摘要
以工业机器人分拣工作站为研究对象,针对其轨迹规划和自动化生产协调难度大的问题,提出ABB机器人仿真软件RobotStudio应用于工业机器人自动分拣工作站中。进行三维实体建模并构建布局,运用ABB的Virtual Controller技术,导入到RobotStudio,搭建了自动分拣工作站的三维实体模型及整体布局。对手爪气缸Smart组件进行了子组件的添加及属性设置,创建了机器人I/O信号及连接方式,通过时间管理器仿真气缸的不同姿态动作,设定了机器人和手爪气缸之间的工作站逻辑关系,完成了机器人工作站的离线编程和仿真。为机器人分拣工作站的设计与制造提供了技术参考和可行性依据,可降低生产线设计及调试成本,并可用于指导现场生产。
Taking the industrial robot sorting workstation as the research object,aiming at the difficulty of its trajectory planning and automatic production coordination,the application of ABB Robot Simulation software RobotStudio in the industrial robot automatic sorting workstation is proposed.The Three Dimensional(3D)entity model and layout were built.The virtual controller technology of ABB was used to import it into RobotStudio,and the 3D entity model and overall layout of the automatic sorting workstation were built.Smart component of hand claw cylinder was added of sub-components and set of attributes to create robot I/O signal and connection mode,to simulate different gesture actions of cylinder through time manager,and to set logical relationship between robot and hand claw cylinder.Off-line programming and Simulation of machine manual workstation were completed.It can provide technical reference and feasibility basis for the design and manufacture of robot sorting workstation,reduce the cost of production line design and debugging,and guide the field production.
作者
孙立新
高菲菲
王传龙
杨兴宇
SUN Lixin;GAO Feifei;WANG Chuanlong;YANG Xingyu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300400,China)
出处
《机床与液压》
北大核心
2019年第21期29-33,共5页
Machine Tool & Hydraulics
基金
机器人学国家重点实验室基金课题(401385)
