Abstract:

Taking the motion performance of robots in a large press line and the minimum distance to adjacent robots as assessment factors, two evaluation criterions were proposed for the movement schemes of large robotic press linesutilization ratio and overlapping rate. Further, “the equal division of time & the matching of movements” method was applied to the movement scheme design for a large robotic press line, and the proposed evaluation criterions were used to evaluate the schemes of movements. Finally, based on the design of the action program, motion simulation was carried out on the production line to verify the correctness and conveniency of the evaluation criterions. The proposed evaluation criterions can provide theoretical reference for the movement scheme development, assessment and control of large robotic press lines.

Key words: press line, industrial robot, press, scheme of movement, evaluation criterion

摘要：

以大型冲压线中机器人的运动性能与相邻机器人的最小距离为评价指标,提出了面向大型机器人冲压线动作方案的评价指标——利用率和重叠率。利用“时间等分动作匹配”法对一条大型机器人冲压线进行了动作方案设计，并利用所提出的评价指标对动作方案进行了评价。结合所设计的动作方案对该生产线进行运动仿真，以验证评价指标的正确性和简便性。

关键词: 冲压生产线, 工业机器人, 压机, 动作方案, 评价指标