Design And Realization Of Automatic Assemble Machine For Products Control System

A specific robot ?automatic assemble machine for products, which is used for automatically assemble of the product, is introduced in this paper. The products is composed of quite a few parts (called thereinafter :workpiece) with special curved surfaces. To improve the automation level of the product assembly and assure the quality of the assemble, the machine must provide the following functionality : to grip each workpiece reliably, to measure and adjustment of the parameters, such as: the workpiece spatial stance, workpiece axes postion, the sign of the relative assembly postions etc, and to fulfil the totally automatically operation of all the equipment action for each workpiece during the course of spatial carrying, placing and loading, the product comes into being finally. To fulfil the desire of assembling technics and the sub-systems cooperating, the design of control system and the application of other difficult techniques are researched in the task. The birth of the automatic machine is a bold attempt and technique breakthrough with the old assemble by hand for a long time, and has positively realistic meaning for the improvement of assembly efficiency and qaulity.Nowadays, the normal modules and functions of Computerized Numerical Control system have been widely used in the processing machinery, but the applications for the specific modules and functionsare seldom and it is the main purpose to design and realize the equipment devices.The Siemens 840D controlling system possesses powerful function of motion controlling and switch signal controlling, and has come to maturity. Also, 840D contains smart hardware interface and the OEM software, on which the secondary exploration can be developed, and, it provides specific modules and functions required by assemblage technics.The equipment devices taking 840D Numerical Control system as the central controller, and some specific modules are configured: FM-NC function module, CP340 communication processor, fast NCK I/O, etc. The relative software is developed to construct a special control system, thus, serials abilities and functions listed following are archived: the 7 digital servo axes and 2 analog servo axes exact position fixing; the image measure signal control; the motion control during measuring; the control of adjustment of workpiece spatial stance and workpiece axes position; the control of motion by the signal of pressure transducer system. And, these difficulties are solved: the real time control between digital controlling system and image measure control system; the integration controlling of 840D and FM-NC; the integration of pressure transducer system and numeric control system, etc.And also, the electric system interface design, hardware configuration of numeric system and the setting of parameters of numeric system are configured, a series of control software is developed. Such as the PLC procedure to complete motion logic control, NC procedure to fulfill the desire of assemble technics, the OEM application to provide a special customer operate interface.By the end of May, 2003, the control design, the system integration and debug, the product assembly simulating are completely finished. All desirable functions of product assembly are realized. The completecontrol system pertains a good flexibility, and also, it is adaptable to the product variety of the structure and frock.