壓鑄取件作業(yè)工業(yè)機(jī)器人離線編程與虛擬仿真

大 連 民 族 大 學(xué) 機(jī) 械 專(zhuān) 業(yè) 綜 合 課 程 設(shè) 計(jì) 說(shuō) 明 書(shū)壓鑄取件作業(yè)工業(yè)機(jī)器人離線編程與虛擬仿真學(xué) 院（系）： 機(jī)電工程學(xué)院 專(zhuān) 業(yè)： 機(jī)械設(shè)計(jì)制造及其自動(dòng)化學(xué) 生 姓 名： 伊萬(wàn)新 學(xué) 號(hào)： 2013022427 指 導(dǎo) 教 師： 馮長(zhǎng)健 完 成 日 期： 20161226 大連民族大學(xué)目 錄1、壓鑄取件作業(yè)機(jī)器人工作站構(gòu)成12、機(jī)器人I/O通信設(shè)置11、配置I/O單元22、配置I/O信號(hào)23、 配置系統(tǒng)輸入/輸出43、創(chuàng)建工具數(shù)據(jù)44、 創(chuàng)建工件坐標(biāo)系51、創(chuàng)建工件坐標(biāo)系數(shù)據(jù)52、創(chuàng)建載荷數(shù)據(jù)73、 導(dǎo)入程序模板74、 程序注解75、示教目標(biāo)點(diǎn)91、壓鑄取件作業(yè)機(jī)器人工作站構(gòu)成本作站以機(jī)器人壓鑄取件為例，工業(yè)機(jī)器人從壓鑄機(jī)將壓鑄完成的工件取出進(jìn)行工件完好性檢查，然后放置在冷卻臺(tái)上進(jìn)行冷卻，冷卻后放到輸出傳送帶上或放置到廢料箱里。壓鑄取件機(jī)器人工作臺(tái)布局如圖1.1所示圖1.1 壓鑄取件機(jī)器人工作2、機(jī)器人I/O通信設(shè)置為了滿足與壓鑄機(jī)大量的I/O信號(hào)通信，可以使用ABB標(biāo)準(zhǔn)的Profibus-DP適配器，下掛在Profibus現(xiàn)場(chǎng)總線下的標(biāo)準(zhǔn)I/O單元類(lèi)型為DP-Slave，最多可支持64B輸入和64B輸出。定義Profibus-DP的I/O單元至少需要設(shè)置一下四項(xiàng)參數(shù)：表2.11、配置I/O單元 在虛擬示教器中，根據(jù)以下的參數(shù)配置I/O單元。NameType of unitConnected To busDeviceNet addresspBoard11DP_SLAVE_FAProfibus_FA111表2.22、配置I/O信號(hào) 在虛擬示教器中，根據(jù)以下的參數(shù)配置I/O信號(hào)。表2.33、 配置系統(tǒng)輸入/輸出表2.43、創(chuàng)建工具數(shù)據(jù)在虛擬示教器中，根據(jù)以下的參數(shù)設(shè)定工具數(shù)據(jù)tGripper。工具數(shù)據(jù)tGripper各項(xiàng)參數(shù)如下：參數(shù)名稱(chēng)參數(shù)數(shù)值RobotholdTRUETransX179.2Y-62.8Z676Rotq11q20q30q40mass15cogX0Y0Z400其余參數(shù)均為默認(rèn)值4、 創(chuàng)建工件坐標(biāo)系1、創(chuàng)建工件坐標(biāo)系數(shù)據(jù)在本工作站中，工件坐標(biāo)系有兩個(gè)，一個(gè)是壓鑄機(jī)的工作坐標(biāo)系wobjDCM，另一個(gè)是檢測(cè)裝置的工作坐標(biāo)系wobCool。本工作站中，工件坐標(biāo)系均采用用戶三點(diǎn)法創(chuàng)建。在虛擬示教器中，根據(jù)圖1.2、圖1.3所示位置設(shè)定工件坐標(biāo)。圖1.2圖1.382、創(chuàng)建載荷數(shù)據(jù)載荷數(shù)據(jù)LoadPart各項(xiàng)參數(shù)如下：參數(shù)名稱(chēng)參數(shù)數(shù)值Mass5CogX50Y0Z150其余數(shù)值均為默認(rèn)3、 導(dǎo)入程序模板在之前創(chuàng)建的備份文件中包含了本工作站的程序模板，可以將其直接導(dǎo)入該機(jī)器人系統(tǒng)中，之后在其基礎(chǔ)上做相應(yīng)修改，并重新示教目標(biāo)點(diǎn)，完成程序編寫(xiě)過(guò)程。4、 程序注解CONST speeddata vFast:=1800,200,5000,1000;CONST speeddata vLow:=8000,100,5000,1000;PERS num nPickOff_X:=0;PERS num nPickOff_Y:=0;PERS num nPickOff_Z:=200;VAR bool bEjectKo:=FALSE;PERS robtarget pPosOK:=250.269,-114.084,90.8913,0.512234,0.497181,0.473399,-0.516063,-2,-1,-1,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PERS num nErrPickPartNo:=0;VAR bool bDieOpenKO:=FALSE;VAR bool bPartOK:=FALSE;PERS num nCTime:=20.972;VAR num nRelPartNo:=1;PERS num nCoolOffs_Z:=200;VAR bool bFullOfCool:=FALSE;PERS bool bCool1PosEmpty:=FALSE;PERS bool bCool2PosEmpty:=FALSE;PERS bool bCool3PosEmpty:=FALSE;PERS bool bCool4PosEmpty:=FALSE;PERS tooldata tGripper:=TRUE,179.120678011,-62.809528063,676,1,0,0,0,15,0,0,400,1,0,0,0,0,0,0;TASK PERS wobjdata wobjDCM:=FALSE,TRUE,0,0,0,1,0,0,0,-308.662234013,-1631.501618476,1017.285148616,0.707106781,0,0.707106781,0;TASK PERS wobjdata wobjCool:=FALSE,TRUE,1352.299998099,1342.748724261,1000,1,0,0,0,0,0,0,1,0,0,0;CONST robtarget pWaitDCM:=363.271843642,775.682976655,131.654771915,0.692753734,0.135233089,0.688267859,-0.167605577,-2,-2,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pPickDCM:=250.269312959,-114.083887662,90.891092311,0.512233847,0.497181122,0.473399181,-0.516062625,-2,-1,-1,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pHome:=309.255608104,1511.670917954,1165.257460666,0.592214035,-0.440078101,0.376552635,-0.560198104,-1,-2,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pPartCheck:=-171.652051037,-737.574027743,468.168521378,0.701868271,-0.020784671,0.712000437,0.002075084,0,-1,0,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelPart1:=-249.936787289,-35.537358372,115.066954193,0.506064708,-0.506729912,0.482576145,0.504225716,0,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelPart2:=-1069.116434473,-29.765794459,124.564800542,0.503010468,-0.50990052,0.485758769,0.501019309,0,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelPart3:=-896.806913336,-511.146776415,-286.764492689,0.505651488,-0.507161439,0.483008924,0.503791849,0,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelPart4:=-236.714507131,-536.90763484,-282.088774622,0.504522446,-0.508336069,0.484188144,0.50260659,-1,-2,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelCNV:=-1635.680769575,-264.873338752,-110.176859052,0.010165395,0.701881937,-0.00702991,-0.712186065,0,-2,0,1,9E9,9E9,9E9,9E9,9E9,9E9; PERS pos PosExtRobSafe1:=-600,-1300,1450; PERS pos PosExtRobSafe2:=580,-2700,7;VAR shapedata shExtRobSafe;PERS wzstationary wzExtRobSafe:=1;CONST robtarget pWaitDCM10:=1174.58,-6.95,1557.78,0.638375,-0.0820886,0.762059,-0.070745,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR bool bErrorPickPart:=FALSE;TASK PERS loaddata LoadPart:=5,50,0,150,1,0,0,0,0,0,0;CONST robtarget pPickDCM10:=1174.58,-6.95,1557.78,0.638375,-0.0820886,0.762059,-0.070745,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pMoveOutDie:=337.109921171,746.132828813,128.173761254,0.683704858,0.165160382,0.683234825,-0.196111929,-2,-2,0,1,9E9,9E9,9E9,9E9,9E9,9E9;CONST robtarget pRelDaPart:=337.109921171,746.132828813,128.173761254,0.683704858,0.165160382,0.6