6SL3120-1TE23-0AA3

6SL3120-1TE23-0AA3

6SL3120-1TE23-0AA3

机器人自动化冲压生产线运行循环方式为: 垛料拆垛( 机器人拆垛) - 板料传输- 板料涂油- 板料对中- 上料机器人送料- ( 首台压机冲压) - 下料机器人取料、送料- ( 压机冲压) - ( 根据工序数量循环) - 下料机器人取料、送料- ( 末端压机冲压) - 线尾机器人取料、放料- 皮带机输送- 人工码垛。本文以长城汽车的机器人冲压自动化生产线为例对其整体布局、电器控制等进行具体设计。

2.1 系统组成

本系统包括拆垛系统、涂油机、对中台、压力机兼上下料系统、线尾输送系系统。

拆垛系统采用可循环式双垛料台, 导轨布置平行于压力机, 冲压板料用行车或叉车放置在非工作垛料台上, 然后通过有效信号确认上料完毕, 系统将在一台拆垛完成后自动转换垛料台, 保证连续生产; 在垛料车上配备磁力分张器, 通过磁力将垛料自动拆垛成单张。在拆垛机器人上有双料检测以及双料处理装置以保证每次为单张送料。拆垛机器人将板料放置在长度可调的磁性传送带上, 板料送至涂油机, 板料是否涂油及涂油位置可通过编程自行设定, 板料涂油后, 传送到对中台。对中台采用机械对中台, 可方便地进行移动和固定, 同时使用重力对中或视觉对中系统, 保证板料的重复定位快捷、准确与牢固; 上料机器人根据每个零件的对中位置, 改变运行轨迹, 将板料准确地搬运到压力机内; 对不同的冲压制件进行机器人的模拟示教,离线编程, 以适应多种制件的共线生产; 线尾输送采用皮带机, 在生产线的末端放置皮带机, 保证 一台压力机的机器人直接将零件放置到皮带机上, 达到出件效果。通过软件使机器人跟踪压机的运动, 实现压机与机器人同步功能, 可以 大化上下料与压机运动之间的重合度, 达到平稳切换其速度来缩短生产节拍及减少机械负荷的目的。通过增加外部轴, 做为机器人的第七轴进行伺服控制, 使压力机间的间距布置更加自由; 同时, 机器人的传送范围和搬运速度得到提升, 生产节拍更快。

Refurbished By Allen-Bradley? 0
OMRON C120F-CPUA7-EQ Programmable Controller 1920
New Cutler-Hammer BFDF44T BFD Control Relay 1920
Allen-Bradley CF236 Size 5 115-120V Operating Coil 1920
Allen-Bradley 1746-A13/B SLC 500 13-Slot Chassis 1920
Moore 340G XTC Gauge Pressure Transmitter-Controller 1920
NEW Acopian A24H850 Linear Regulated Power Supply 1920
Siemens 6SE9211-1DA40 Micromaster AC Inverter Drive 1920
NEW SPRECHER + SCHUH RT3-M-110 THERMISTOR RELAY 1920
Cutler-Hammer DH363UGK Non-ible 100Amp Safety Switch 1920
OMRON C120F-CPUA7-EQ Programmable Controller 1920
OMRON 3G2A5-FDI03-E Floppy Disk Interface C500-FDI03 1920
OMRON C40P-CDR-A Sysmac PLC Programmable Controller 1920
Keyence BL-U1 Bar Code Scanner PS/Controller 1920
Honeywell RM7888 A 1019 Burner Control RM7888A1019 1920
Siemens/TI/CTI 2550 Isolated Analog Input Module 1920
New Anaheim Automation 34D213D Stepper Motor 1920
Honeywell RM7890 B 1014 Burner Control RM7890B1014 1920
NEW Reliance Electric 0-54374 Relay Card Drive Module 1920
CTI/Siemens/TI 2530 Form C Contact Output Module 1920
901F-2530? 0
NEW Reliance Electric 704323-11F Power Supply 1920
Mitsubishi A62P MELSEC Power Supply Module 1920
IBM 67X1366 Robot Hand-Held Teach Pendant 1920
SIEMENS FACTS ENGR. 405-4DAC-2 ANALOG OUTPUT MODULE 1920
NEW FUJI PXW9-RAY1-4V PROCESS CONTROLLER 1920
CAROTRON RCP202-000 2 HP DC DRIVE 1920
BALOGH MRER-21/AA TRANSCEIVER MODULE 1920
Maek MVB002 40P41 GPD 315 Drive 3/4 HP 1920
NEW ALLEN-BRADLEY 500-AOD93/B SIZE 0 AC CONTACTOR 1920
Reliance Electric O-52862 CLSA Drive Module 1920
Allen-Bradley 4100-AEC SSI Transducer/Encoder Module 1920
GE Fanuc IC800SLA1002 B SL Series Servo Amplifier LNC 1920
Bailey Controls IMDSO01 Infi 90 Digital Output Module 1920
MTS 400679C Servo Control Board 1920
Reliance Electric 2GU41002 GP-2000 AC Drive 2 HP 1920
New Wilkerson MM1200 Thermocouple Dual Alarm Module 1920
Honeywell RM7890 A 1015 Burner Control RM7890A1015 1920
GE 55-501493G2 Size 5 115VAC Operating Coil 1920
Foxboro P0902UT FBM 39 I/A Series Module Rev. 0J 1920
Intelligent Transmitter ? 0
Reliance Electric 0-51862-1AB Drive Module 1920
Reliance Electric 0-51847-4 VLDE Drive Module 1920
Cincinnati Milacron 4-531-4020A Interface Circuit Board 1920
Refurbished By Advanced Technology Services (ATS)? 0
Foxboro 731CA-31-A Digital Process Controller 1920
Reliance Electric 0-51847-1 VLDB Drive Board 1920
Allen-Bradley 500L-DOD93 AC Lighting Contactor 100 Amp 1920
Reliance Electric 45C362 AutoMate Analog Output Module 1920
Reliance Electric 0-51865-14 CLDR Drive Module Reconditioned? 1920
Total Controls QPM-2D-100L2P-B QuickPanel Mini 1920
Reliance Electric 45C381B Register Output Module 1920
Siemens 6FX-1115-0AA02 PLC Module 1920
Reliance Electric O-51865-14 CLDR Drive Module 1920
NEW Siemens 6EC1220-0A PLC Circuit Module 1920
Siemens TI 500-5023 High Speed Pulse Input Module 1920
(10) Allen-Bradley 1771-OAD Output Modules 1920
New Honeywell 51402577-001 DR4500A Analog Input Card 1920
New ASCO EF8342G1 4-Way Red-Hat Solenoid Valve 1920
Allen-Bradley 1771-IF/B Analog Input Module 1920
OMRON F300-A22S VISION MATE CAMERA I/F UNIT 1920
New Square D SYMAX 8005 LNV-101 Module 1920
Bailey Controls IMDSI02 Infi 90 Digital Input Module 1920
New Reliance Electric 0-54214-2/31C346 Analog Input 1920
Siemens TI 500-2109 Distributed Base Controller Module 1920
Siemens TI 500-2108 I/O Channel Controller Module 1920
ABB YB161102-AF/3 DSQC 105 Control Module DSQC105 1920
Danfoss VLT 2020 195H3301 1.5 HP AC Inverter Drive 1920
NEW Allen-Bradley Z-31850 Size 3 Yoke & Armature 1920
New Keyence BL-80RE Hand-Held Bar Code Scanner 1920
TB Wood's XFC2002-0B E-TRAC 2HP AC Inverter Drive 1920
Honeywell TVEZ-6-4-M-000-0 eZtrend V5 Work Station 1920
Allen-Bradley 1336S-BRF05-AA-EN4-HAP 1/2HP AC Drive 1920
AEG Modicon AS-P800-003 PLC Power Supply 1800
Foxboro P0902UT FBM 39 I/A Series Module Rev. 0H Intelligent Transmitter ? 1760
(3) Control Technology TTL-2017 Output Modules 1600
Siemens 6EP1-331-1SL11 S Power 2 Module 1600
BALOGH MRER-21/AA TRANSCEIVER MODULE MRER21 1600
New Allen-Bradley CD-236 Size 3/120V Operating Coil 1600
C-H/Westinghe HMCP003A0C C Series C Circuit Breaker 3-Pole 3 Amps 600 VAC? 1600
Bailey Controls IMDSO01 Infi 90 Digital Output Module 1600
Allen-Bradley 1771-IVN/C 10-30VDC Input Module W/Arm 1600
Westinghe MCP13300R Motor Circuit Breaker 3-Pole 30 Amps 600 VAC? 1600
GE Fanuc IC693CPU331-S Series 90-30 CPU Module 1600
ALLEN-BRADLEY 50381 REV. 05 SPEED METER MODULE 1600
Allen-Bradley 1771-IFC/B Analog Input Module 1600
Allen-Bradley 1771-OFC/B Analog Output Module 1600
Cincinnati Electrosystems 9650 128K Prototcol Converter 1600
AEG Modicon AS-S908-110 Remote I/O Processor With Installed Executive Module? 1600
New GE Fanuc IC600YB910 B Isolated 115VAC Output Module 1600
New WYSE 990097-02 PCBA WYSE-350 W/Murata Monitor 1600
Allen-Bradley 7 86 Size 5 120V Operating Coil 1600
New Allen-Bradley 1201-HA1 Programming Terminal 1600
New Pepperl+Fuchs MPP1HD Photo Head 1600
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New Allen-Bradley 1745-R3 SLC 100 Exp. Unit Relay Board 1600
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New Red Lion IMT 02003 Apollo Thermocouple Meter 1600
NEW C-H/Westinghe HMCP003A0C Circuit Breaker 3-Pole 3 Amps 600 VAC? 1600
Cincinnati Milacron 3-711-2471G Circuit Board Refurbished By Advanced Technology Services (ATS)? 1600
Texas Instruments TI U-01AD Analog Input Module 1600
Allen-Bradley 1771-OD16 Isolated 120V AC Output Module With Wiring Arm? 1600
Allen-Bradley 1771-ID16 Isolated Input W/Wiring Arm 1600
Honeywell 627-7037 Power Supply Module 1600
(5) Texas Instruments TI 500-5001 110VAC Input Modules 1600
NEW Honewyell Microswitch LSXM4N-1A Limit Switch 1600
GE Fanuc IC697BEM711 M Series 90-70 Exp. Module 1600
PARTLOW 2311131 MIC 2000 TEMPERATURE CONTROLLER 1600
Modicon 160-052 BD 3240 MAAC Module 1600
OMRON C120F-CPUA7-EQ Programmable Controller 1600
Fuji Sharp SMT VME VM1220 Circuit Board 1600
Bailey Controls IPECB11 Infi 90 Power Entry-Cir.Brkr. 1600
FANUC A03B-0801-C021 CPU-A CPU MODULE 1600
SIEMENS FACTS ENGR. 405-16PID COPROCESSOR MODULE 1600
SIEMENS TI U-01PM SIMATIC PULSE POSITIONER MODULE 1600
NEW EAGLE SIGNAL DA1612A3 MINIFLEX ON/OFF TIMER 1600
NEW EAGLE SIGNAL DA151 3 MINIFLEX ON/OFF TIMER 1600
NEW EAGLE SIGNAL DA1812A3 MINIFLEX ON/OFF TIMER 1600
Allen-Bradley 1771-QDC/C Plastic Moulding Module W/Arm 1600
RVSI 002-CM4000 REV. E ACUITY CIMATRIX CAMERA BODY 1600
Bailey Controls NASM02 Infi 90 Analog Slave Module 1600
ALLEN-BRADLEY 190-A40D STARTER W/190-P024 & 190-MN 1600
Modicon AS-B846-001 Analog MUX Voltage Module 1600
Siemens/TI 500-5055 32-Pt. 110VAC Input Module 1600
New Horner Electric HE300RSL100 AF-300E$ Module Mod RTUmunications Option Module? 1600
Cincinnati Milacron 3-711-2471G Circuit Board Refurbished By Advanced Technology Services (ATS)? 1600
Barber-Coleman 10EV-0JF00-000-5-00 Temp. Controller 1600
Allen-Bradley 1771-QDC/B Plastic Moulding Module W/Arm 1600
NEW Modicon AS-B350-001 Output Module 1600
MITSUBISHI FX2N-10GM MELSEC 1-AXIS MOTION CONTROLLER 1600
Siemens TI 500-2108 I/O Channel Controller Module 1600
New Red Lion IMP 20000 Apollo Intelligent Meter 1600
New Red Lion APLCL 401 Apollo Current-Loop Indicator 1600
New Red Lion IMP 20102 Apollo Intelligent Meter 1600
Cincinnati Milacron 4-531-4018A TSTS Circuit Board Refurbished By Advanced Technology Services (ATS)? 1600
GE FANUC IC693UDR001 GP1 SERIES 90 MICRO CONTROLLER 1600
ELECTRO CAM P PS-4000-10-016 PROGRAMMABLE SWITCH 1600
NEW Cutler-Hammer FDB3030L Series C Circuit Breaker 3-Pole 30 Amps 600 VAC? 1600
NEWPUMOTOR RS32B-SNNPS RS SERIES STEP MOTOR 1600
RELIANCE ELECTRO-CRAFT DC-35L W/HS BH-TYPE AMPLIFIER 1600
NEW Cincinnati Milacron 3-711-2436G Axis Driver Board 1600
New Automation Direct D3-04TAS 110-220VAC Output Module 1600
Allen-Bradley 440R-ZBR520AZ1 Guardmaster Safety Relay 1600
New Siemens 6SN1-111-0AB00-0AA0 Simodrive Module 1600
ABB YB161102-AB/2 DSQC 101 TERMINATION BOARD DSQC101 1600
New STI MC3 43767-0010 SafetyMat Mat Controller 1600
New FENWAL 92-311200-100 Model 923 Temp. Controller 1600
New Gould Shawmut A4BQ601 Amp-Trap e 1600
FANUC A03B-0801-C051 PT01A POSITIONING MODULE 1600
New Allen-Bradley X-49478 Size 3 Cross Bar Assembly 1600
NEW Banner Engineering PD45VN6C100Q PicoDot Laser* 1520
Phoenix Contact CM125-PS-120 Power Supply Cat. No. 29 39 52 2? 1440
BARBER-COLEMAN 10QT-OJF00-000-0-00 SERIES 10 CONTROLLER 1440
NEW Allen-Bradley 61BD1-1000 Photoswitch Probe Fitting 1440
Allen-Bradley 1201-HJ2 Series B Programming Terminal 1440
Allen-Bradley 1792-IB4A Series B ArmorBlock I/0 Module 1440
Nikki Denso Ac Power NPSA-10-64 AC Servo Amplifier 1440
New OMRON C200H-MR833 16KB RAM Memory Module 1440
MITSUBISHI FX2N-10GM MELSEC 1-AXIS MOTION CONTROLLER 1440
AEG Modicon AS-B840-108 Reed Relay Output Module 1440
ALLEN-BRADLEY 50917 REV. 03 SIGNAL CONDITIONER MODULE 1440
Mitsubishi FX-1GM MELSEC Positioning Control Module 1440
NEW Banner Engineering PD45VP6LLPQ PicoDot Laser* 1440
Siemens 6ES5-910-0AA41 Simatic S5 Memory Module 1440
NEW Banner Engineering PD45VP6C100 PicoDot Sensor* 1440
Sony DG10BN/DG10N2/LT20 Digital Measuring System 1440
UTICOR Model 58263 PMD Remote Operator Station 1440
New Square D 9001 SKY31 Control Station 9001SKY31 1440
Allen-Bradley 74A86 Size 4 120V Operating Coil 1440
Allen-Bradley 1771-ODD B Isolated Output Module W/Arm 1440