基于DELMIA的机器人制孔离线编程系统开发

Development of off-line programming system for robot drilling based on DELMIA

针对机器人自动化制孔系统中离线编程软件使用较复杂的问题,提出一种基于DELMIA软件及其二次开发的新型机器人制孔离线编程方法,开发了一套更加简单快捷的离线编程系统。首先设计了离线编程系统的总体架构,梳理了工艺流程,分析了制孔点坐标系生成方法,自动获取了孔位法向参数,通过程序计算出材料的夹层厚度,经过基准点的映射与计算后,最终自动规划制孔路径,生成离线代码。仿真结果表明,该系统极大缩短了机器人制孔前期离线编程时间,减少了人工操作量,尽可能地实现了离线编程过程的全自动化,对开发统一的机器人自动化制孔离线编程系统具有指导意义。

In order to solve the complexity problem when using off-line programming software in automatic robot drilling system,a new off-line programming method based on Digital Enterprise Lean Manufacturing Interaction Application(DELMIA)software and its secondary development was proposed,and a set of more simple and fast off-line programming system was developed.Firstly,the overall architecture of the off-line programming system was designed,the process flow was sorted out,and the generation method of the hole coordinate system was analyzed.The normal parameters of the hole position were obtained automatically.The interlayer thickness of the material was calculated by the program.After the mapping and calculation of the datum point,the drilling path was automatically planned and the offline code was generated.The system greatly shortens the off-line programming time in the early stage of robot drilling,reduces the amount of manual operation,and realizes the full automation of off-line programming process as far as possible,which has guiding significance for the development of unified automatic robot off-line programming system.