Research On Key Technologies Of Multi-robot Press Lines

As one of the four process in automobile production, the development of stamping technology become the important factors that influence our country automobile industry development. The application of the multiple robots press line will be the development direction and the important trend of the automatic stamping technology in the future.First, this paper introduces the constitution and process flow of the multi-robot press line, because of the characteristics of many devices, large spacing and the I/O scattered, the central CPU+Profibus DP fieldbus technology of DCS control system is carried out. And the detailed development methods selection and the equipment of the whole line are given.In view of the problems in the production of stamping multi-robot coordination at present. The research of multi-robot system calibration method is carried on, though the analysis of multiple robot calibration problems in the transformation of the relationship between the coordinate system, the calibration scheme is set up. Firstly six point method is adopted to improve the robot calibration of the tool, and then through the three point method to establish a single robot and the position relation between the target and the final using targets as a bridge connecting two or more robot coordinate, multi-robot system between the calibration work is accomplished.On the basis of comparing the current mainstream virtual simulation method of the whole line, robot press line of robot workspace analysis, layout optimization, interference detection of the whole line are completed by RobotStudio simulation software. This provides a train of thought for stamping production line of the whole line movement simulation.To solve the problem of industrial robot operating difficulties and the long personnel training cycle, the application of RobotStudio ScreenMaker toolkit secondary development on industrial robots plexpendant, makes the original text navigation operation transformed into animation button operation, simplifies the application of industrial robots.Finally, according to the proposed control strategy, on the basis of industrial robots of ABB, hardware Siemens PLC and its peripheral equipment, a typical robot system is developed with the Profibus field bus technique, the debugging and running of the whole line is completed.