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Bi tp ln FMS&CIM

BI TP LN FMS&CIM
M BI
M Phn I Phn II Phn III M Phn I Phn II Phn III M Phn I Phn II Phn III M Phn I Phn II Phn III 1 1 1 1 16 5 6 1 31 8 2 1 46 5 8 1 2 2 2 2 17 8 9 2 32 7 5 2 47 6 9 2 3 3 3 3 18 7 8 3 33 4 2 3 48 7 10 3 4 4 4 4 19 9 10 4 34 6 3 4 49 8 3 4 5 5 5 5 20 6 8 5 35 3 2 5 50 9 2 5 6 6 6 6 21 7 9 6 36 5 8 6 51 10 1 6 7 7 7 7 22 4 6 7 37 6 9 7 52 1 8 7 8 8 8 8 23 3 5 8 38 7 10 8 53 2 7 8 9 9 9 9 24 2 4 9 39 4 7 9 54 3 6 9 10 10 10 10 25 1 3 10 40 3 6 10 55 4 8 10 11 2 3 11 26 5 7 11 41 2 5 11 56 5 10 11 12 1 2 12 27 8 10 12 42 1 4 12 57 6 4 12 13 4 5 13 28 10 8 13 43 2 5 13 58 7 3 13 14 3 4 14 29 9 7 14 44 3 6 14 59 8 2 14 15 6 7 15 30 7 4 15 45 4 7 15 60 9 1 15 61 10 5 1

THANG IM PHN I: 5 im PHN II: 3 im PHN III: 2 im YU CU V TRNH BY


Bi lm trnh by r rng, mc in m, font ch thng nht Times New Roman (12pt cho ch thng v 14pt cho mc) (Tr im nu lm khng ng) Np bi ng hn (Tr im nu np mun)

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

PHN I: LP TRNH ROBOT Yu cu chung


Cho m hnh mt h FMS n gin. Yu cu a) M t c th nhim v ca robot trong h thng ny theo tng bc lm vic ca robot b) Hy xc nh cc u ra v u vo cn thit cho vic iu khin robot c) Lp danh sch cc im m robot cn c dy thc hin nhim v . V hnh minh ho m t v tr cc im d) Vit chng trnh iu khin robot bng ngn ng lp trnh MCLII dng offline da trn cc im c dy bng Teach Pendant.

1: Cp, tho phi cho my tin


M t chung v h thng: H thng bao gm 1 my tin CNC, 1 robot vn chuyn v 2 bng chuyn (1 bng chuyn c nhim v cp phi, 1 bng chuyn c nhim v a chi tit gia cng ti kho cha). Chi tit c t theo trc thng ng trn bng chuyn nh hnh v. Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm 1 Thi gian hon thnh nguyn cng ny l 40 giy n bt sng bo hiu kt thc chng trnh Qu trnh lp li nu cn phi trn bng ti cp phi

2: Cp, tho phi cho my phay


M t chung v h thng: H thng bao gm 1 my phay CNC, 1 robot vn chuyn v 2 bng chuyn (1 bng chuyn c nhim v cp phi, 1 bng chuyn c nhim v a chi tit gia cng ti kho cha). Chi tit c t theo trc thng ng trn bng chuyn nh hnh v. Cc im lp trnh robot c dy bng Teach Pendant.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM
Bit:

Robot t v tr HOME i tn hiu t nt bm 1 Thi gian hon thnh nguyn cng ny l 40 giy n bt sng bo hiu kt thc chng trnh Qu trnh lp li nu cn phi trn bng ti cp phi

3: Chuyn phi t my tin sang my phay


M t chung v h thng: H thng bao gm 1 my tin CNC, 1 my phay CNC, 1 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my tin CNC, sau chuyn sang my phay. Sau khi gia cng xong chi tit c t trn gi . Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Sau khi gia cng xong chi tit c t trn gi . Thi gian gia cng trn my phay l 40 giy B qua cng vic cp phi cho my tin Qu trnh lp li nu cha c tn hiu kt thc t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

4: Chuyn phi gia hai my phay


H thng bao gm 2 my phay, 1 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my phay CNC 1, sau chuyn sang my phay CNC 2. Sau khi gia cng xong chi tit c t trn gi . Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Sau khi gia cng xong chi tit c t trn gi . Thi gian gia cng trn my phay CNC2 l 40 giy B qua cng vic cp phi cho my CNC1 Qu trnh lp li nu cha c tn hiu kt thc t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

5: Cp ti cho my phay+tin
M t chung v h thng: H thng bao gm 1 my tin CNC, 1 my phay CNC, 2 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my tin CNC, sau chuyn sang my phay. Sau khi gia cng xong chi tit c t trn bng ti. Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Robot 1 thc hin cng vic cp phi cho my tin v chuyn chi tit gia cng xong ln bng ti chuyn sang gia cng trn my phay. Thi gian gia cng trn my tin l 40 giy Robot 2 thc hin cng vic cp phi cho my phay v chuyn chi tit gia cng xong ln bng ti chuyn chi tit ra khi dy chuyn Thi gian gia cng trn my phay l 50 giy. B mn CNCTM - Khoa C Kh - HBKHN -5ThS. Phng Xun Lan

Bi tp ln FMS&CIM

6: Cp, tho phi cho my tin


M t chung v h thng: H thng bao gm 1 my tin CNC, 1 robot vn chuyn v 2 bng chuyn (1 bng chuyn c nhim v cp phi, 1 bng chuyn c nhim v a chi tit gia cng ti kho cha). Chi tit c t theo trc thng ng trn bng chuyn nh hnh v. Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Thi gian hon thnh nguyn cng ny l 50 giy Sau khi c tn hiu m mm cp. Robot i 1 giy sau a chi tit vo v tr kp n bt sng bo hiu kt thc chng trnh Qu trnh lp li nu cha c tn hiu t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

7: Cp, tho phi cho my phay


M t chung v h thng: H thng bao gm 1 my phay CNC, 1 robot vn chuyn v 2 bng chuyn (1 bng chuyn c nhim v cp phi, 1 bng chuyn c nhim v a chi tit gia cng ti kho cha). Chi tit c t theo trc thng ng trn bng chuyn nh hnh v. Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Thi gian hon thnh nguyn cng ny l 50 giy Sau khi c tn hiu m mm cp. Robot i 1 giy sau a chi tit vo v tr kp n bt sng bo hiu kt thc chng trnh Qu trnh lp li nu cha c tn hiu t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

8: Chuyn phi t my phay sang my tin


M t chung v h thng: H thng bao gm 1 my tin CNC, 1 my phay CNC, 1 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my phay CNC, sau chuyn sang my tin. Sau khi gia cng xong chi tit c t trn gi . Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Sau khi gia cng xong chi tit c t trn gi . Thi gian gia cng trn my tin l 50 giy B qua cng vic cp phi cho my phay Qu trnh lp li nu cha c tn hiu kt thc t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

9: Cp v tho phi cho hai my phay


H thng bao gm 2 my phay, 1 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my phay CNC 1, sau chuyn sang my phay CNC 2. Sau khi gia cng xong chi tit c t trn gi . Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Robot ly phi t bng ti v a vo my CNC1 Thi gian gia cng trn my CNC1 l 50 giy Thi gian gia cng trn my CNC2 l 40 giy Sau khi gia cng xong chi tit c t trn gi Qu trnh lp li nu cha c tn hiu kt thc t nt bm stop

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

10: Cp ti cho my phay+tin


M t chung v h thng: H thng bao gm 1 my tin CNC, 1 my phay CNC, 2 robot vn chuyn c th di ng trn ng ray. Phi c t theo trc thng ng trn bng chuyn nh hnh v. Chi tit u tin c gia cng trn my phay CNC, sau chuyn sang my tin CNC. Sau khi gia cng xong chi tit c t trn bng ti. Cc im lp trnh robot c dy bng Teach Pendant. Bit: Robot t v tr HOME i tn hiu t nt bm start Robot 1 thc hin cng vic cp phi cho my phay v chuyn chi tit gia cng xong ln bng ti chuyn sang gia cng trn my tin Thi gian gia cng trn my phay l 50 giy Robot 2 thc hin cng vic cp phi cho my tin v chuyn chi tit gia cng xong ln bng ti chuyn chi tit ra khi dy chuyn Thi gian gia cng trn my tin l 60 giy.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

PHN II: IU KHIN PLC Yu cu chung


Cho mt h thng iu khin t ng vi nguyn l hot ng s b. Yu cu a) M t li c th hot ng ca h thng b) Vit danh sch cc u ra, u vo dng iu khin (k hiu v gii thch r nhim v ca tng u ra, u vo) c) Vit s hnh thang iu khin h thng bng Simatic S7-200

1: C cu khoan vi phi cp t ng
Nguyn l hot ng: Phi c chuyn bng bng ti, n ngay v tr gia cng th S0 tc ng lm piston 1.0 c tc ng bi van 5/2/1 side s y chi tit vo v tr kp phi v S2 c tc ng, piston 1.0 tr v v tr ban u. Khi S1 tc ng, piston 2.0 dch chuyn m kp n kp cht phi t S3 S4, khi S4 tc ng th piston 3.0 s mang u khoan i xung thc hin gia cng l v t n chiu su l, tc l S6 tc ng th piston 3.0 git v, khi S5 tc ng th piston git m kp v v tr ban u tho chi tit ra.

2: iu khin qu trnh khoan


Nguyn l hot ng: Vn hnh bng tay (ch th) 1. Khi bm nt Forward, motor quay a bn my tin thun (sang phi). N c th dng bi nt bm Stop. Khi bn my chm n cng tc LS2, motor s dng. 2. Khi bm nt Reverse, motor s o chiu a bn my tin ngc li (sang tri). N c th dng bi nt bm Stop. Khi bn my chm n cng tc hnh trnh LS3, motor s dng. Chu trnh t ng (theo chng trnh nh sn)

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM
1. Khi bm nt Auto v LS1 ch ON, motor s a bn my tin thun cho ti khi chm vo cng tc LS2. B m thi gian s bt u hot ng. Motor s o chiu khi b m thi gian ti 2s. Khi n v v tr LS1, chu trnh li lp li.

3: iu khin bng ti
Nguyn l hot ng: 1. Khi tm ng trong min tc dng gia hai sensor, motor s lm vic. Nu tm ng nm trong min, b m thi gian s kch hot v khi thi gian ci t ny qua, motor ca bng ti s dng.

4: Theo di tui bn ca dao ct t ng


Nguyn l hot ng: 1. Mt my ct c dng ct 3 chi tit A, B v C v phi thay dao sau khi ct 1000 chi tit A, 500 chi tit B v 100 chi tit C nhng chi tit n ngu nhin. 2. Chung bo s reo ln khi tui bn ca dao (nh m t trn) ht. B mn CNCTM - Khoa C Kh - HBKHN -12ThS. Phng Xun Lan

Bi tp ln FMS&CIM

5: Phn loi sn phm t ng


Nguyn l hot ng: 1. H thng s phn loi hai bi trng v en vo hai thng cha khc nhau. 2. Nt Start khi ng v sensor S1 pht hin s c mt ca bi trong bnh ng. Piston trn s th bi sensor S2 phn bit mu ca hai bi trc khi th bi vo thng cha.

6: iu khin h thng tinh lc nc t ng


Nguyn l hot ng: 1. Khi bm nt Start, van MV1 m v nc bt u chy vo bnh. Cng lc motor M bt u hot ng.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM
2. Khi mc nc qua mc TLB2 v tin ti st mc TLB1, van MV1 ng li v motor M dng hot ng . 3. Tip theo , van MV2 m ra v bt u lc sn trong nc. Khi nc di mc TLB2, van MV2 ng. 4. Sau khi chu trnh lp li 4 ln nh th, nt ch th END s dng li, chung s reo ln.

7: iu khin h thng lm sch chi tit t ng


Nguyn l hot ng: 1. Khi bm nt Start, con ln (roller) s cun dy cho n khi ci mc chm vo cm bin trn (S3). Ci mc sau s chuyn ngang sang tri cho n khi chm cm bin tri (S4) 2. H thng s h thp, dng v t chi tit vo kt cha dung dch ty nhn (degreasing tank). N chm vo cm bin di (S2). Chi tit s c ngm trong kt ty nhn 20s. Sau , chi tit s c nng ln v di chuyn sang tri cho n khi chm vo cm bin (S5) v dng. N s tip tc i xung v khi ti v tr di cng th chung s reo ln. Cng nhn s nhn chi tit v bm nt PB2 cn cu tr v v tr ban u 3. bt k thi im no, khi nt bm Stop, cn cu s dng. Bm nh nt Stop, h thng s tip tc t v tr dng. Khi bm nt Reset, h thng s bt u li t u.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

8: Dy chuyn ng gi bng in t t ng
Nguyn l hot ng: 1. Trong h thng ny, motor nng dng nng ngn cha (tray) cc bng iu khin ln, bng iu khin c piston y ln bng chuyn sang cng on ng gi 2. Khi bm nt Start, motor bng chuyn v motor nng hot ng. Cng tc 4 s dng motor nng cho pitton y bng in t ln trn bng ti 3. Sau khi bng in t c y ra, piston s ko li v motor nng s hot ng li. Qu trnh c lp i lp li nh th. 4. Khi tt c cc bng in t c y ln trn bng chuyn, motor nng s di chuyn xung cho n khi chm cng tc hnh trnh. Sau , c chu trnh ch c bt u li bng cch bm nt Start.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

9: ng m ca kho t ng
Nguyn l hot ng: 1. Khi xe tin v gn ca kho, cm bin SS1 nhn dng c xe v ca s m ra n khi gp cng tc hnh trnh LS2 th ca dng li ri xe chy vo. 2. Khi cm bin quang SS2 t pha trong cng ca nhn dng c xe i qua khi ca th ca s c ng li, chm vo cng tc hnh trnh LS1 th ca dng li.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

10: Bi trn bnh rng t ng


Nguyn l hot ng: 1. Khi bnh rng di chuyn ti cm bin S1, S1 s nhn bit bnh rng v ra hiu cho van in t cp du cho bnh rng. Van V1 s m trong khong 1s ( cung cp lng du tra cho bnh rng). 2. Khi sensor bo mc du trong kt mc thp n bo hiu s sng.

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan

Bi tp ln FMS&CIM

PHN III: TM HIU V CC VN TRONG FMS Yu cu chung


Tm hiu v mt vn c th trong FMS/CIM theo yu cu sau: a) Vai tr, c im, phm vi ng dng, u nhc im. b) Thnh phn, c im cu to nu c c) Cc loi thit b ph bin hoc cc phng php lin quan n vn cn tm hiu d) Nu v d ng dng c th

1:Tm hiu v cc loi g trn my CNC ( g vn nng, c cu v tinh...) 2: Tm hiu v phng php nng cao nng sut gia cng trn my CNC (gia cng trn my nhiu trc chnh hoc ng thi bng nhiu dao) 3: Tm hiu v cc loi bng ti 4: Tm hiu v AGVs 5: Tm hiu v h thng kho cha t ng 6: Tm hiu v attric/u o v tr 7: Tm hiu v attric/camera hnh nh 8: Tm hiu v my o 3 trc ta 9: Tm hiu v robot cng nghip trong h thng lp rp t ng 10: Tm hiu v h thng cp liu v nh hng sn phm trong h thng lp rp t ng. 11: Tm hiu v h thng iu khin trong FMS 12: Tm hiu v CAD/CAM/CAE v ng dng trong thc t 13: Tm hiu v s pht trin ca CIM hin nay 14: Tm hiu v cc h thng qun l m Toyota p dng trong thc t sn xut 15: Tm hiu v cng ngh nhm v m ha sn phm ___________Ht____________

B mn CNCTM - Khoa C Kh - HBKHN

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ThS. Phng Xun Lan