冲压自动线机器人与压力机动作协调及其运动仿真

Motor Coordination and Motion Simulation of Robot and Press in a Press Line

对大型冲压自动化生产线(简称冲压自动线)中机器人与压力机动态配合方式进行了协调,开展了冲压自动线运动学仿真研究。规划了冲压自动线中ABB IRB 6660机器人的运动轨迹,设计了机器人与压力机的动态协调作业方案,并对其进行了优化;利用Solidworks和ADAMS软件建立了该生产线虚拟样机,实现了所设计的动作方案。运动仿真结果验证了动作方案的可行性和优化方案的有效性。该冲压线运动仿真有利于缩短生产线的设计及调试周期,对冲压线的整体设计及现场安装调试具有理论指导意义。

A dynamic coordination method between robot and press in a press line was performed, and the motion simulation of an automatic press line was carried out. The trajectory of ABB IRB 6660 robot in the press line was planned. The dynamic coordination work project was designed and opti- mized. Based on Solidworks and ADAMS software, a virtual prototype of the press line was built, and the predetermined actions were realized. The results of the motion simulation demonstrate the feasibility of the motor coordination project as well as the validity of the optimization scheme. The motion simulation for the automatic press line will be useful for shorting the design and debugging pe- riod of the line, and possesses theoretical direction significance for the design and on--site installation of the press line.