采煤机滚筒齿座焊接定位机器人路径规划

Path Planning ofWelding Positioning Robot of Shearer Drum Tooth Seat

目的采煤机螺旋滚筒齿座智能焊接定位系统中,机器人路径规划可使机器人按预定的路线运行,提高机器人的工作效率和工作稳定性。方法采用直线规划和圆弧规划对机器人的运动路径进行规划,将规划好的路径编写成代码,并用软件RobotStudio进行仿真,验证路径规划的可行性。结果对机器人的路径规划合理,布齿机器人和点焊机器人能够避开障碍物,准确、快速完成齿座智能焊接定位,工作平稳。结论用时比原来少8 min,提高了工作效率,功率节约了0.95 kW左右,总能量节约0.1 kJ左右,达到预期效果。

Objective In the intelligent welding positioning system of shearer spiral drum tooth seat,the robot path planning is a very important step,which makes the robot run according to the predetermined path,and improves the working efficiency and stability of the robot.Methods The motion path of the robot was planned by using line planning and arc planning,the planned path was coded,and the robot simulation software RobotStudio was used for simulation to verify the feasibility of path planning.Results The simulation results show that the path planning of the robot is reasonable,the tooth placement robot and the spot welding robot can avoid obstacles,accurately and quickly complete the intelligent welding positioning of the tooth seat,and work steadily.Conclusion It takes 8 minutes less than the original time,improves the work efficiency,saves about 0.95 kW of power,and saves about 0.1 kJ of total energy,achieving the expected effect.