Description
hardware flow control. It is an ideal choice in the field of industrial automation.
Design of ABB industrial robot deburring and grinding workstation based on RobotStudio simulation software
introduction
As an official offline programming software for ABB robots, Robotstudio not only has powerful simulation and offline programming functions, but also has automatic path generation
function and simulation monitoring collision function. It can realize the simulation of robots in real scenes, so as to timely update existing robot programs. optimize. On-site teaching
programming will affect normal production activities on site.
The application of Robotstudio software offline programming can reduce on-site teaching and programming time.
As a traditional process of mechanical processing, deburring and grinding have a wide range of applications. However, for a long time, in the process of manual deburring
and polishing, there have been differences in operations between workers. The manual operation is not repeatable and the deburring effect is unstable, which has seriously
affected the surface quality and service life of the finished product; and the working environment There is a large amount of dust floating in the air and the conditions are harsh,
seriously endangering the physical and mental health of workers. With the proposal of “Made in China 2025”, intelligent manufacturing production has become an
important development direction for the transformation and upgrading of the future manufacturing industry. The use of industrial robot automated production lines for repetitive
batch processing operations can not only greatly improve production efficiency, but also greatly improve product quality. Yield and production stability. Therefore, before designing
the robot polishing program, if the shape, size and polishing amount of the workpiece to be polished are known, the robot offline program can be written on the
Robotstudio software according to the existing conditions, thereby improving the efficiency of on-site programming.
1Design task description
This task is to create a new simulation workstation in ABB robot simulation software Robotstudio. The corresponding training equipment in reality is the Yalong
YL-l360A industrial robot deburring and grinding system control and application equipment. The industrial robot selection and method of the simulation workstation are
The grinding head installed on the blue plate refers to the Yalong YL-l360A industrial robot deburring and grinding system control and application equipment, and the
workpiece is customized. The ABB industrial robot deburring and
grinding workstation simulation training process includes: creating a workstation, setting up tools, creating smart components, creating tool coordinate systems,
creating trajectories, programming, simulation design, and verification.
2 Task implementation
2.1 Create a workstation
Import the robot: First, create a new simulation workstation in the Robotstudio software. The workstation name is self-named, and then import the
corresponding industrial robot IRB1410. The robot position remains unchanged by default. Create a robot system, modify the system options, check 709-1D
eviceNetMaster/s1ave, select Chinese as the language, and leave the other options unchanged by default, then click Confirm to create the robot system
After the robot system is created, hide the industrial robot IRB1410 to facilitate subsequent workstation operations.
Import workpiece: The workpiece here is customized, and the corresponding workpiece is selected according to the actual situation on site. This article
uses the original workpiece Curvet in Robotstudio software. After importing it into the workstation, according to the reachable range of the robot, just place the
workpiece at a suitable location within the reachable range of the robot, as shown in Figure 1.
Import the grinding rotor tool: First, create a new grinding rotor tool component – rotor – copy (2) and rotor – copy (2) in the so1idworks 3D software. The
rotor – copy (2) is a rotatable grinding rotor. —The copy is the tool body, which is the grinding rotor frame, and is installed on the robot flange, as shown in Figure 2.
2.2 Setting tools
First, move the rotatable grinding rotor and the tool body to the local origin based on point A, and adjust the initial tool angle so that the grinding rotor is
parallel to the x-axis of the geodetic coordinate system, as shown in Figure 3. Set the local origin of the tool body at this time, change the position x, y,: to 0, 0, 0, and change the direction x, y,: to 0, 0, 0.
Figure 3 Tool settings
Create a new frame at point B of the tool body, name it “frame l”, and adjust the direction of frame l so that the axis is perpendicular to the
plane of point B. The specific direction is shown in Figure 4.
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RELIANCE 57C430 Processor Module
RELIANCE 45C322 power supply module
RELIANCE 45C360 Analog output card
RELIANCE 45C313 Bracket assembly
RELIANCE 45C201 Remote I/O Processor.
RELIANCE0-57435 7010 processor module
RELIANCE 0-57419 input module
RELIANCE 0-57408 power module
RELIANCE 0-57407 DCS processor module
RELIANCE 0-57404 Network communication module
RELIANCE 0-57402 Output module
RELIANCE 0-57401 digital I/O drive
RELIANCE 0-57400 digital control system created
RELIANCE 0-57334- I/O rack
RELIANCE 0-846405-4R Driver board assembly
RELIANCE 0-57160-L Stabilized circuit board
RELIANCE 0-48652-4 printed circuit board
RELIANCE 0-48652-30 Calibration instrument panel
RELIANCE 0-419437-B AutoMax Interface Board
RELIANCE DSA-MTR-40D2 DRIVE
RELIANCE 0-57400-A AC/DC input module
RELIANCE 0-57402-C utput module
RELIANCE 0-57405-C analog I/O drive module
RELIANCE 30V4060 GV3000/SE AC Drive
RELIANCE 57045 Spare parts module
RELIANCE 57412 Field voltage regulator module
RELIANCE 57421 Pulse Tach input module
RELIANCE 57C332 Rack assembly
RELIANCE 57C443 I/O Scanner Module
RELIANCE 57C652 module
RELIANCE 803.65.00 PC BOARD
RELIANCE 770.90.10 Autobus Interface Module
RELIANCE 805401-5R Rack assembly
RELIANCE DBU-400 driver
RELIANCE DM-20 Brushless servo driver
RELIANCE DSA-MTR-60D DRIVE CHOP DDS-TLII-MTR-60AMP
ICS Triplex T8202 I/O Power Supply
ICS Triplex T8331 I/O Module
ICS Triplex T8232 Power Pack
ICS TRIPLEX T8431 Trusted TMR 24Vdc Analogue Input Module
ICS Triplex T8233 power port
ICS Triplex T8220 Power Supply Module
ICS Triplex T8902 40 Channel module
ICS Triplex T8153 Communication module
ICS Triplex T8451 Trusted TMR 24 Vdc Digital Output Module
ICS Triplex T8832 60 channel Analogue Input
ICS Triplex T8231 Power Pack 24 Vdc 750 W, universal input, 24 Vdc out.
ICS Triplex T8432 Dual-channel analog input
ICS Triplex T8120 Processor interface adapter
ICS Triplex T8824 Trusted 40 Channel 120Vac Digital Input
ICS Triplex T8901 VFTA Fuse/Link Pack
ICS Triplex T8122 Processor Interface Adaptor
ICS Triplex T8850 Trusted 40 channel Analogue module
ICS Triplex T8802 Trusted 60 Channel 24 Vdc Digital Input FTA
ICS Triplex T8272 Vent & Baffle Unit
ICS Triplex T8192 TMR 24/48 Vdc Digital Output Module
ICS Triplex T8480 Trusted TMR Analogue Output ModuleT8480C
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