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1、Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam12008.11.122008.11.12生生產(chǎn)技技術(shù)組 生產(chǎn)技術(shù)組 技術(shù)學(xué)習(xí) “機(jī)器人 W/D 應(yīng)用技術(shù)”Doing it right the first time,Working SmarterDoing it right the first time,Wor
2、king Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam2目目目目錄錄錄錄1.機(jī)器人的定義與分類2.機(jī)器人的構(gòu)成3.機(jī)器人的動(dòng)作順序與原理4.機(jī)器人控制系統(tǒng)種類5.本公司機(jī)器人適用事例6.今后新車型開(kāi)發(fā)時(shí)機(jī)器人應(yīng)用計(jì)劃 -操作機(jī)器人應(yīng)用弧焊同步設(shè)備7.機(jī)器人 JIG 視頻介紹Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè)
3、株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam3 所所謂“機(jī)器人機(jī)器人”:是指是指將將人人類技能制作成程序，能反技能制作成程序，能反復(fù)復(fù)進(jìn)行巨物裝行巨物裝載、交、交換、移送等多、移送等多種種作作業(yè)的裝置或的裝置或機(jī)器。機(jī)器。即，通即，通過(guò)程序程序變更不更不僅能移能移動(dòng)物體物體還能添加感能添加感應(yīng)器器進(jìn)行加工、行加工、組裝等作裝等作業(yè)的多功能主的多功能主體。體。根據(jù)根據(jù)運(yùn)運(yùn)動(dòng)形形態(tài)分分類 1.1.ROBOT(ROBOT(直交機(jī)器人直交機(jī)器人):):沿沿X,Y,ZX,Y,Z軸的方向的方向運(yùn)運(yùn)動(dòng).2.2.多多關(guān)
4、關(guān)節(jié) 機(jī)器人機(jī)器人(4(4軸以上的機(jī)器人以上的機(jī)器人):):動(dòng)作作結(jié)構(gòu)構(gòu)由由關(guān)關(guān)節(jié)構(gòu)構(gòu)成的的機(jī)器人成的的機(jī)器人 3.3.圓柱坐柱坐標(biāo)機(jī)器人機(jī)器人 (Cylinderical Robot):(Cylinderical Robot):動(dòng)作作結(jié)構(gòu)構(gòu)為圓柱坐柱坐標(biāo)形式的機(jī)器人形式的機(jī)器人 4 4.直角坐直角坐標(biāo)機(jī)器人機(jī)器人 (Cartesian Robot):(Cartesian Robot):動(dòng)作作結(jié)構(gòu)構(gòu)為直角坐直角坐標(biāo)形式的機(jī)器人形式的機(jī)器人 5.5.極極坐坐標(biāo)機(jī)器人機(jī)器人 (Spherical Robot):(Spherical Robot):動(dòng)作作結(jié)構(gòu)構(gòu)為極極坐坐標(biāo)形式的機(jī)器人形式的機(jī)器人 根
5、據(jù)用途分根據(jù)用途分類 1.1.操作機(jī)器人操作機(jī)器人 2.2.組裝機(jī)器人裝機(jī)器人 3.3.涂裝機(jī)器人涂裝機(jī)器人 4.4.弧弧焊機(jī)器人機(jī)器人 5.5.點(diǎn)點(diǎn)焊機(jī)器人機(jī)器人1.1.機(jī)器人的定義與分類Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam42.1 2.1 全體全體構(gòu)構(gòu)成成圖2.2.機(jī)器人的構(gòu)成Doing it
6、right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam52.2.機(jī)器人的構(gòu)成2.2 2.2 機(jī)器人各機(jī)器人各條條軸的名的名稱稱Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株
7、式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam6B軸 減速器 與 伺服電機(jī)R1軸 減速器 與伺服電機(jī)R2軸 減速器 與 伺服電機(jī)H軸 減速器 與 伺服電機(jī)V軸減速器 與伺服電機(jī)S軸 減速器 與 伺服電機(jī)Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology
8、T Teameam7(：165 kg)2.3 2.3 動(dòng)作范作范圍與與速度速度 2.2.ROBOT的構(gòu)成 Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam8Doing it right the first time,Working SmarterDoing it right the first time,Wor
9、king Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam9單位：mm：P P點(diǎn)點(diǎn) 動(dòng)作范作范圍2.4 2.4 作作業(yè)領(lǐng)域域 2.2.ROBOT的構(gòu)成Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Tea
10、meam102.5 2.5 作作業(yè)領(lǐng)域域設(shè)定定檢討2.2.ROBOT的 構(gòu)成SIMULATOR PROGRAMSIMULATOR PROGRAMSIMULATOR PROGRAMSIMULATOR PROGRAM 作作業(yè)領(lǐng)域域設(shè)定定檢討必要必要項(xiàng)目目 1)1)JIG 3D(2D)JIG 3D(2D)設(shè)計(jì) DATA DATA 2)ROBOT(ARC or HANDLING ROBOT)2)ROBOT(ARC or HANDLING ROBOT)選定定 3)3)作作業(yè)產(chǎn)品品數(shù)數(shù)據(jù)據(jù) (ARC WELDG or SPOT WELDG (ARC WELDG or SPOT WELDG 部位部位)4)4
11、)根據(jù)根據(jù) SIMULATOR PROGRAM SIMULATOR PROGRAM算出作算出作業(yè)半半徑徑 并并且且設(shè)定定 ROBOT ROBOT 與與 JIG JIG間的的設(shè)置置間隔，隔，決決定吊具尺寸定吊具尺寸 5)5)擴(kuò)大作大作業(yè)領(lǐng)域的方法域的方法 :報(bào)告臺(tái)告臺(tái)(ROBOT(ROBOT 本體安著本體安著帶)高度高度調(diào)整整Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T
12、 Technology echnology T Teameam112.6.CONTROLLER 2.6.CONTROLLER 電源源 供供給CPUCPUSERVO SERVO AMPAMPSERVO SERVO MOTOR MOTOR 命令命令2.2.ROBOT的構(gòu)成 Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Team
13、eam122.7 CONTROLLER2.7 CONTROLLER的的 INPUT/OUTPUT SIGNAL INPUT/OUTPUT SIGNAL 使用使用 2.2.ROBOT的構(gòu)成(1)(1)ARC ROBOT ARC ROBOT 的基本接點(diǎn)的基本接點(diǎn) :I/O BOARD:I/O BOARD /CARDCARD CONNECT CONNECT -INPUT:16-INPUT:16 (RELAY BOARD(RELAY BOARD :32:32 )-OUTPUT:16 -OUTPUT:16 (RELAY BOARD(RELAY BOARD :32:32 )(2)H/ROBOT(2)H/R
14、OBOT :I/O BOARD:I/O BOARD /CARDCARD -INPUT :32-INPUT :32,OUTPUT:32,OUTPUT:32 -JIG-JIG I/LOCK I/LOCK I/LOCKI/LOCK ()(3)ARC ROBOT&JIG INTERFACE:ARC ROBOT CONTROLLER(3)ARC ROBOT&JIG INTERFACE:ARC ROBOT CONTROLLER -JIG-JIG(ROBOT(ROBOT):16):16 ROBOT ROBOT ,ROBOT,ROBOT,(1(1/2/2),jig),jig,-JIG -JIG(ROBOT(R
15、OBOT):16):16 4 4(BINARY CODE(BINARY CODE :15:15 ),),ROBOT ROBOT,JIG,JIG(1(1/2/2)(4)H/ROBOT&JIG INTERFACE:(4)H/ROBOT&JIG INTERFACE:Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam13
16、)BK MAIN MFL)BK MAIN MFL R LINE R LINE 的的 ROBOT ROBOT 活用活用2.2.ROBOT的 構(gòu)成(1)(1)使用使用設(shè)備:-ARC ROBOT 1 -ARC ROBOT 1臺(tái)臺(tái) -HANDLING ROBOT 1-HANDLING ROBOT 1臺(tái)臺(tái) -ROBOT W/D JIG 1-ROBOT W/D JIG 1臺(tái)臺(tái) -L/TEST 1-L/TEST 1臺(tái)臺(tái) -維修用修用CHUTE 1CHUTE 1臺(tái)臺(tái) -MAIN RESO-MAIN RESO PLT 1 PLT 1臺(tái)臺(tái) -ASS-ASSY Y 裝裝載 PLT 1PLT 1臺(tái)臺(tái) -配置配置 MA
17、RKMARKG M/C 1G M/C 1臺(tái)臺(tái)(2)H/ROBOT(2)H/ROBOT 使用接點(diǎn)使用接點(diǎn) -56 AR CARD:2-56 AR CARD:2張 -56 DR CARD:1-56 DR CARD:1張 -28 AR CARD:1-28 AR CARD:1張 -24 R CARD:1-24 R CARD:1張(3)INPUT:101(3)INPUT:101分分 O/PUT:88O/PUT:88 I/LOCK I/LOCK,(SPARE(SPARE INPUT 7INPUT 7 O/PUT:13O/PUT:13)H/ROBOTH/ROBOTM/RESO M/RESO PLTPLTAS
18、SASSY Y 裝裝載PLTPLTMarkMarkG MCG MC維修用修用 CHUTECHUTEL/TESTL/TESTDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam14利用利用利用利用專專用用用用TEACHTEACHTEACHTEACH G PENDANTER G PENDANTER G PENDANTE
19、R G PENDANTER 設(shè)設(shè)置置置置CONTROLLERCONTROLLERCONTROLLERCONTROLLER UP-LOADUP-LOADUP-LOADUP-LOADPROGRAMPROGRAMPROGRAMPROGRAM SERVO AMP DATA SERVO AMP DATA SERVO AMP DATA SERVO AMP DATA 伺服放大器的伺服放大器的伺服放大器的伺服放大器的數(shù)數(shù)數(shù)數(shù)據(jù)據(jù)據(jù)據(jù)傳傳送到伺服送到伺服送到伺服送到伺服電電機(jī)機(jī)機(jī)機(jī)各各各各軸驅(qū)動(dòng)軸驅(qū)動(dòng)3.3.ROBOT的動(dòng)作順序與原理3.1 ROBOT3.1 ROBOT的的動(dòng)作作順序序Doing it righ
20、t the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam15Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Techn
21、ology echnology T Teameam16Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam17ROBOT ROBOT 全體全體現(xiàn)況況63%63%37%37%ARC ROBOT H/ROBOT ARC ROBOT H/ROBOT 現(xiàn)況況 ARC ROBOT ARC ROBOT 制造商制造商現(xiàn)況況 85
22、%85%斗山機(jī)斗山機(jī)電9 9臺(tái)臺(tái)FANUCFANUC2 2臺(tái)臺(tái)現(xiàn)代重工代重工業(yè)110110臺(tái)臺(tái) H/ROBOT H/ROBOT 制造制造廠廠現(xiàn)況況 H/ROBOTH/ROBOT127127臺(tái)臺(tái)ARC ROBOTARC ROBOT7474臺(tái)臺(tái)現(xiàn)代重工代重工業(yè)6363臺(tái)臺(tái)12%12%3%3%87%87%斗山機(jī)斗山機(jī)電 1717臺(tái)臺(tái)13%13%Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufact
23、uring T Technology echnology T Teameam18 協(xié)助控制助控制(同同時(shí)控制控制)1)1)控制機(jī)器人之控制機(jī)器人之間，或者機(jī)器人，或者機(jī)器人與與夾具具間的相的相對(duì)補(bǔ)間動(dòng)作作與與相相對(duì)速度速度 2)2)同同時(shí)控制控制MFLMFLR R 設(shè)備上附著的回上附著的回轉(zhuǎn)軸（附加（附加軸）與兩與兩臺(tái)機(jī)器人臺(tái)機(jī)器人 (適用于本公司適用于本公司TQ/BH LINE)TQ/BH LINE)4.4.ROBOT 控制 SYSYTEM 種類夾夾具互助系具互助系具互助系具互助系統(tǒng)統(tǒng)Doing it right the first time,Working SmarterDoing it
24、right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam19 協(xié)助控制的特征助控制的特征 1)1)2)2)2 2 ,.,JOBJOB JOBJOB (SIGNAL-WAIT TIME)(SIGNAL-WAIT TIME).Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)
25、社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam20Muffler 1 axisDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam21Manifold 2 axesDoing it right the first time,Work
26、ing SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam22Manifold 3 axesDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology
27、echnology T Teameam23 ROBOT ROBOT 單獨(dú)獨(dú)控制控制 1)1),2)2)1 1 (中中)Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam241)ARC 1)ARC 焊 -A/T W/D-A/T W/D TOOL TOOL TORCH TORCH BRKT BRKT RESO BAF
28、F SUB RESO BAFF SUB ()2)SPOT 2)SPOT -UCC&-UCC&LINELINE H/ROBOTH/ROBOT SPOTSPOT SPOT SPOT -HANDLG LINEHANDLG LINE UCC UCC SPOT SPOT BRKT BRKT SPOT M/C SPOT M/C 5.5.本公司 ROBOT 適用 事例Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing
29、 anufacturing T Technology echnology T Teameam253)3)產(chǎn)品品 HANDLGHANDLG -MFLR -MFLR -ROBOTROBOT JM MAIN MFLR LINEJM MAIN MFLR LINE H/ROBOTH/ROBOT MFLRMFLR 超重超重產(chǎn)品移送品移送 無(wú)人化無(wú)人化 LINE LINE 人人員減減少少Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MMan
30、ufacturing anufacturing T Technology echnology T Teameam264)A/S LINE 4)A/S LINE -A/S LINE A/S LINE ASSY ASSY JIGJIG TAG TAG H/ROBOTH/ROBOT LOADG LOADG ARC ROBOT ARC ROBOT -LINELINE ITEMITEM LINE LINE -B/OUT-B/OUT Doing it right the first time,Working SmarterDoing it right the first time,Working Smar
31、ter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam276.ROBOT 1)HD CTR MFLR 1)HD CTR MFLR LINELINEDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam286.R
32、OBOT 應(yīng)用計(jì)劃序序設(shè)備名名數(shù)數(shù)量量金金額(單位位 :千元千元)UPHUPH1 1A/T W/D JIG 1A/T W/D JIG 1臺(tái)臺(tái)1 139,00039,0001 1505026262 2BRKBRKT ROBOT W/D JIGT ROBOT W/D JIG1 118,00018,0003 3LEAK TESTERLEAK TESTER1 115,00015,0004 4ROBOTROBOT5 5208,000208,0005 5ROBOT HANGERROBOT HANGER5 517,50017,5006 6 7 734,00034,0007 7ROBOT ROBOT 1 11
33、5,00015,0008 8CONTROLLER PNL CONTROLLER PNL 1 152,00052,0009 9PULSE PULSE 2 220,00020,0001010INVERTER INVERTER 2 24,8004,800TOTALTOTAL2626423,300423,3001 150502626 主要主要設(shè)備&投投資費(fèi)用用Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing
34、anufacturing T Technology echnology T Teameam296.ROBOT 應(yīng)用計(jì)劃2)HD CTR MFLR HANDLING ROBOT 2)HD CTR MFLR HANDLING ROBOT 應(yīng)用用 LINELINEDoing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam306
35、.ROBOT 應(yīng)用計(jì)劃序序設(shè)備名名數(shù)數(shù)量量金金額(單位位 :千元千元)作作業(yè) 人人員UPHUPH所需所需 坪坪數(shù)數(shù)備注注1 1H/ROBOT(400KG)H/ROBOT(400KG)2 2112,000112,0001 1名名60601616坪坪2 2H/ROBOT(165KG)H/ROBOT(165KG)1 135,00035,0003 3ARC ROBOTARC ROBOT4 488,00088,0004 4LEAK TESTERLEAK TESTER1 115,00015,0005 5ROBOT HANGERROBOT HANGER3 315,00015,0006 6PULSE PULS
36、E 4 440,00040,000TOTALTOTAL1515305,000305,0001 1名名60602626主要主要設(shè)備&投投資費(fèi)用用2-1)2-1)改善效果改善效果 -設(shè)備投投資費(fèi)用用節(jié)省省 :約 120,000120,000千元千元(423,300,000305,000,000)(423,300,000305,000,000)-UPH -UPH 增加增加 :50 60(10EA:50 60(10EA 增加增加)-所需面所需面積減減少少 :10:10坪坪(26(26坪坪 1616坪坪)Doing it right the first time,Working SmarterDoing it right the first time,Working Smarter 世鐘工業(yè)世鐘工業(yè) 株式會(huì)社株式會(huì)社MManufacturing anufacturing T Technology echnology T Teameam31
機(jī)器人焊機(jī)應(yīng)用技術(shù)
