【摘要】 为了应对现有工件高精度操作与运转的难题，分析并设计全自动拆解生产线，主要包括工业机器人、机器人第七轴、工装拆解机构和码盘输送线等。通过对产线设备进行调试控制和方法优化，实现了工件的自动化作业。在产线中，设计天轨系统作为六轴工业机器人的第七轴，将工业机器人及其第七轴架设于空中，从而形成天轨机器人。通过优化其作业空间，实现工装拆解机构和码盘输送线之间的协同控制。同时，将机器人的作业信号集成至主控系统中，实现控制系统的统一调控。为进一步提高定位精度和作业灵活性，采用工件码盘分区策略，通过示教器重新建立单个工件码盘的坐标系并优化码盘使用情况，对码盘整体建立多重坐标系，使每块分区单独建立坐标系，实现目标工件的双向拆解和区域化精准定位。现场实地测试表明：通过七轴工业机器人与其他机构的协同控制以及码盘分区设计的作业模式，摆放误差为±0.4 mm,可实现工件的100%摆盘，保证了工件作业的精准性；优化了产线运行节拍，单个工件的拆解作业时间由最初的192 s减少至145 s,缩短约25%,提高了生产效率。更多还原

【Abstract】 To address the challenges of high-precision operation and processing of existing workpieces, an automatic disassembly production line was analyzed and designed, mainly including industrial robots, the seventh axis of the robot, workpiece disassembly mechanisms and pallet conveyor lines.Through the debugging control and method optimization of the production line equipment, the automatic operation of the workpieces was achieved.In the production line, a ceiling rail system was designed as the seventh axis of the six-axis industrial robot, allowing the industrial robot and its seventh axis to be used in the air, forming a ceiling rail robot.By optimizing its working space, coordinated control with the workpiece disassembly mechanism and pallet conveyor line was realized.At the same time, the operation signals of the robot were integrated into the main control system to achieve unified control of the control system.To further improve positioning accuracy and operational flexibility, a pallet partitioning strategy for workpieces was adopted.Through the teaching device, the coordinate system of each individual workpiece pallet was re-established and the usage of the pallets was optimized.A multiple coordinate system was established for the entire pallet, and a separate coordinate system was established for each partition of the pallet to achieve bidirectional disassembly and precise regional positioning of the target workpiece.On-site tests demonstrat that through the coordinated control of the seven-axis industrial robot with other mechanisms and the pallet partitioning design operation mode, the placement error is ± 0.4 mm, and 100% of the workpieces can be placed on the pallet the accuracy of workpiece operation is guaranteed; the production line operation rhythm is optimized, the operation time of a single workpiece is reduced from the initial 192 s to 145 s, which is shortened by about 25%,and the production efficiency is improved.更多还原