机器人焊机应用技术

Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam12008.11.122008.11.12生生产技技术组 生产技术组 技术学习 “机器人 W/D 应用技术”Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam2目目目目录录录录1.机器人的定义与分类2.机器人的构成3.机器人的动作顺序与原理4.机器人控制系统种类5.本公司机器人适用事例6.今后新车型开发时机器人应用计划 -操作机器人应用弧焊同步设备7.机器人 JIG 视频介绍Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam3 所所谓“机器人机器人”:是指是指将将人人类技能制作成程序，能反技能制作成程序，能反复复进行巨物装行巨物装载、交、交换、移送等多、移送等多种种作作业的装置或的装置或机器。机器。即，通即，通过程序程序变更不更不仅能移能移动物体物体还能添加感能添加感应器器进行加工、行加工、组装等作装等作业的多功能主的多功能主体。体。根据根据运运动形形态分分类 1.1.ROBOT(ROBOT(直交机器人直交机器人):):沿沿X,Y,ZX,Y,Z轴的方向的方向运运动.2.2.多多关关节 机器人机器人(4(4轴以上的机器人以上的机器人):):动作作结构构由由关关节构构成的的机器人成的的机器人 3.3.圆柱坐柱坐标机器人机器人 (Cylinderical Robot):(Cylinderical Robot):动作作结构构为圆柱坐柱坐标形式的机器人形式的机器人 4 4.直角坐直角坐标机器人机器人 (Cartesian Robot):(Cartesian Robot):动作作结构构为直角坐直角坐标形式的机器人形式的机器人 5.5.极极坐坐标机器人机器人 (Spherical Robot):(Spherical Robot):动作作结构构为极极坐坐标形式的机器人形式的机器人 根据用途分根据用途分类 1.1.操作机器人操作机器人 2.2.组装机器人装机器人 3.3.涂装机器人涂装机器人 4.4.弧弧焊机器人机器人 5.5.点点焊机器人机器人1.1.机器人的定义与分类Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam42.1 2.1 全体全体构构成成图2.2.机器人的构成Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam52.2.机器人的构成2.2 2.2 机器人各机器人各条条轴的名的名称称Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam6B轴 减速器 与 伺服电机R1轴 减速器 与伺服电机R2轴 减速器 与 伺服电机H轴 减速器 与 伺服电机V轴减速器 与伺服电机S轴 减速器 与 伺服电机Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam7(：165 kg)2.3 2.3 动作范作范围与与速度速度 2.2.ROBOT的构成 Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam8Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam9单位：mm：P P点点 动作范作范围2.4 2.4 作作业领域域 2.2.ROBOT的构成Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam102.5 2.5 作作业领域域设定定检讨2.2.ROBOT的 构成SIMULATOR PROGRAMSIMULATOR PROGRAMSIMULATOR PROGRAMSIMULATOR PROGRAM 作作业领域域设定定检讨必要必要项目目 1)1)JIG 3D(2D)JIG 3D(2D)设计 DATA DATA 2)ROBOT(ARC or HANDLING ROBOT)2)ROBOT(ARC or HANDLING ROBOT)选定定 3)3)作作业产品品数数据据 (ARC WELDG or SPOT WELDG (ARC WELDG or SPOT WELDG 部位部位)4)4)根据根据 SIMULATOR PROGRAM SIMULATOR PROGRAM算出作算出作业半半径径 并并且且设定定 ROBOT ROBOT 与与 JIG JIG间的的设置置间隔，隔，决决定吊具尺寸定吊具尺寸 5)5)扩大作大作业领域的方法域的方法 :报告台告台(ROBOT(ROBOT 本体安着本体安着带)高度高度调整整Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam112.6.CONTROLLER 2.6.CONTROLLER 电源源 供供给CPUCPUSERVO SERVO AMPAMPSERVO SERVO MOTOR MOTOR 命令命令2.2.ROBOT的构成 Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam122.7 CONTROLLER2.7 CONTROLLER的的 INPUT/OUTPUT SIGNAL INPUT/OUTPUT SIGNAL 使用使用 2.2.ROBOT的构成(1)(1)ARC ROBOT ARC ROBOT 的基本接点的基本接点 :I/O BOARD:I/O BOARD /CARDCARD CONNECT CONNECT -INPUT:16-INPUT:16 (RELAY BOARD(RELAY BOARD :32:32 )-OUTPUT:16 -OUTPUT:16 (RELAY BOARD(RELAY BOARD :32:32 )(2)H/ROBOT(2)H/ROBOT :I/O BOARD:I/O BOARD /CARDCARD -INPUT :32-INPUT :32,OUTPUT:32,OUTPUT:32 -JIG-JIG I/LOCK I/LOCK I/LOCKI/LOCK ()(3)ARC ROBOT&JIG INTERFACE:ARC ROBOT CONTROLLER(3)ARC ROBOT&JIG INTERFACE:ARC ROBOT CONTROLLER -JIG-JIG(ROBOT(ROBOT):16):16 ROBOT ROBOT ,ROBOT,ROBOT,(1(1/2/2),jig),jig,-JIG -JIG(ROBOT(ROBOT):16):16 4 4(BINARY CODE(BINARY CODE :15:15 ),),ROBOT ROBOT,JIG,JIG(1(1/2/2)(4)H/ROBOT&JIG INTERFACE:(4)H/ROBOT&JIG INTERFACE:Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam13)BK MAIN MFL)BK MAIN MFL R LINE R LINE 的的 ROBOT ROBOT 活用活用2.2.ROBOT的 构成(1)(1)使用使用设备:-ARC ROBOT 1 -ARC ROBOT 1台台 -HANDLING ROBOT 1-HANDLING ROBOT 1台台 -ROBOT W/D JIG 1-ROBOT W/D JIG 1台台 -L/TEST 1-L/TEST 1台台 -维修用修用CHUTE 1CHUTE 1台台 -MAIN RESO-MAIN RESO PLT 1 PLT 1台台 -ASS-ASSY Y 装装载 PLT 1PLT 1台台 -配置配置 MARKMARKG M/C 1G M/C 1台台(2)H/ROBOT(2)H/ROBOT 使用接点使用接点 -56 AR CARD:2-56 AR CARD:2张 -56 DR CARD:1-56 DR CARD:1张 -28 AR CARD:1-28 AR CARD:1张 -24 R CARD:1-24 R CARD:1张(3)INPUT:101(3)INPUT:101分分 O/PUT:88O/PUT:88 I/LOCK I/LOCK,(SPARE(SPARE INPUT 7INPUT 7 O/PUT:13O/PUT:13)H/ROBOTH/ROBOTM/RESO M/RESO PLTPLTASSASSY Y 装装载PLTPLTMarkMarkG MCG MC维修用修用 CHUTECHUTEL/TESTL/TESTDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam14利用利用利用利用专专用用用用TEACHTEACHTEACHTEACH G PENDANTER G PENDANTER G PENDANTER G PENDANTER 设设置置置置CONTROLLERCONTROLLERCONTROLLERCONTROLLER UP-LOADUP-LOADUP-LOADUP-LOADPROGRAMPROGRAMPROGRAMPROGRAM SERVO AMP DATA SERVO AMP DATA SERVO AMP DATA SERVO AMP DATA 伺服放大器的伺服放大器的伺服放大器的伺服放大器的数数数数据据据据传传送到伺服送到伺服送到伺服送到伺服电电机机机机各各各各轴驱动轴驱动3.3.ROBOT的动作顺序与原理3.1 ROBOT3.1 ROBOT的的动作作顺序序Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam15Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam16Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam17ROBOT ROBOT 全体全体现况况63%63%37%37%ARC ROBOT H/ROBOT ARC ROBOT H/ROBOT 现况况 ARC ROBOT ARC ROBOT 制造商制造商现况况 85%85%斗山机斗山机电9 9台台FANUCFANUC2 2台台现代重工代重工业110110台台 H/ROBOT H/ROBOT 制造制造厂厂现况况 H/ROBOTH/ROBOT127127台台ARC ROBOTARC ROBOT7474台台现代重工代重工业6363台台12%12%3%3%87%87%斗山机斗山机电 1717台台13%13%Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam18 协助控制助控制(同同时控制控制)1)1)控制机器人之控制机器人之间，或者机器人，或者机器人与与夹具具间的相的相对补间动作作与与相相对速度速度 2)2)同同时控制控制MFLMFLR R 设备上附着的回上附着的回转轴（附加（附加轴）与两与两台机器人台机器人 (适用于本公司适用于本公司TQ/BH LINE)TQ/BH LINE)4.4.ROBOT 控制 SYSYTEM 种类夹夹具互助系具互助系具互助系具互助系统统Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam19 协助控制的特征助控制的特征 1)1)2)2)2 2 ,.,JOBJOB JOBJOB (SIGNAL-WAIT TIME)(SIGNAL-WAIT TIME).Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam20Muffler 1 axisDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam21Manifold 2 axesDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam22Manifold 3 axesDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam23 ROBOT ROBOT 单独独控制控制 1)1),2)2)1 1 (中中)Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam241)ARC 1)ARC 焊 -A/T W/D-A/T W/D TOOL TOOL TORCH TORCH BRKT BRKT RESO BAFF SUB RESO BAFF SUB ()2)SPOT 2)SPOT -UCC&-UCC&LINELINE H/ROBOTH/ROBOT SPOTSPOT SPOT SPOT -HANDLG LINEHANDLG LINE UCC UCC SPOT SPOT BRKT BRKT SPOT M/C SPOT M/C 5.5.本公司 ROBOT 适用 事例Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam253)3)产品品 HANDLGHANDLG -MFLR -MFLR -ROBOTROBOT JM MAIN MFLR LINEJM MAIN MFLR LINE H/ROBOTH/ROBOT MFLRMFLR 超重超重产品移送品移送 无人化无人化 LINE LINE 人人员减减少少Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam264)A/S LINE 4)A/S LINE -A/S LINE A/S LINE ASSY ASSY JIGJIG TAG TAG H/ROBOTH/ROBOT LOADG LOADG ARC ROBOT ARC ROBOT -LINELINE ITEMITEM LINE LINE -B/OUT-B/OUT Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam276.ROBOT 1)HD CTR MFLR 1)HD CTR MFLR LINELINEDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam286.ROBOT 应用计划序序设备名名数数量量金金额(单位位 :千元千元)UPHUPH1 1A/T W/D JIG 1A/T W/D JIG 1台台1 139,00039,0001 1505026262 2BRKBRKT ROBOT W/D JIGT ROBOT W/D JIG1 118,00018,0003 3LEAK TESTERLEAK TESTER1 115,00015,0004 4ROBOTROBOT5 5208,000208,0005 5ROBOT HANGERROBOT HANGER5 517,50017,5006 6 7 734,00034,0007 7ROBOT ROBOT 1 115,00015,0008 8CONTROLLER PNL CONTROLLER PNL 1 152,00052,0009 9PULSE PULSE 2 220,00020,0001010INVERTER INVERTER 2 24,8004,800TOTALTOTAL2626423,300423,3001 150502626 主要主要设备&投投资费用用Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam296.ROBOT 应用计划2)HD CTR MFLR HANDLING ROBOT 2)HD CTR MFLR HANDLING ROBOT 应用用 LINELINEDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam306.ROBOT 应用计划序序设备名名数数量量金金额(单位位 :千元千元)作作业 人人员UPHUPH所需所需 坪坪数数备注注1 1H/ROBOT(400KG)H/ROBOT(400KG)2 2112,000112,0001 1名名60601616坪坪2 2H/ROBOT(165KG)H/ROBOT(165KG)1 135,00035,0003 3ARC ROBOTARC ROBOT4 488,00088,0004 4LEAK TESTERLEAK TESTER1 115,00015,0005 5ROBOT HANGERROBOT HANGER3 315,00015,0006 6PULSE PULSE 4 440,00040,000TOTALTOTAL1515305,000305,0001 1名名60602626主要主要设备&投投资费用用2-1)2-1)改善效果改善效果 -设备投投资费用用节省省 :约 120,000120,000千元千元(423,300,000305,000,000)(423,300,000305,000,000)-UPH -UPH 增加增加 :50 60(10EA:50 60(10EA 增加增加)-所需面所需面积减减少少 :10:10坪坪(26(26坪坪 1616坪坪)Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業世鐘工業 株式會社株式會社MManufacturing anufacturing T Technology echnology T Teameam31