基于RobotStudio水槽打磨机器人工作站仿真设计

Simulation Design of Robot Workstation for Water Tank Polishing Based on RobotStudio

为解决不锈钢水槽四边焊缝自动打磨问题,基于SolidWorks设计了机器人末端执行器等设备,并基于RobotStudio搭建由砂带打磨机、IRB4600机器人、末端执行器等设备组建的水槽打磨机器人工作站仿真平台。根据不锈钢水槽的实际工况设计打磨工艺流程和规划打磨路径,创建打磨工作站的Smart组件并关联常用的I/O信号。利用TCP轨迹跟踪功能以及碰撞监控功能检验各个轨迹点及运动轨迹是否满足工作要求,调用计时器记录打磨时间。在仿真平台中通过离线编程仿真调试可以得到理想的打磨轨迹,供实际运行使用,有利于提高现场编程加工效率,提高焊缝打磨质量。

In order to solve the problem of automatic grinding of four side welds of stainless steel water tank,the robot end effector and other equipment were designed based on SolidWorks,and the simulation platform of water tank grinding robot workstation was built based on RobotStudio,which was composed of abrasive belt grinder,IRB4600 robot,end effector and other equipments.According to the actual working conditions of the stainless steel water tank,the polishing process flow and the polishing path were designed,the Smart components of the polishing workstation were created,and common IVO signals were associated.The TCP track tracking function and collision monitoring function were used to check whether each track point and motion track met the working requirements,and the timer was called to record the grinding time.In the simulation platform,the ideal grinding track can be obtained through offline programming,simulation and debugging,which can be used for actual operation,and is conducive to improve the onsite programming and processing efficiency,improve the weld grinding quality.