Description
3500/15 127610-01 BENTLY vibration monitoring system
3500/15 127610-01 BENTLY vibration monitoring system
Module Clips Drive controller servo moto
Contact: Mr. Lai
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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 709-1DeviceNetMaster/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.
KJ3001X1-BH1 8 channel output module DeltaV
KJ3001X1-BG1 DO, 8-Channel, 24 VDC, Isolated Card DeltaV
KJ3001X1-BD1 Dry contact module DeltaV
KJ3001X1-BB1 Input module DeltaV
KJ3001X1-BA1 DI, 8-Channel, 24 VDC, Isolated Card DeltaV
KJ2201X1-BA1 Logic Solver – SLS 1508 DeltaV
KJ2101X1-BA1 I/O interface card DeltaV
KJ2004X1-BA1 Remote interface unit DeltaV
KJ2002X1-BA1 Controller M3 module DeltaV
KJ2001X1-BA1 controller DeltaV
KJ1501X1-BC1 SYSTEM POWER SUPPLY DeltaV
KJ1502X1-BB2 System power supply DeltaV
KJ1501X1-BC1 SYSTEM POWER SUPPLY DeltaV
XVS-440-57MPI-1-1U Touch panel
A6500-UM axis relative vibration mode
A6370D monitor A6370D DCS analog
5SHX264510002 insulated gate bipolar transistor
2711P-T6C21D8S Analog resistance touch screen
PPD103-B03-10-150000 Central processing unit
V7768-320000 VMEbus single board computer
0005-4050-710 Press panel
2711-K10G9L1 Keyboard/Touch Operator interface Terminal
2711-K6C20 Operator terminal
Allen-Bradley 2711-T10C10 Touch screen man-machine interface terminal
2711-NM28 8MB Flash ATA card
2711-T10C15 Man-Machine Interface (HMI)
2711-T10G8L1 PanelView 1000 Control terminal
2711-T5A8L1 Man-machine interface (HMI) device
PFSK152 ABB PFSK 152 Signal concentrator
PFSK151 ABB PFSK 151 DSP- Signal processing
PFSK142 ABB PFSK 142 Control panel
KJ1501X1-BA2 System power supply DeltaV
PFSK 141 ABB PFSK141 Power supply with heat sink
PFSK 129 ABB PFSK129 Terminal board
PFSK126 ABB PFSK 126 Channel control unit
PFSK 115 ABB PFSK115 Adapter stress meter STU
PFSK111 ABB PFSK 111 VDU board
PFSK 109 ABB PFSK109 Connection unit
PFSK 104 ABB PFSK104 Control Board
PFSK 102 ABB PFSK102 Reel supply device
PFSA240 ABB PFSA 240 Coil DC power supply unit
PFSA185 ABB PFSA 185 ower and media converter unit
PFSA 146 ABB PFSA146 Power supply 24V external
PFSA 145 ABB PFSA145 MAINS FILTER
PFSA101 ABB PFSA 101 Roll Supply Unit
DSPC 454 ABB DSPC454 Programmable controller
DSPC 320 ABB DSPC320 processor board
DSPC 172 ABB DSPC172 Processor module
KJ1501X1-BB1 System DC/DC power supply DeltaV
DSPC157 ABB DSPC 157 Processor Board
DSPC 155 ABB DSPC155 processor board
DSAI 151 ABB DSAI151 Analog input board
DSAI 301 ABB DSAI301 Analog input unit
DSAI 151 ABB DSAI151 Analog input board
DSAI 130D ABB DSAI130D Analog input board
PFSK 130 ABB PFSK130 Channel control unit
PFSK103 ABB PFSK 103 Expansion board
DSTC452 ABB DSTC 452 FSK-Mod.Serial I/O
DSPC452 ABB DSPC452 Programmable controller
DSPC 174 ABB DSPC174 Processor board
DSPC170 ABB DSPC 170 Printed circuit board
DSPC 150 ABB DSPC150 Central processing unit
DSAI308 ABB DSAI 308 Analog Input Unit
DSAI 151 ABB DSAI151 Analog input board
DSAI165 ABB DSAI 165 Gas input 12ch
3BHL000629P1005 MAKER: ABB
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
