一种典型空间线特征切割机器人离线编程系统

A Robot Off-Line Programming System for Typical Space Line Cutting

工业机器人离线切割系统以其高效性、生产柔性和简单操作性,越来越多被应用于工业生产现场。以相贯线切割为例,对典型空间线特征切割机器人离线编程系统进行了研究,开发了用于管件相贯线坡口切割的机器人离线系统。同时,对系统的硬件组成、特征提取、轨迹生成与规划、机器人代码转换、离线编程等问题进行了探讨。最后,进行坡口切割刀轨的验证,结果证明,利用本系统切割的实际坡口与软件设定的基本相符,切割过程平稳,能够满足坡口切割的实际要求。

With its high efficiency,flexible production and simple operation,Industrial robots off-line cutting system are more and more used in industrial production site.Taking the intersecting line cutting as an example,the robot off-line programming system for the special space line characteristic cutting is studied,and the robot off-line system for the cutting of the pipe intersecting line is developed.At the same time,the hardware composition,feature extraction,trajectory generation and planning,robot code conversion and off-line programming are discussed.Finally,the verification of the groove cutting path shows that the cutting process is basically consistent with the software setting,and the cutting process is smooth and can meet the actual requirements of groove cutting.