（中職） 工業(yè)機(jī)器人任務(wù)5 機(jī)器人裝配手機(jī)蓋的程序設(shè)計(jì)與調(diào)試教學(xué)課件（）

（中職）工業(yè)機(jī)器人任務(wù)5機(jī)器人裝配手機(jī)蓋的程序設(shè)計(jì)與調(diào)試教學(xué)課件（工信版）【工作情景】

一臺(tái)手機(jī)自動(dòng)化生產(chǎn)設(shè)備中由一臺(tái)三菱6軸機(jī)器人完成手機(jī)按鍵的組裝工作按鍵生產(chǎn)好后用托盤按照一定規(guī)律進(jìn)行排列，待裝配的手機(jī)放在固定的位置，現(xiàn)在工業(yè)機(jī)器人與PLC的線路已經(jīng)接好，請(qǐng)?jiān)O(shè)計(jì)PLC與工業(yè)機(jī)器人程序?！救蝿?wù)描述】

按鍵托盤按照規(guī)定的位置和方向放好，手機(jī)底座也在規(guī)定的位置放好后，在六軸機(jī)器人單元的操作面板上按下啟動(dòng)按鈕，工業(yè)機(jī)器人依次將手機(jī)按鍵從托盤中取出放到手機(jī)底座上。裝配好一個(gè)手機(jī)后更換夾具進(jìn)行加蓋操作。待換好手機(jī)底座和手機(jī)蓋后按下啟動(dòng)按鈕繼續(xù)運(yùn)行，循環(huán)四次后托盤中的按鍵全部裝配完成后停止?！救蝿?wù)要求】根據(jù)任務(wù)描述設(shè)計(jì)工業(yè)機(jī)器人程序和PLC程序?！灸芰δ繕?biāo)】1、了解工業(yè)機(jī)器人與PLC的配合；2、掌握工業(yè)機(jī)器人程序的編寫；3、掌握工業(yè)機(jī)器人在手機(jī)按鍵裝配中的應(yīng)用；【任務(wù)準(zhǔn)備】1理論知識(shí)準(zhǔn)備夾具更換1）吸取按鍵使用的夾具吸取按鍵所用的夾具如下圖所示你可能需要獲得以下的資訊，才能更好地完成工作任務(wù)……………………微軟用戶2015-01-2009：20批注【微軟用戶1】【任務(wù)準(zhǔn)備】1理論知識(shí)準(zhǔn)備夾具更換1）吸取按鍵使用的夾具夾取手機(jī)蓋的夾具如下圖所示你可能需要獲得以下的資訊，才能更好地完成工作任務(wù)……………………微軟用戶2015-01-2009：20批注【微軟用戶2】【任務(wù)準(zhǔn)備】1.理論知識(shí)準(zhǔn)備夾具更換1）吸取按鍵使用的夾具在更換夾具的同時(shí)完成了氣路的連接和電路的連接。采用這種方式可以提高工業(yè)機(jī)器人所能完成的任務(wù)。2）更換夾具后的原點(diǎn)偏移：由于夾具的工作基點(diǎn)和夾具連接中心點(diǎn)的位置偏差導(dǎo)致更換夾具后夾具工作點(diǎn)發(fā)生偏移，需要在程序中進(jìn)行糾正或者單獨(dú)進(jìn)行示教。你可能需要獲得以下的資訊，才能更好地完成工作任務(wù)……………………【任務(wù)準(zhǔn)備】2、準(zhǔn)備工具為完成工作任務(wù)，每個(gè)工作小組需要向工作站內(nèi)倉(cāng)庫(kù)工作人員提供借用工具清單序號(hào)名稱型號(hào)數(shù)量借出時(shí)間學(xué)生簽名歸還時(shí)間學(xué)生簽名備注

表8-5-1工具借用清單【任務(wù)準(zhǔn)備】3、準(zhǔn)備材料為完成工作任務(wù)，每個(gè)工作小組需要向工作站內(nèi)倉(cāng)庫(kù)工作人員提供領(lǐng)用材料清單序號(hào)名稱型號(hào)數(shù)量借出時(shí)間學(xué)生簽名歸還時(shí)間學(xué)生簽名備注

表8-5-2材料借用清單【任務(wù)計(jì)劃】

掌握好理論知識(shí)，完成任務(wù)要求；小組共同分析、討論決策出最優(yōu)實(shí)施步驟方案；再由組長(zhǎng)進(jìn)行任務(wù)分工，完成機(jī)器人與PLC配合實(shí)現(xiàn)手機(jī)按鍵的程序設(shè)計(jì)和調(diào)試；還等什么?趕快決策出工作計(jì)劃并實(shí)施它………………………【任務(wù)實(shí)施】1、了解設(shè)備信息1.1按鍵托盤的結(jié)構(gòu)，如圖8-7-1所示1)按鍵按照左圖的規(guī)律分成15個(gè)按鍵區(qū)域。2)每個(gè)按鍵區(qū)域有四個(gè)按鍵按矩陣排列3)區(qū)域之間橫向間距和縱向間距均為30mm4)同名按鍵之間的橫向間距和縱向間距均為12mm5)方向鍵區(qū)域單獨(dú)排列橫向間距和縱向間距均為18mm圖8-7-1按鍵托盤排列【任務(wù)實(shí)施】1、了解設(shè)備信息1.2了解手機(jī)底座結(jié)構(gòu)手機(jī)底座15個(gè)按鍵對(duì)應(yīng)有15個(gè)凹坑，每個(gè)凹坑的邊都有一定的傾斜角，對(duì)少量的偏差有自動(dòng)校正作用微軟用戶2015-01-2009：20批注【微軟用戶3】【任務(wù)實(shí)施】1、了解設(shè)備信息1.3了解手機(jī)按鍵裝配好后的情況1、2、3、*、4、5、6、0、7、8、9等按鍵的排列規(guī)律跟按鍵托盤中的按鍵規(guī)律一致，在編寫機(jī)器人程序時(shí)可以根據(jù)按鍵托盤和手機(jī)按鍵的排列優(yōu)化動(dòng)作順序?！救蝿?wù)實(shí)施】1、了解設(shè)備信息

1.4手機(jī)蓋結(jié)構(gòu)【任務(wù)實(shí)施】2、根據(jù)控制要求分析動(dòng)作流程1)2)3)4)5)6)7)8)9)10)11)12)13)【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序1DefIoin6=Bit,6'有料信號(hào)2DefIoin7=Bit,7'有蓋信號(hào)3DefIoin8=Bit,8'蓋顏色信號(hào)4DefIoin9=Bit,9'plc復(fù)位信號(hào)5DefIoin10=Bit,10'夾具1到位信號(hào)6DefIoin11=Bit,11'夾具2到位信號(hào)7DefIoin13=Bit,13'夾具3到位信號(hào)8DefIoin14=Bit,14'倉(cāng)庫(kù)1清空信號(hào)9DefIoin15=Bit,15'倉(cāng)庫(kù)2清空信號(hào)10DefIoout5=Bit,5'到原點(diǎn)位11DefIoout6=Bit,6'裝配完成信號(hào)12DefIoout7=Bit,7'加蓋完成信號(hào)13DefIoout8=Bit,8'入庫(kù)完成信號(hào)14DefIoout11=Bit,11'抓手電磁閥（夾具電磁閥）（夾具電磁閥）（夾具電磁閥）15DefIoout12=Bit,12'吸盤A電磁閥（吸盤A電磁閥）（膠槍）（抓手電磁閥）16DefIoout13=Bit,13'吸盤B電磁閥（吸盤B電磁閥）（抓手電磁閥）17DefIoout14=Bit,14'換料18DefIoout15=Bit,15'取蓋到位19DefIntem0,m1,m2,m3,m4,m5,m6,m10,m11,m12,m20,m21,m22,m100'定義變量20DefIntecmd'定義夾具【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序21DefJntjsafe'定義原點(diǎn)22DefPlt1,p1,p2,p3,,4,3,2'定義4x3碼垛23jsafe=(+0.00,-30.00,+120.00,+0.00,+90.00,-90.00)'原定賦值24p0=(+0.00,+0.00,-22.00)'向上偏移值25Pm=(+0.00,+0.00,-16.00)'按鍵的偏移值26'-----main27GoSub*init28''Waitin14=1'等待倉(cāng)庫(kù)1清空信號(hào)29''Waitin15=1'等待倉(cāng)庫(kù)2清空信號(hào)30Form2%=0To3'for循環(huán)31Waitin6=1'等待有料信號(hào)32cmd%=1'一號(hào)夾具33GoSub*key_in'跳轉(zhuǎn)到*key_in夾具子程序34GoSub*keying'跳轉(zhuǎn)到*keying碼垛算法子程序35GoSub*corev'跳轉(zhuǎn)到*corev加蓋子程序36Next'for循環(huán)結(jié)束37GoSub*origin38Hlt39End40'-------main【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序41*init42p99=P_Curr43Ovrd1544GoSub*hauy45Ovrd10046Clr147Clr248p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00)49Ifin9=1Orm0%=0Then50GoSub*origin51m0%=152Ifin9=1Then53Ifin10=1Andin11=0Andin13=0Thencmd%=154Ifin10=0Andin11=1Andin13=0Thencmd%=255Ifin10=0Andin11=0Andin13=1Thencmd%=356Ifcmd%<>0ThenGoSub*key_out57Movjsafe58out5=159M_00#=060Hlt【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序61EndIf62EndIf63Return64'-----原定------65*origin66j1=J_Curr67j1.J2=jsafe.J268j1.J3=jsafe.J369j1.J4=jsafe.J470j1.J5=jsafe.J571Ovrd4072Movj173Movjsafe74Ovrd10075Return76'---吸、放按鍵----77*keying78Form1%=1To779p101=p10080Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%81Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序82Ifm2%=1Orm2%=3Thenp101.Y=p101.Y+17.8883Ifm2%=2Orm2%=3Thenp4.X=p4.X+1284Ifm2%=2Orm2%=3Thenp101.X=p101.X+17.8885Ifm1%=7Then86Mvsp4*Pm87Mvsp488Dly0.289out12=190Dly0.291Mvsp4*Pm92p4=Plt1,893Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+1294Ifm2%=2Orm2%=3Thenp4.X=p4.X+1295EndIf96Movp4*Pm97Mvsp498Dly0.299out12=1100out13=1【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序101Dly0.2102Mvsp4*Pm103'-------------104Movp5105m3%=1106'-------107Ifm1%<5Thenp4=p6Elsep4=p7108Selectm1%109Case1'2110p4.Y=p4.Y+24111Break112Case2'5113p4.Y=p4.Y+12114Break115'case3'8116Case4'撥號(hào)鍵117p4.X=p4.X+12118p4.Y=p4.Y-13.91119Break120Case5'3【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序121p4.Y=p4.Y+24122Break123Case6'6124p4.Y=p4.Y+12125Break126'case7'9127EndSelect128'---------------129Mvsp4*Pm130Mvsp4131Dly0.2132Ifm1%<5Thenout13=0Elseout12=0133Dly0.2134Mvsp4*Pm135'---------------136Selectm1%137Case1To3'741138p4.X=p4.X-18.57139Break140Case4'#【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序141p4=p7142p4.X=p4.X-12143p4.Y=p4.Y+12+12144Break145Case5To6'*0146p4.X=p4.X+18.57147p4.Y=p4.Y-12148Break149Case7150p4.X=p4.X+18.57151p4.Y=p4.Y-13.91152Break153EndSelect154'-------------------155Mvsp4*Pm156Mvsp4157Dly0.2158Ifm1%>4Thenout13=0Elseout12=0159Dly0.2160Mvsp4*Pm【任務(wù)實(shí)施】3、設(shè)計(jì)工業(yè)機(jī)器人程序161Movp5162m3%=0163Nextm1%164'-------------------方向鍵165p4=p101166Mvsp4*Pm167Mvsp4168Dly0.2169out12=1170Mvsp4*Pm171Movp5172Mvsp8*Pm173Mvsp8174Dly0.2175out12=0176Dly0.2177Mvsp8*Pm178m6%=2179GoSub*key_out180Return【任務(wù)實(shí)施】181'--------------------------入庫(kù)------------------------------------182*corev183cmd%=3184out6=1185m6%=1186GoSub*key_in187Movjsafe188out6=0189out12=1190'Waitin7=1191Ifin7=1Andin8=0Thenm20%=1192Ifin7=1Andin8=1Thenm20%=2193Ifm20%=1Thenm21%=m21%+1194Ifm20%=2Thenm22%=m22%+1195Ifm21%=5ThenWaitin14=1196Ifm22%=5ThenWaitin15=1197Movp10198Mvsp11*p0199Ovrd20200Mvsp113、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】201Dly0.1202out12=0203out13=1204Dly0.3205out15=1206Dly1207out15=0208Mvsp11*p0209Ovrd60210m5%=1'標(biāo)記1211Movp10212Movp12213Mvsp13*p0214m5%=2'標(biāo)記2215Ovrd15216Mvsp13217Dly0.1218out7=1219Dly0.8220out7=03、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】221Dly0.2222out13=0223out12=1224Dly0.1225Mvsp13*p0226Ovrd65227Mvsp12228Movjsafe229Ifm2%=3Thenout14=1230Ifm2%=3ThenDly1231out8=1232GoSub*key_out233out14=0234out8=0235Return236'------取夾具-------237*key_in238Ifcmd%=1Thenp40=p21239Ifcmd%=2Thenp40=p22240Ifcmd%=2Thenp24=(+0.00,-50.00)3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】241Ifcmd%=3Thenp40=p23242Ifm6%<>1ThenMovp20243m6%=0244Movp40*(+0.00,+0.00,-30.00)245Ovrd20246out11=1247M_00#=1248Mvsp40249Dly0.1250out11=0251Dly0.1252Mvsp40*(+0.00,+0.00,-15.00)253Mvsp40*(+0.00,+120.00,-20.00)*p24254Mvsp40*(+0.00,+120.00,-80.00)*p24255Movp20256p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)257Ovrd75258Return259'------放夾具-------260*key_out3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】261Ifcmd%=1Thenp40=p21262Ifcmd%=2Thenp40=p22263Ifcmd%=2Thenp24=(+0.00,-50.00)264Ifcmd%=3Thenp40=p23265Ifcmd%=3Thenout13=1266Movp20267out13=0268Mvsp40*(+0.00,+120.00,-80.00)*p24269Mvsp40*(+0.00,+120.00,-20.00)*p24270Ovrd15271Mvsp40*(+0.00,+0.00,-10.00)272Mvsp40273Dly0.1274out11=1275Movp40*(+0.00,+0.00,-35.00)276out11=0277M_00#=0278Ifm6%<>2ThenMovp20279m6%=0280p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】281Ovrd100282Return283'------夾具復(fù)位--------284*hauy285m10%=Zone2(P_Curr,p21,p23,20)286m11%=Zone2(P_Curr,p21,p23,121)287m12%=Zone2(P_Curr,p21,p23,200)288IfM_00#=0Orcmd%=0Orm10%=0Andm11%=0Andm12%=0ThenReturn289Ifcmd%=1Thenp40=p21290Ifcmd%=2Thenp40=p22291Ifcmd%=2Thenp24=(+0.00,-50.00)292Ifcmd%=3Thenp40=p23293p50=p40*(+0.00,+0.00,-20.00)294p51=p40*(+0.00,+120.00,-20.00)295p52=p40*(+0.00,+120.00,-80.00)296Ifm10%=1Andm11%=1Andm12%=1ThenMvsp40297Ifm10%=0Andm11%=1Andm12%=1Then298Mvsp50299Mvsp40300EndIf3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】301Ifm10%=0Andm11%=0Andm12%=1Then302Mvsp51303Mvsp50304Mvsp40305EndIf306Dly0.1307out11=1308Dly0.1309Mvsp50*(+0.00,+0.00,-20.00)310M_00#=0311Return312'-----吸取按鍵復(fù)位----------313*outkey314Ifcmd%<>1ThenReturn315Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%316Ifm3%=1ThenMovp5317Ifm1%=7Then318p4=Plt1,8319Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12320Ifm2%=2Orm2%=3Thenp4.X=p4.X+12321Mvsp4*Pm322Mvsp4323Dly0.2324out13=0325Dly0.23、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】326Mvsp4*Pm327p4=Plt1,11328Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12329Ifm2%=2Orm2%=3Thenp4.X=p4.X+12330EndIf331Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12332Ifm2%=2Orm2%=3Thenp4.X=p4.X+12333Movp4*Pm334Mvsp4335Dly0.2336out12=0337out13=0338Dly0.2339Mvsp4*Pm340Return341*NG342Error9000343Hlt3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】p1=(+308.98,-138.26,+304.44,-179.36,-1.74,-88.48)(7,0)p2=(+398.86,-140.07,+305.49,-179.33,-0.71,-88.49)(7,0)p3=(+308.72,-78.13,+304.18,-179.36,-1.74,-88.48)(7,0)p0=(+0.00,+0.00,-22.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)Pm=(+0.00,+0.00,-16.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p99=(+231.44,+18.68,+330.46,-179.36,-1.74,-53.24,+0.00,+0.00)(7,0)p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p101=(+385.38,-28.61,+304.66,-179.36,-1.74,-88.48,+0.00,+0.00)(7,0)p100=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48)(7,0)p4=(+266.66,+221.27,+317.57,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p5=(+231.29,+18.47,+330.42,-179.36,-1.74,-53.32,+0.00,+0.00)(7,0)p6=(+285.23,+197.27,+317.57,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p7=(+243.72,+197.54,+317.26,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p8=(+251.80,+183.90,+317.72,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)p10=(-172.93,-233.62,+346.75,+180.00,+0.00,-90.00,+0.00,+0.00)(7,15728640)p11=(-169.07,-431.24,+274.92,+179.70,+0.97,-88.73,+0.00,+0.00)(7,15728640)p12=(+253.66,+84.81,+346.75,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)p13=(+268.31,+205.51,+274.74,+179.23,+0.51,+90.69,+0.00,+0.00)(7,15728640)p40=(+76.02,+281.52,+233.63,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p21=(+76.02,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p22=(-47.43,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p23=(-165.40,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p20=(-2.18,+154.98,+421.67,-180.00,+0.02,+0.80)(7,0)p50=(+76.01,+281.32,+253.62,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)3、設(shè)計(jì)工業(yè)機(jī)器人程序【任務(wù)實(shí)施】p51=(+78.99,+161.36,+252.43,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p52=(+78.97,+160.77,+312.43,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p14=(+34.34,-311.55,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p15=(+34.34,-311.55,+289.93,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p16=(+34.34,-437.50,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p17=(+34.34,-444.96,+289.93,+180.00,+0.00,-88.88,+0.00