Research And Application Of Key Technologies In KUKA Robot Chasing Stamping Production Line

As an important process for automobile manufacturing,multi-robot stamping technology has a tremendous impact on the production and manufacture of automobiles.Due to the industrial networks,the robots and stamping machines are becoming more and more high-speed and unsophisticated.Therefore,to have higher speed and more efficient operation,the research and the optimization of the industrial robots system are required.Based on the low efficiency and the inadequate safety monitoring system of multi-robot punching lines,this thesis completes a chase stamping design based on KUKA robots.Firstly,this paper studies the various links and process flow of multi-robot stamping line.Based on the technical characteristics of the multi-robot stamping line,chapter 2 explains the hardware selection and introduces the system of the robot stamping line.Secondly,in view of the stamping robot type in industrial scene.This paper conducts kinematics research on stamping robots and simulated each join's motion trajectory in MATLAB toolbox.Moreover,according to the relationship between the coordinate systems of robots in actual motion,the XYZ four-point method is employed to settled the position of the robot tool coordinate system and the three-point method is used to determine the direction of its tool coordinate system.The key technologies studied in this paper are as follows:1.The chasing design of the robot program: In view of the problems in the production of stamping multi-robot coordination,according to the process of stamping lines requirements and robot movement characteristics,this thesis completes the design of the robot's loading and unloading motion statement.In order to increase flexibility and production rhythm in robot collaboration,this article designs a chasing transformation of the robot stamping line,which uses placing control and advance stamp control for each robot.2.SOFTPLC real-time monitoring system: In view of robot safety issues in robot stamping line,this paper presents a real-time monitoring method.The PROCONOS real-time running system and the SOFTPLC technology has intergrated in the robot Wx Works execution system and each robot,respectively.The position of the robot tool coordinate system under the pedestal system can be monitored and sent to the host computer in real time to ensure the safety of the robot's location and other equipment.3.PROFINET fieldbus communication: In order to ensure the rapidity and stability of data transmission,This article proposes the PROFINET fieldbus communication.Based on the analysis of the robotic PROFINET communication principle,the industrial bus system stack and the data communication have acccomplished.Finally,this paper finished the actual test of the control strategy.The results show that this project can significantly improve the production rhythm of the multi-robot stamping line,and the single line daily output can increase 1584.This strategy has greatly improved the safety and reliability of the entire line.