人机交互式机器人弧焊再制造系统设计

Design of human-machine interactive robotic arc welding remanufacturing system

在分析失效零件再制造的特点的基础上,提出了基于人机交互技术的机器人熔化极气体保护焊(gas metal arc welding,GMAW)再制造思想.将操作者作为系统的一个因素,构成人机交互式的机器人GMAW再制造系统,人机协作共同完成失效零件的再制造任务.其中操作者主要负责解决再制造过程中的非线性、难建模的复杂问题;机器人主要负责数据计算和运动控制等线性问题.根据上述思想,文中建立了人机交互式机器人GMAW再制造试验系统平台,研究了基于开放式图形库(open graphics librar-y,OpenGL)的再制造系统软件结构和人机交互实现方式,采用模块化方法设计实现了可视化的人机交互界面.

On the basis of analyzing the characters of the worn parts,a novel remanufacturing solution was proposed.The remanufacturing of the worn parts was realized by a human-machine interactive remanufacturing system based on robotic GMAW.The system takes operators as the intelligent factor to solve the complicated problems of the system,which are nonlinear and hard to model.The computer and machine were employed to solve the high speed and high accuracy problem,for instance the numerical computation and motion control etc.After the experiment system platform being established,the structure of the system software and the human-machine interactive scheme were studied,and the visual human-machine interface was designed by modularized program.