点焊作业工业机器人离线编程与虚拟仿真

点焊作业工业机器人离线编程与虚拟仿真大 连 民 族 学 院 机 械 专 业 综 合 课 程 设 计 说 明 书1学 院（系）： 机电工程学院 专 业： 机械制造及其自动化 学 生 姓 名： 韩岳泽 学 号： 2013022405 指 导 教 师： 冯长建 完 成 日 期： 2016/12/31 大连民族学院目 录1 点焊作业机器人工作站构成11.1 实训任务实施11.1.1 解压并初始化12 . I/O配置43.程序模板导入54 .坐标系标定145.录制机器人虚拟仿真视频18参考文献181 点焊作业机器人工作站构成本工作站为机电一体化训练平台模拟工作站，综合了码垛应用,压铸机取件，轨迹类应用，TCP标定等教学模板，一机多用，具有丰富的训练素材，机器人工作站布局如图1-1所示。 图1.11.1 实训任务实施1.1.1 解压并初始化双击压缩包文件“ST_Platform.rspag”,如图1-2所示，根据解压向导的提示解压该工作站。图1-2 解压完成后可进行仿真运行，如图1-3所示。1.单击“播放”仿真启动后，机器人执行初始化操作，若机器人无法自动回至工作原位，可手动将机器人调整至机械原点，再重新执行仿真播放，如图1-4所示。单击“机器人”，单击“回到机械原点” 图1-4本工作站分为四个模板，分别是可自动运行的码垛，压铸机取件，轨迹应用以及一个手动模板TCP标定。仿真启动后，需要手动选择当前激活的是哪一个自动运行的功能模板，可通过工作站信号进行选择，如图1-5所示。选择需要激活的模块选择系统“工作站信号”单击“I/O仿真器”Foundry为压铸机取件应用，Pallet为码垛应用，Practise为轨迹类应用，手动执行模板TCP标定使用的工具与Practise一致，无需执行仿真播放，直接激活Practise，切换为TCP标定的工具，进行手动TCP标定练习。 激活对应的功能模板后，即可查看到机器人对应的执行任务，依次进行激活，当仿真结束后，可单击仿真“停止”，若需回复至初始状态，可以通过重置下拉菜单中的保存状态进行工作站初始化。初始化操作如图1-6所示。 初始化机器人的步骤是：将机器人恢复为出厂设置，然后在此工作站基础上依次完成I/O配置，程序导入，坐标系标定，目标点示教等操作，最终将机器人工作站复原至之前可正常运行的状态。初始化前，先做好机器人备份，以备后面使用，在“控制器”菜单中可进行备份 图1-7 完成备份后，在“控制器”菜单的“重启”中单击“I-启动”，初始化机器人，如图1-8所示。出现提示框，单击“确定”即可，等待机器人重新启动，机器人初始化结束。 图1-82 . I/O配置在“控制器”菜单中打开虚拟“示教器”，先将界面语言改为中文，之后依次单击“ABB菜单”-“配置”，进入“I/O主题”，配置I/O信号。此工作站配置了1个DSQC652通信板卡(数字量16进16出），则需要在Unit中设置此I/O的相关参数，配置见表1-1。NameType of UnitConnected to BusDeviceNet AddressBoard10D652DeviceNetl10需要配置的I/O信号见表1-2.NameType of SignalAssigned to UnitUnit Mapping信号用途说明diPalletDignal InputBoard100码垛模式激活信号diFoundryDignal InputBoard101压铸取件模式激活信号diPractiseDignal InputBoard102轨迹练习模式激活信号diPalletInPos1Dignal InputBoard103码垛1号线产品到位信号diPalletInPos1Dignal InputBoard104码垛2号线产品到位信号diFoundryDoneDignal InputBoard105压铸完成信号diCheckOKDignal InputBoard106压铸检测正常信号doCheckDignal OutputBoard100铸件检测信号doVaccumDignal OutputBoard101吸盘真空信号doGripDignal OutputBoard102夹爪拾取信号doPikDoneDignal OutputBoard103压铸取件完成信号3.程序模板导入 I/O配置完成后，将程序模板导入该机器人系统中。通过示教器的程序编辑器进行程序模块的加载，依次单击“ABB菜单”-“程序编辑器”，若出现加载程序提示框，暂时单击“取消”，然后在程序模块界面进行加载，如图1-9所示。 浏览至之前做的备份文件，路径一般为：/备份文件名/RAPID/TASKI/PROGMOD,如图1-10所示。 加载完成后，选中该模板，单击“显示例行程序”，看到对应的程序。程序注解如下：MODULE MainModulePERS tooldata tServoGun := TRUE,315.617,-546.323,311.783,0,0.707107,0.707107,0,80,23.1,-94.9,285.6,1,0,0,0,0,0,8.383;CONST robtarget pHome := 372.05,-568.49,1258.93,0.712795,-0.0315415,-0.0295508,0.700039,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pTipDress:=1328.68,1058.85,1549.61,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR intnum intno1:=0;VAR intnum intno2:=0;PERS num nTipCount:=1;PERS forcedata force3:=1500,1.5;CONST speeddata vSmall := 500,500,50,50;CONST speeddata vBig := 2000,500,5000,1000;CONST speeddata vMid := 1000,500,5000,1000;CONST robtarget pHome10:=733.50,-657.73,1290.56,0.47355,-0.0388763,-0.0188857,0.879707,-1,-1,-1,0,99.9896,9E+09,9E+09,9E+09,9E+09,9E+09;VAR bool bStart1 := FALSE;TASKPERS spotdata spot2 := 2,5;TASKPERS spotdata spot3 := 3,5;TASKPERS spotdata spot4 := 4,5;TASKPERS spotdata spot5 := 5,5;TASKPERS spotdata spot6 := 6,5;PROC main()InitAll;WHILETRUEDOIF di_StartPro = 1 THEN ClkReset Timer; ClkStart Timer; SpotCar; ClkStop Timer; nCount:=nCount+1; nCycleTime1:=ClkRead(Timer);ENDIFCycleCheck;ENDWHILEENDPROCPROC InitAll()AccSet 50,50;VelSet 80,1000;Set g1_reset_fault;WaitTime 1;Reset g1_reset_fault;rGunOpen;MoveHome;ClkReset Timer;ENDPROCPROC SpotCar()!add instructions;!ActUnit SERVOGUN;MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0;First:MoveJ 843.70,303.73,299.87,0.531401,0.457938,-0.483967,0.523146,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;MoveL 1702.79,303.73,299.87,0.531401,0.457937,-0.483967,0.523146,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveL 1702.79,353.25,299.87,0.531401,0.457937,-0.483967,0.523147,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z5, tServoGunWObj:=wobj0;SpotL 1702.79,353.25,299.87,0.531401,0.457937,-0.483967,0.523147,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1702.79,353.25,333.51,0.531401,0.457937,-0.483967,0.523147,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot2, tServoGunWObj:=wobj0;rGun;SpotL 1702.79,353.25,419.95,0.531401,0.457937,-0.483967,0.523147,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;MoveL 1702.79,287.05,419.95,0.531401,0.457937,-0.483967,0.523147,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z5, tServoGunWObj:=wobj0;MoveJ 1015.64,286.77,420.64,0.531416,0.457922,-0.483958,0.523153,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;Second:MoveL 1015.64,286.77,420.64,0.594919,0.275335,-0.287024,0.698484,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveL 1001.67,-46.86,986.24,0.663614,-0.0271593,-0.0240759,0.747194,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveL 1730.13,-407.96,1039.25,0.663614,-0.0271592,-0.0240758,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z5, tServoGunWObj:=wobj0;SpotL 1735.28,-407.97,968.43,0.663614,-0.0271592,-0.0240757,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1739.40,-442.72,968.74,0.663614,-0.0271592,-0.0240757,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1742.27,-458.49,968.95,0.663614,-0.0271592,-0.0240757,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1745.33,-484.31,969.17,0.663614,-0.0271592,-0.0240758,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;MoveL 1739.82,-484.31,1044.97,0.663614,-0.0271592,-0.0240758,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveL 1347.63,-531.06,1016.45,0.663614,-0.0271592,-0.0240758,0.747194,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveJ 1333.58,-1140.99,1015.47,0.663614,-0.0271592,-0.0240758,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveJ 1333.58,-1140.99,1015.47,0.663614,-0.0271592,-0.0240758,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;MoveJ 1333.58,-1140.99,1015.47,0.663614,-0.0271592,-0.0240758,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;Third:MoveL 1752.46,-1187.12,1045.94,0.663614,-0.0271591,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z1, tServoGunWObj:=wobj0;MoveL 1756.80,-1187.12,986.29,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z1, tServoGunWObj:=wobj0;MoveL 1756.80,-1187.12,986.29,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z1, tServoGunWObj:=wobj0;SpotL 1756.80,-1187.12,986.29,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1758.10,-1198.05,986.38,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;MoveL 1755.92,-1213.93,1042.37,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z1, tServoGunWObj:=wobj0;MoveL 1268.55,-1272.03,1006.93,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z1, tServoGunWObj:=wobj0;MoveL 1268.55,-1272.03,1006.93,0.663614,-0.027159,-0.0240757,0.747194,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z1, tServoGunWObj:=wobj0;MoveJ 1268.55,-1272.03,1006.93,0.551606,-0.437362,0.202392,0.680796,-1,-2,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;Fourth:MoveJ 1245.49,-1225.06,1532.43,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;MoveJ 1571.63,-1320.78,1532.43,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;MoveL 1593.54,-1466.09,1532.43,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z1, tServoGunWObj:=wobj0;SpotL 1593.54,-1466.09,1532.43,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1593.54,-1466.09,1574.67,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;SpotL 1593.54,-1466.09,1553.67,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, gun1, spot1, tServoGunWObj:=wobj0;rGun;MoveL 1577.54,-1344.09,1615.67,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vSmall, z5, tServoGunWObj:=wobj0;MoveJ 1225.53,-1344.09,1615.67,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;MoveJ 930.25,-1344.09,1615.67,0.551606,-0.437362,0.202392,0.680796,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z50, tServoGunWObj:=wobj0;MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0;!DeactUnit SERVOGUN;ENDPROCPROC CaL()MoveAbsJ 0,0,0,0,0,0,100,9E+09,9E+09,9E+09,9E+09,9E+09NoEOffs, vMid, z50, tServoGun;ENDPROCPROC CycleCheck()IF curr_gundata1.weld_counter=1000 THENIF nTipCount8 THEN ChangeTip; nTipCount:=0;ELSE TipDress; Incr nTipCount;ENDIF curr_gundata1.weld_counter:=0;ENDIF WriteTP; WaitTime 0.2;ENDPROCPROC TipDress()!ActUnit SERVOGUN; Set g1_open_gun; MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0; MoveJ 1405.60,855.77,1532.01,0.549848,0.473897,0.487382,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z10, tServoGunWObj:=wobj0; MoveL 1332.08,1058.85,1549.60,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z10, tServoGunWObj:=wobj0; MoveL 1332.08,1058.85,1549.60,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z1, tServoGunWObj:=wobj0; Set do_TipDress; MoveL pTipDress,vSmall,fine,tServoGun; Set g1_equalize; SetForce gun1, force1; Reset g1_equalize; MoveL 1360.14,1058.85,1549.61,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, fine, tServoGunWObj:=wobj0; MoveL 1360.14,1058.85,1549.61,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z10, tServoGunWObj:=wobj0; Reset do_TipDress; MoveJ 1360.14,874.68,1549.61,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z10, tServoGunWObj:=wobj0; MoveJ 1360.14,874.68,1549.61,0.549848,0.473897,0.487383,-0.485332,0,1,-3,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, z5, tServoGunWObj:=wobj0;!Calibrate gun1TipChg; MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0; curr_gundata1.weld_counter:=0;!DeactUnit SERVOGUN;ENDPROCPROC ChangeTip()!ActUnit SERVOGUN; MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0; MoveJ 283.81,-1274.10,1581.30,0.764804,-0.20233,0.249191,0.558606,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, fine, tServoGunWObj:=wobj0; ErrWrite Change Gun Tip,Open Door; Stop; MoveJ 283.81,-1274.10,1581.30,0.764804,-0.20233,0.249191,0.558606,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09, vMid, fine, tServoGunWObj:=wobj0;!Calibrate gun1TipChg; MoveJ pHome, vMid, fine, tServoGunWObj:=wobj0;!DeactUnit SERVOGUN;ENDPROCPROC Routine1()VelSet 100, 1000;AccSet 10, 10;SpotL 733.51,-657.71,1290.54,0.473529,-0.0388379,-0.0188713,0.87972,-1,-1,-1,0,5,9E+09,9E+09,9E+09,9E+09,9E+09, vS