超长工件免示教焊接工作站研究

Research on Teaching Free Welding Workstation for Overlength Workpiece

在机器人自动焊接的应用中,采用示教或者离线编程的方式具有一定的局限性。基于长工件的焊接要求,研制了一套超长工件自动化焊接工作站,包括实现工件自动传输、焊接、下料的自动化一体输送机和超长工件焊接分离式压紧工装,解决收缩变形工件不易取出的问题;研究了免示教六轴焊接机器人在超长钢结构、多点数、小角度焊接中的应用。该工作站主要利用自动化流水线、焊接机器人、视觉检测等,将视觉、力、触角等传感器与机器人融合,根据传感器的信息反馈,实时调整机器人的运动决策从而实现自动化免示教焊接。

In the application of automatic robot welding,certain limitations exist in teaching and off-line programming.Based on the welding requirements of overlength workpiece,an automatic integrated conveyor for overlength workpiece is studied to realized the automatic transmission,welding,and unloading of workpieces;A separate pressing fixture for welding overlength workpiece is studied to solve the problem of taking out the shrinkage deformed workpieces;The application of teaching-free six-axis welding robot in overlength steel structure,multi-point and small angle welding is also studied to form a set of automatic welding workstation.This workstation integrates the vision,force,antenna and other sensors of the robot with the help of the automatic assembly line,welding robot,visual inspection,etc.Then,according to the information feedback of the sensors,the motion decision of the robot can be adjusted in real time to achieve automatic teaching-free welding.