基于工业机器人物件搬运系统设计与制作

成都航空职业技术学院学生毕业设计论文I摘要本次毕业设计为工业机器人物件搬运系统的设计与制作。利用工业机器人技术来改善生产线上的搬运作业，从而替代工人重复性手动操作。该设计需要自己画出夹具--吸盘，然后通过三维建模软件CATIA设计出符合设计需要的夹具。目前工业机器人已经拥有成熟的控制系统，通过编程与示教，对IRB120机器人的运动轨迹做出理想的路径规划，并对机器人运动范围进行完全的控制。根据程序的编写来设定对工业机器人的运动路径进行物件搬运。应用Smart组件创建动态输送链，包含设定输送链产品源，输送链运动属性，输送链限位传感器等等，从而实现对机器人的物件搬运控制，最后利用robotstudio软件对整个工作站的工作过程进行仿真。均在设计思路、设计方法、设计过程、设计特点方面做了详细的分析与说明。关键词：物件搬运、CATIA建模、Smart组件、robotstudio仿真IIAbstractThegraduationdesignfortheindustrialrobothandlingsystemdesignandproduction.Theuseofindustrialrobottechnologytoimprovetheproductionlineofthetransportoperations,thusreplacingthemanualrepetitivemanualoperation.Thedesignneedstodrawthefixture-sucker,andthenthroughthethree-dimensionalmodelingsoftwareCATIAdesignedtomeetthedesignneedsofthefixture.Atpresent,industrialrobotsalreadyhavematurecontrolsystem,throughprogrammingandteaching,theIRB120robottrajectorytomaketheidealpathplanning,andtherobotrangeoffullcontrol.Accordingtothepreparationoftheprogramtosettheindustrialrobotmovementpathforobjecthandling.ApplicationofSmartcomponentstocreateadynamicconveyorchain,includingthesetofconveyorchainproductsource,conveyorchainmotionproperties,conveyorchainlimitsensor,etc.,inordertoachievetherobotobjecthandlingcontrol,andfinallytheuseofrobotstudiosoftwareworkontheentireworkstationsimulation.Areinthedesignideas,designmethods,designprocess,designfeaturestodoadetailedanalysisanddescription.Keywords:Objecthandling、CATIAmodelingDesign、Smartcomponents、RobotstudiosimulationIII目录第一章序言.........................................................................................................................11.1机器人未来的发展趋势..........................................................................................11.2对IRB6400和IRB120型两类机器人进行简介...................................................21.2.1IRB6400型机器人.....................................................................................21.2.2IRB120型机器人.......................................................................................3第二章操作机器人.............................................................................................................42.1示教器......................................................................................................................42.1.1示教器简介.................................................................................................42.1.2注意事项与故障处理.................................................................................42.2机器人数据的备份与恢复....................................................................................52.2.1机器人的手动操作.....................................................................................52.2.2单轴运动.....................................................................................................52.2.3线性运动与重定位运动.............................................................................52.3机器人操作............................................................................................................62.3.1TCP的设定.................................................................................................62.4机器人使用及注意事项........................................................................................7第三章CATIA建模.................................................................................................................73.1用CATIA创建支架模型........................................................................................73.1.1新建三维模型.............................................................................................73.1.2创建支架的基础特征.................................................................................83.1.3创建吸盘的基础特征...............................................................................103.1.4装配设计...................................................................................................103.1.5装配中的“相合”与“接触”约束.......................................................113.2用CATIA创建托盘模型......................................................................................113.2.1新建三维模型...........................................................................................113.2.2创建托盘的零部件...................................................................................123.2.3托盘零部件的装配设计...........................................................................123.2.4使用“接触”约束多个零部件...............................................................133.3用CATIA创建托盘座模型..................................................................................143.3.1新建三维模型...........................................................................................143.3.2创建托盘座的零部件...............................................................................143.3.3托盘座零部件的装配设计.......................................................................16IV3.4用CATIA创建挡风玻璃模型..............................................................................183.4.1新建三维模型...........................................................................................183.4.2创建挡风玻璃的草图..............................................