ABB弧焊机器人系统的焊接路径规划研究  

Research of Path Planning for ABB Arc Welding Robot System

作　　者：田啟良 沈健[2] 嵇保健[2] 洪磊[3] 

机构地区：[1]南京中建化工设备制造有限公司,江苏南京210034 [2]南京工业大学电气工程与控制科学学院,江苏南京211800 [3]南京工程学院汽车与轨道交通学院,江苏南京211167

出　　处：《机械设计与制造》2016年第12期153-156,共4页Machinery Design & Manufacture

基　　金：江苏省产学研联合创新资金-前瞻性联合研究项目(BY2014005-09)

摘　　要：以ABB弧焊机器人系统路径规划为研究对象,提出了适用于空间直线焊缝的离散化方法。在焊缝离散化的基础上,针对角接焊工件的特点,通过示教焊缝上两点,分析了提供焊缝表面信息和不提供焊缝表面信息的两种焊缝离散点辅助坐标系的建立方法,并在ABB机器人公司开发的Robotstudio软件下进行了路径规划的模拟仿真和离线编程,在此基础上完成了的实际焊接实验。实验表明,该算法可快速实现角接焊工件的路径规划,完成各种高质量的弧焊作业编程,符合工业现场的实际需求。In the light of ABB arc welding robot system path planning, the discretization method for space linear weld seam is provided. On the basis of the discretization of the seam and the characteristics of fillet welding workpiece, the establishment method of the auxiliary coordinate system for the two kinds of welding seam is analyzed, which provides the surface information of the weld seam and does not provide the information of the weld surface, by teaching two points in the searm Then the simulation of path planning and off-line programming are carried out based on the Robotstudio developed by ABB robotic company, on this basis, the actual welding experiments are completed. Experiments show that the algorithm can quickly realize the path planning of fillet welding workpiece, finishing all kinds of high quality welding operation programming and meet the actual needs of the industrial scene.

关 键 词：弧焊机器人 离散化 Robotstudio 路径规划 

分 类 号：TH16[机械工程—机械制造及自动化] TP212.6[自动化与计算机技术—检测技术与自动化装置]