六自由度关节式焊接机器人与变位机离线编程仿真设计

应用SolidWorks和RobotStudio软件,建立由IRB1410焊接机器人和两自由度变位机协同完成焊接轨迹的仿真工作站。选用PKI-500焊接末端工具,建立末端焊接工具坐标系,采用三点坐标法创建工件坐标系。创建仿真设计的I/O信号,并进行信号关联,编写机器人的仿真设计程序。创建碰撞监控,保证焊枪与焊件在示教和仿真运行时不发生碰撞。运用TCP跟踪功能验证焊缝轨迹的准确性。在示教器中不断优化焊接参数,从而得到理想的焊缝。通过对焊接工作站的仿真设计,优化工艺过程,提高生产效率。

By using SolidWorks and RobotStudio software,a simulation workstation is established,in which the welding trajectory is completed by IRB1410 welding robot and two-degree-of-freedom positioner.The PKI-500 welding end tool is selected,the coordinate system of the end welding tool is established,and the workpiece coordinate system is created by the three-point coordinate method,to create the Istroke O signal of the simulation design,carry on the signal correlation,and write the simulation design program of the robot.Collision monitoring is created to ensure that the welding torch and the weldment do not collide during teaching and simulation.The accuracy of weld trajectory is verified using TCP tracking function.The welding parameters are continuously optimized in the teaching device production screen,so as to get the ideal weld.Through the simulation design of the welding workstation,it is helpful to improve the working conditions and production efficiency.