弧焊机器人离线编程系统

A Study of SK6 Arc Welding Robot Offline Programming

针对SK6弧焊机器人设计研究了弧焊机器人离线编程系统 (AWOPS) ,该系统由几何特征提取及建模模块、焊接姿态规划模块、焊接参数规划模块、机器人程序自动生成模块、机器人仿真及通讯模块等 6个模块组成。系统人机界面友好 ,并引入了智能化专家知识 ,系统自动化程度较高 ,本文对日文软件MRCWORD进行了探索性二次开发 ,实现了弧焊机器人离线仿真及焊枪与工件构建和计算机与机器人通讯的功能。对典型的焊缝 (马鞍型 )进行了实焊验证。结果表明 ,该系统是可行的 ,编程的效率显著提高 ,焊缝内外在质量优良。

This paper is designed to research the system of offline programming,which consists of six subsystem of geometric modeling ?welding orientation planning?welding parameter planning ?robot program produced automatically?robot graph simulation and information transferrence.The interface of man and computer can be easily applied.This paper studies and re develops MRCWORD soft system ,and realizes arc welding robot program produced automatically and information transferrence of computer and robot.Test welding on a typical workpiece shows that the system is feasible,programming efficiency is advanced remarkably and the seam quality is satisfactory.