统多智能体的协调控制[J] .焊接学报,2003,24(5):53-55
[6]卢本.焊接机器人的类型与应用[J].现代焊接,2006,3:19-21
[7]熊有伦.机器人技术基础[M] .武昌:华中科技大学出版社,1996:15-50
[8]卢本.汽车工程焊接机器人应用概述(二)[J] .现代焊接,2005,2:53-55
[9]王健强,杜辉,于澎.机器人点焊工作站在汽车制造中的应用[J].机器人技术与应用,2006,4:28-31
[10]朴用杰等.汽车前梁总成机器人点焊加工单元[J] .电焊机,2003,33(7):20-21
[11] P. Krus, A. Jansson, J.O. Palmberg. "Optimization Using Simulation for Aircraft Hydraulic System Design"[C]. Proceedings of IMECH International Conference on Aircraft Hydraulics and Systems, 1993
[12] T. Chettebi, H.E. Lehtitet, M. Haddad. S.Hanchi. "Minimum cost trajectory planning for industrial robots"[J]. European Journal of Mechanics A/Solids, pp. 703 -715, March 2004.
[13]吴挺,都东,韩赞东等.虚拟制造环境下轿车白车身装焊线建模与仿真研究[J].中国制造业信息化,2003,32(3):73-75
[14]韩立军,朱俊杰.eM-planner系统在焊装车身规划及制造过程中的应用[J].汽车工艺与材料,2007,6:1-4
[15]卢建华.使用WinCC实现过程监控[J].武汉科技大学学报(自然科学版), 2000,23(1):76-79
[16]朱勇,叶华.使用WinCC在机电一体化系统中实现过程监控[J].仪表技术与传感器, 2004,6:19-20
[17]金隼,来新民.在线检测技术在车身焊装生产中的应用[J].汽车技术, 2000,2:26-28
[18]金权东,熊晓萍.汽车焊装线设计的标准化管理[J] .汽车技术,1999,4:27-30
[19] Brian Rooks. Robot welding in shipbuilding[J]. Industrial Robot, 1999, 24(6): 413-417
[20]熊有伦.机器人技术基础[M].武昌:华中科技大学出版社,1996: 15- 50
[21]邹益仁.现场总线控制系统的设计和开发[M].北京:国防工业出版社,2003: 70-80
[22] Denavit J, Hartenberg R S. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices[J]. Journal of Applied Mechanics, 1995, 21( 5) : 215- 221
[23] Paul R P, Shimano B E, Mayer G. Kinematic Control Equations for Simple Manipulators[J]. IEEE Trans. SMC, 1981, 11( 6) : 449- 455
[24]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,1999: 58- 120
[25]万翟,崔丽丽.新型的安全现场总线技术[J].汽车制造业,2000, 3: 48- 50
[26]董砚,孙鹤旭.基于现场总线的工业机器人监控系统研究[J].微计算机信息, 2005, 21(8):87- 89
[27]高龙琴,黄惟一.Profibus-DP在制造单元中的应用[J].制造业自动化, 2004,26( 7): 43- 45
[28]金茂菁,曲忠萍.世纪之交国内外工业机器人发展现状及趋势[J].国内外机电一体化技术, 2001, 2: 12- 14
[29]刘美俊.基于PROFIBUS现场总线的控制系统[J].组合机床与自动化加工技术,2003, 9:79-80
[30]王东云,凌得麟.西门子PROFIBUS—DP现场总线及应用[J].航天控制,2002,4: 69- 73
[31]吴志刚.现场总线技术与应用[J].光电系统, 2004, 2: 48-50
[32]吴玉香,胡跃明.一种基于Profibus的现场总线控制系统[J].计算机应用研究,2003,2:54- 55
[2]搜狐网,汽车下乡对汽车工业发展是个有利契机, 2009-4-2
[3]新民晚报,八部委联手推五大措施促进汽车消费市场,2009-3-3
[4] United Nations Economic Commission for Europe(UNNIECE), International Federation of Robotics(IFR); "World Robotics 2001";United Nations Publications; Geneva 2001
[5]朴用杰等.点焊加工系统多智能体的协调控制[J] .焊接学报,2003,24(5):53-55
[6]卢本.焊接机器人的类型与应用[J].现代焊接,2006,3:19-21
[7]熊有伦.机器人技术基础[M] .武昌:华中科技大学出版社,1996:15-50
[8]卢本.汽车工程焊接机器人应用概述(二)[J] .现代焊接,2005,2:53-55
[9]王健强,杜辉,于澎.机器人点焊工作站在汽车制造中的应用[J].机器人技术与应用,2006,4:28-31
[10]朴用杰等.汽车前梁总成机器人点焊加工单元[J] .电焊机,2003,33(7):20-21
[11] P. Krus, A. Jansson, J.O. Palmberg. "Optimization Using Simulation for Aircraft Hydraulic System Design"[C]. Proceedings of IMECH International Conference on Aircraft Hydraulics and Systems, 1993
[12] T. Chettebi, H.E. Lehtitet, M. Haddad. S.Hanchi. "Minimum cost trajectory planning for industrial robots"[J]. European Journal of Mechanics A/Solids, pp. 703 -715, March 2004.
[13]吴挺,都东,韩赞东等.虚拟制造环境下轿车白车身装焊线建模与仿真研究[J].中国制造业信息化,2003,32(3):73-75
[14]韩立军,朱俊杰.eM-planner系统在焊装车身规划及制造过程中的应用[J].汽车工艺与材料,2007,6:1-4
[15]卢建华.使用WinCC实现过程监控[J].武汉科技大学学报(自然科学版), 2000,23(1):76-79
[16]朱勇,叶华.使用WinCC在机电一体化系统中实现过程监控[J].仪表技术与传感器, 2004,6:19-20
[17]金隼,来新民.在线检测技术在车身焊装生产中的应用[J].汽车技术, 2000,2:26-28
[18]金权东,熊晓萍.汽车焊装线设计的标准化管理[J] .汽车技术,1999,4:27-30
[19] Brian Rooks. Robot welding in shipbuilding[J]. Industrial Robot, 1999, 24(6): 413-417
[20]熊有伦.机器人技术基础[M].武昌:华中科技大学出版社,1996: 15- 50
[21]邹益仁.现场总线控制系统的设计和开发[M].北京:国防工业出版社,2003: 70-80
[22] Denavit J, Hartenberg R S. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices[J]. Journal of Applied Mechanics, 1995, 21( 5) : 215- 221
[23] Paul R P, Shimano B E, Mayer G. Kinematic Control Equations for Simple Manipulators[J]. IEEE Trans. SMC, 1981, 11( 6) : 449- 455
[24]阳宪惠.现场总线技术及其应用[M].北京:清华大学出版社,1999: 58- 120
[25]万翟,崔丽丽.新型的安全现场总线技术[J].汽车制造业,2000, 3: 48- 50
[26]董砚,孙鹤旭.基于现场总线的工业机器人监控系统研究[J].微计算机信息, 2005, 21(8):87- 89
[27]高龙琴,黄惟一.Profibus-DP在制造单元中的应用[J].制造业自动化, 2004,26( 7): 43- 45
[28]金茂菁,曲忠萍.世纪之交国内外工业机器人发展现状及趋势[J].国内外机电一体化技术, 2001, 2: 12- 14
[29]刘美俊.基于PROFIBUS现场总线的控制系统[J].组合机床与自动化加工技术,2003, 9:79-80
[30]王东云,凌得麟.西门子PROFIBUS—DP现场总线及应用[J].航天控制,2002,4: 69- 73
[31]吴志刚.现场总线技术与应用[J].光电系统, 2004, 2: 48-50
[32]吴玉香,胡跃明.一种基于Profibus的现场总线控制系统[J].计算机应用研究,2003,2:54- 55
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