毕业设计（论文）-机器人应用于去打磨设计.doc

摘 要 本文主要介绍了自动去毛刺系统以及六自由度机器人去毛刺的编程，可应用与当今工业各类汽车轮毂设备的去毛刺，在现实制造加工可以得到广泛，达到解放生产工人的目的，具有很好的发展前景。根据自动去毛刺系统的设计和机器人编程设计两个方面，本课题可分为加工平台设计部分、、个部分进行设计。的设计方案 关键词： 工业机器人，去毛刺，控制系统，离线编程 Abstract This paper mainly introduces the automatic deburring system and six degree of freedom robotic deburring programming, application and industry today of all kinds of automobile hub equipment of deburring, in real manufacturing and processing can be widely, to liberate the purpose of production workers, have very good development prospect.?According to automatic deburring system design of robot programming design in two aspects, this paper is divided into the processing platform design, control system planning, and robot programming three part design and control.?First, the overall introduction of the design of the workstation design, through the analysis of the specific arrangements for the workstation.?Secondly, the motion control system of the design platform is designed, and the ladder diagram of the system controlled by step 7 is plotted, and the assembly of the machine and circuit is finished..Finally, programming principle of ABB industrial robots, using teaching programmer Flexpendant and off-line programming software robotstudio to program the robot's path.?At the same time, the research on the burr process and track of the wheel hub is carried out, and the local position of wheel hub is also programmed for example.. Keywords: industrial robot, go burr, control system, off-line programming目 录 1 绪论 1 1.1 引言 1 1.2 工业机器人应用概述 2 1.2.1 工业机器人在国外的运用现状 2 1.2.2 工业机器人在国内的运用现状 3 1.2.3 工业机器人的应用前景 4 1.3 开发汽车轮毂工业机器人自动化加工系统的意义 5 1.3.1 汽车轮毂加工发展历史 5 1.3.2 本课题的研究意义 6 1.4 论文构成及研究内容 7 2 汽车轮毂去毛刺系统的总体设计 8 2.1 系统整体任务 8 2.2 机器人工作站的方案设计 9 2.2.1 汽车轮毂的生产过程 10 2.2.2 机器人工作站的组成和配置 11 2.2.3 机器人的选型及其功能介绍 12 2.3 主控系统的方案设计 14 2.3.1 PLC控制器的概述及选型 15 2.3.2 PLC控制器编程语言 16 2.3.3 PLC工作程序及说明 18 3 机器