The Development Of Emu Windshield Assembly Robot

In recent years, with the develpoments of electrics and automatic technology, industry robots have been sufficiently developed in welding, stacking and assembling domains etc. Moreover, welding robots and stacking robots have been more widely used in industry, which tremendously improved productivity. However, factors that make robots kept in its primary stage are various namely: higher requests in assembling and replacing precision, how to solve problems occoured in optimizing the assembling steps, assembling robots’ design and its control system’s constructing still confronts many difficulties etc. so it is vastly meaningfull to deeply study assembling robots, which contributes to improve the use benefits of humansorce and material resorce, that presents certain practical significances.This paper developed a novel assembling robot at the background of CRH3 railling motor-cars’ producting and assembling. Based on the concept of multi-working positons, through designing robots’ structure, analyzing robots’ motions, constructing robts’ control system and mutual interfaces, a novel robot was presented, which contains functions as gluing, installation, sealing compound and cleaning in one robot. This robot decreased the time and manpower costing during assembling process.Firstly,according to the CRH3’s model and its assembling workshop environments, windshield assembling robot’s structure design and transmission scheme were completed, a 3d model was built by solidworks software and optimized crucial parts’ structure sizes as well.Then,based on simplified 3d model, via robot D-H method, its normal solution and inverse solution were obtained simultaneously, then synthetically used inverse solution and simplified 3d model, optimized model’s trajectory by step function then simulation results could be got, lastly analysis results were demonstated by comparing simulation results with analysis results.Furthmore, using SIMENS S7-200 PLC as the core controller, its control system was built, motors’ positioning control system was established as well through S7-200, then designed the whole assembling steps’ PLC ladder diagram.Lastly,using SIMENS smart 700 touching panel as PC then building mutual interfaces via the WINCC FLEXIBLE software. Communication between PC and PLC by RS485 communication interface was completed, which can transfer datas from PC to PLC and HMI devices, finally PC realizes the totally control of the whole system.In this paper, CRH train windshield robot was investigated and studied by follow four aspects: structure designing, kinematics analyzing, control system’s building and mutual interfaces’ establishing. Then a multi-position assembling robot was put forward, which adapts to present installing circumstances.