柴油机机架双机器人焊接工作站离线编程技术  

The Off-Line Programming Technology of Dual Robotic Welding Workstation for Diesel Engine Frame

作　　者：周方明[1] 梁伟[1] 周伟中 吴兴祥 

机构地区：[1]江苏科技大学江苏省先进焊接技术重点实验室,江苏镇江212003 [2]沪东重机有限公司,上海200129 [3]沪临重工有限公司,上海201306

出　　处：《徐州工程学院学报（自然科学版）》2012年第4期11-15,共5页Journal of Xuzhou Institute of Technology(Natural Sciences Edition)

基　　金：国家科技支撑计划项目(B0720060844-06);江苏省高校优势学科建设工程资助项目

摘　　要：介绍了焊接机器人离线编程系统的组成,分析了路径规划的实用功能;搭建了双机器人工作站仿真场景,采用单点法,先在现场标定工作平台的实际位置,然后在仿真场景中进行校准;利用该仿真场景,离线编写了机架模拟件的双机器人焊接程序,然后下载程序到现场控制柜调试运行;将机架模拟件偏移放置后,自动运行整个焊接程序,进行了模拟件的双机器人多层多道焊接.实验结果表明,模拟件焊接后的焊道符合实际的焊缝位置,经离线编写的程序能够在实际环境中得到较好的应用.This paper first introduces the composition of the welding robot off-line programming sys- tem and analyzes the practical function of path planning. Then a simulation scene of a dual-robot worksta- tion is built by the single-point method, with the actual position of the working platform first settled in the field and then the calibration for working platform model conducted in the simulation scene. Then with the simulation scene, the dual-robot welding procedures for the frame analog parts are edited, and are down- loaded to the site control cabinet for debugging and running. After putting the frame analog parts by devia- ting some distance, the entire welding program is automatically run to perform the dual robotic multi-lay- ered and multi-weld welding of the analog parts. Experimental results show that the weld meets the actual seam position and that the off-line edited programs functions well in the actual environment.

关 键 词：柴油机机架 双机器人 焊接工作站 离线编程 

分 类 号：TG409[金属学及工艺—焊接] TP242[自动化与计算机技术—检测技术与自动化装置]