| With the popularization of industrial robot technology,it is of great significance to develop teaching standards,curriculum and practical training equipment for application-oriented talents.This paper aims at the existing secondary vocational schools industrial robot training equipment single function,lack of practicality outstanding problems.According to the design process of industrial robot system integration,combining with the technological requirements of glass gluing in real automobile manufacturing enterprises and the research on the motion algorithm and trajectory of gluing robot,a practical training teaching system of industrial robot based on the typical application of automobile glass gluing assembly was designed.After completing the integrated design of the whole system,the practical training teaching system can be realized through hardware installation and software debugging in the teaching task.It embodies the integrity and authenticity of the design,and highlights the vocational education features of "combining work with study and integrating learning with practice".The main tasks are summarized as follows:Firstly,through enterprise research,the automatic gluing assembly line of Chevrolet Malibao auto glass of Shanghai General Motors Co.,Ltd.was established as the reference system for the design of this practice training.The differences between the current teaching equipment and the real car window gluing system are compared and analyzed,and the optimization solution is proposed,so as to provide technical reserve for the overall implementation of the subsequent teaching system.Secondly,through the d-H modeling of the target industrial robot,the forward kinematics calculation data of the industrial robot are analyzed,and the parameters of the industrial robot are compared to select the model of the industrial robot.Using Solidworks 3d design software,the structure of the important parts of the system was designed,and electrical parts were selected to complete all the hardware design and selection work.Finally,the software function of the training teaching system is designed and planned.The PLC work flow of robot unit,feeding glue unit and multi-station painting unit was analyzed,and the work flow was planned and then the program was designed and compiled.The programming of industrial robots is realized through offline editing of ABB's programming simulation software Robotstudio.The linear trajectory and arc trajectory of the industrial robot in Cartesian space are calculated,and the requirements of gluing process are fully taken into account.Finally,the overall design of the training teaching system software is completed.It is hoped to provide some references and thoughts for the design and development of industrial robot training teaching system. |
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