基于PLC和机器人的装配系统设计

Design of Assembly System Based on PLC and Robot

系统采用六轴工业机器人作为自动生产线上下料搬运执行装置,以PLC为控制核心,结合触摸屏、伺服电机、气动系统等组成控制系统,设计轴承自动装配工作站,完成自动抓料,放料预装,冲压装配,搬运入库等任务;工作站具有手动、自动两种模式。根据生产工艺要求,完成机器人的示教,优化机器人抓取路线,获取定位点,在触摸屏或操作面板发出命令,通过Modbus总线将命令信息传递到PLC中,由PLC根据接受的命令控制六轴工业机器人的手臂、卡爪按照优化的路线进行物料搬运,物料预装完成后,控制伺服电机驱动转盘精确地旋转到冲压工位,由PLC控制电磁阀驱动气缸动作,完成产品冲压成型,最后由六轴机器人抓取成品入库。

This system uses six axis industrial robot as the executive device of handling material in the automatic production line.PLC is the control core,combining with the touch screen,servo motor,and pneumatic system as the control system.An automatic bearing assembly workstation with modes of manual and automatic operation is built to complete the tasks of automatic material feeding,pre loading,stamping assembly,handling and warehousing.According to the requirements of the production process,the system is able to complete robot demonstration,optimize the robot’s feeding route,obtain the positioning point,send the command from the touch screen or the operation panel,transfer command information to the PLC through the Modbus bus.PLC controls the arm and claw of the six axis industrial robot to carry out the material handling according to the optimized route according to the command received.After the material is pre-loaded,servo motor will drive the rotational tray to stamping assembly workstation accurately,PLC then will control the solenoid valve to drive the cylinder to finish stamping assembly.The six axis robot will finally grab the finished products for warehousing.