XS321A-E Application PLC Editable Controller Original ABB Series

Description

XS321A-E first determines the type of robot according to the basic requirements, such as the walking lifting (lifting) mechanical arm, the three-axis coordinate robot, or the six axis robot. Choosing the type of robot also determines the control mode, and also has the direction of design in limited space.
The next step is to determine the design task. XS321A-E This is a relatively complex process. The first step in implementing this complex process is to clearly specify the design requirements; The second step is to make a mechanical transmission diagram according to the design requirements, analyze the diagram, develop an action flow chart (diagram), and preliminarily determine the transmission power, control flow and mode; The third step is to define the design content, design steps, breakthrough points, design calculations, sketch drawing, materials, processing technology, control procedures, and circuit drawing; The fourth step is to comprehensively review all aspects to confirm production.

Now I will take the six axis industrial robot as the design object to illustrate this design process:
Before introducing the design of robot XS321A-E, I would like to talk about the application fields of robots. The application field of robots can be said to be very extensive. There are many examples on automatic production lines, such as stacking robots, packaging robots, and line transfer robots; There are also many examples in welding, such as welding robots in automobile production lines; Now the development of robots is very rapid, and the application of robots has been extended in various industries of civil enterprises. The demand for robot designers is also growing.
The application scope of six axis robot is different, and the design form is also different. Now there are many companies producing robots in the world, with different structures. The robots most widely used in China are imported from abroad, such as ABB, Panasonic, FANUK, Motoman, etc.
Since robots are so widely used, there is no well-known production company in China. As a Chinese mechanical engineering technician, it is a problem worth thinking about! Too little discussion on robot technology? Can’t the employees form a group? Although the theory of machines can be seen in many places, it has not really become popular.
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That is to say, design, let me start from the beginning bit by bit. Try to speak in a simple and popular way, and please correct what is wrong!
The six axis robot is a multi joint, multi degree of freedom robot with many actions and flexible changes; It is a kind of industrial robot with high flexible technology and the most extensive application. So how to design it from scratch? How to determine the scope of work? How to arrange the movements? How to control posture? What are the requirements for joints in various parts? Wait… Let’s go down slowly with many questions!
First of all, we set that the robot is a six axis robot with multiple degrees of freedom, and the gripper holds a standard welding torch for oxygen shielded welding; Complete spot welding, continuous welding and other welding parts with different requirements, and automatic production line with fast changes in process requirements and process routes. Maximum elongation: 1700mm; Rotate 270 degrees; The base is horizontally fixed with the horizon; All motor driven.
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Well, with such basic requirements, we can think about the preliminary plan.
First of all, it is driven by all motors. When considering the scheme, we don’t need to consider various structures of hydraulic pressure and air pressure, that is, the transmission mechanism can only use mechanical mechanisms such as gear rack and linkage.
Robots are used for welding, so we will investigate various welding techniques and methods under artificial behavior. There is a very complicated thing in it, that is, the welding process; Even if the welding process cannot be determined, we will distinguish it. In common welding, there are single point spot welding, continuous breakpoint spot welding, continuous flat seam welding, fillet welding, vertical seam welding, overhead welding, circumferential seam welding, etc
After knowing all kinds of welding methods, it is understood that a set of feasible control methods is required to achieve these complex actions; Before the machine is completely designed, you can not think too much about the control scheme. Just have a general outline concept. After the mechanical structure is completed and the driving power of all aspects is determined, you can do the detailed program.
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The welding gun is a commonly used standard welding gun, which means that the welding gun can be replaced at any time, which requires us to quickly lock and release the clamping part of the welding gun.
During the welding process, the welding torch needs to adjust various welding postures, so the mechanical wrist should be flexible and adjustable in all directions.
With the above basic requirements and setting conditions, the scheme reasoning is also organized. Next, we will clarify the design requirements, so that the design direction will not deviate too much.
design assignment
Design requirements: The robot is applicable to the welding field and can complete various welding actions; In order that the robot can adapt to various welding processes and adjust the process online quickly, flexible control programs are used when compiling control programs, and online and offline teaching programs are adaptive; Image tracking of weld seam, weld pool and weld bead, and automatic adjustment of various parameters of the welding machine.
The robot adopts full servo drive and is fixed on the ground. Six axis control enables flexible movement of each joint. The action range of each axis is designed according to the process description table to make the mechanism as compact as possible and the overall appearance beautiful.

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