机架双机器人焊接工作站计算机仿真技术研究

Study on computer simulation for two robot welding workstation of H-component

针对船用柴油机H型构件生产过程中的生产效率不高、焊接质量人为因素影响大、生产工人劳动强度高等问题,提出了双机器人焊接工作站系统的焊接技术方案。应用KUKA SIM Pro软件,建立了H型构件、三维滑轨、变位机、机器人模型,开展了H型构件双机器人工作站系统的焊接模拟研究,获得了组成系统的结构型式与有效尺寸,系统可有效地防止机器人发生碰撞和保证其手臂具有良好的可达性。为适应H型构件"L"型焊缝成形控制要求,提出了焊枪姿态控制方法,并经焊接实践得到了良好的"L"型焊缝成形。

Considering the low production efficiency ,poor welding quality and bad work environment in the marine diesel engine H- component production process.By the modeling of H-component Robot,application of KUKA SIM Pro software,designed a welding robot Simulation System for improving welding efficiency and welding quality, Implemented welding robot＇s analog simulation and path planning.Established the mathematics model of minimum running angle and distance between nozzle and work piece,combine the models with control equations to realize controlling appearance of weld before corner,established the relation equation to calculate welding gun pose before comer and after comer, proposed controlling theory for appearance after comer and realize good appearance of ＂L＂ weld.