本文選題：焊接機器人工作站 + 裝填支架　； 參考：《西南交通大學》2017年碩士論文

【摘要】：隨著產(chǎn)品向個性化方向的發(fā)展,產(chǎn)品更新、改型的周期加快,自動化專機設備難以適應小批量、多品種的生產(chǎn)要求,因此,搭建一個具有柔性化與智能化的焊接機器人工作站變得十分必要。裝填支架是由多種組件構(gòu)成的大型結(jié)構(gòu)件,本文針對裝填支架手工焊存在焊接質(zhì)量難以保證、生產(chǎn)效率低、勞動強度大等問題,并結(jié)合其焊接工藝和生產(chǎn)節(jié)拍要求以及焊接機器人兼?zhèn)淙嵝曰⒆詣踊c智能化的特點,提出了基于PLC的焊接機器人工作站方案。為了增加整體柔性,同時為了使焊縫處于合適的焊接位置,設計時還引入了焊接變位機。焊接變位機是機器人工作站的重要輔助設備,也是提高生產(chǎn)效率和焊接質(zhì)量穩(wěn)定性的有效方法之一。由于工件在加工、裝配過程中的尺寸誤差和位置偏差以及焊接工件受熱變形等因素的影響引起焊縫偏離示教軌跡,導致焊接缺陷。為了保證焊接質(zhì)量,需要焊接機器人能夠精確尋位和實時檢測出焊縫偏差,并重新規(guī)劃焊接軌跡,因此,焊縫跟蹤技術(shù)對機器人的焊接至關(guān)重要。以西門子S7-1200型PLC、庫卡機器人設計了焊接機器人工作站的控制系統(tǒng)硬件和軟件,通過西門子觸摸屏完成對機器人相關(guān)動作的控制、站內(nèi)所有設備狀態(tài)顯示及報警;調(diào)用機器人示教程序,實現(xiàn)對裝填支架的自動焊接。經(jīng)多次調(diào)試表明:焊接機器人工作站各部分技術(shù)指標正常,達到了設計要求,可以實現(xiàn)裝填支架高質(zhì)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.
【學位授予單位】：西南交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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