The Long Glass Fiber Reaction Injection Molding Line Programming And Optimization Of The Casting Process

The technology of robot off-line programming develops the robot programming language broadly, without stopping the robot, the manipulator can control the three dimensional graph by using some plan algorithm in the virtual production environment, and arrange the trajectory of the robot. Compared with the traditional online programming, the off-line programming can save much time, and enhance the production efficiency. In this paper, the author did some research on the special robot for the automobile inner decoration production, proposed the off-line programming solution.(1) By doing some kinematics analysis on the IRB6650 robot selected by the company, the solution of the robot kinematics computation was proposed, the corresponding algorithm and the results were given, which is the foundation of robot off-line programming;(2) After studying several kinds of classic robot programming languages in this paper,one programming language--RAPID which is suitable for ABB robot was analyzed,including the format and the way how to use it;(3) After drawing three-dimensional models of the casting mixture, the mold which is used for the auto inner decoration and the press machine based on the production line, the virtual automobile production workshop was established;(4) The casting path by using 3D graphics in the virtual production workshop was planned to make sure that there is no interference or collision among the mixture, the mold and the press machine. Then the robot procedures were established and transformed into the actual production casting procedures which can be accepted by the robot controller;(5) After analyzing the principle of ABB robot communication, the moving procedures were uploaded to the robot's controller, and then the process was started to make sure the trajectory programming is reasonable.