Research Of Automatic Assembly Line Based On Industrial Robots

With the rise of the industrial 4.0 technological revolution,industrial robots are increasingly used,accompanied by higher-rate,more intelligent industrial automation production lines.Many existing companies are actively introducing industrial robots,keeping pace with the trend of technology.In this technical background,this article focuses on the key and difficult issues involved in automated assembly lines based on industrial robots.The automated assembly line is usually divided into industrial robot systems,hardware structure systems,electrical systems,human-machine interface systems,and so on.The article takes this as the research object,analyzes and improves it,mainly involves the following issues:1.Six-degree-of-freedom tandem manipulators were studied in this paper.The D-H parameter method was used to describe the geometric relationship between connecting rods and joints on a tandem link.The forward and inverse kinematics problems of serial manipulator are discussed and analyzed in depth.For a robot with 6 joints and the wrist is a globe joint,the inverse kinematics analytical solution is a set of joint angles corresponding to the position of a particular end effector.However,this inverse solution is not unique.The robot may have multiple joint configurations corresponding to the same position of the end effector.Therefore,the article takes the analytical method as the research focus,and more importantly,analyzes and discusses the selection principle of the optimal solution in the analytical solution.Finally,the algorithm used in the solving process of the analytical method was encoded and implemented using Robotics Toolbox which is attached to MATLAB software,the results of the forward and inverse kinematics of the manipulator were solved,and the motion model was simulated.By analyzing the results of the motion simulation,the advantages and disadvantages of various optimal solution screening principles were compared.2.The mechanical structure of the entire automated assembly line was introduced in the paper,expounding in detail the purpose of the entire automated assembly line,the functions performed,and the requirements to be achieved.Thus,the design of the workstation platform structure and the layout of the electric cabinet control cabinet are performed.Through the analysis of each single station to complete different functions,according to their specific needs,the design of the workstation's end effectors.After completing the design requirements for each single station,the system performance of the automated assembly line is comprehensively considered,and the entire assembly line work platform is finally built.3.The electrical control section of the assembly line was designed in the paper.Including the design of electronic control cabinets,PLC control process design.Among them,PLC as the control center of the entire system,detects the input of the buttons in its control panel,and the input of various types of sensors,and finally completes the processes of startup,operation,and stop of related equipment.The safety signal in the I/O correlation between PLC and Comau robot is analyzed.The main control operation unit of human-computer interaction realized by a touch screen is designed.And through the I / O port connected to provide action signals to all the preparation work items on the production line,such as robots,pneumatic systems,industrial vision systems.The control is completed to drive the components on the production line to communicate with each other and cooperate with each other to perform automation.4.After completing the installation and commissioning of the entire automated assembly line,the visual system of the automated assembly line was tested experimentally.This part of the experiment is a key step in determining whether the previous work was reasonable and improved.The paper tests the visual fit system through experiments,and the resulting paste synthesis power meets the design requirements of the automated assembly line.The article combines the background of the machine replacement workers in the entire automated production line in the current,and carries out the design,construction and analysis of the automated assembly line system on the basis of industrial robots,control system software hardware,machine vision and other basic levels.This makes the automated production line more adaptable to market diversification and individualized demands,as well as the ever-changing robot working environment,marching toward wider manufacturing and non-manufacturing industries.