基于多工业机器人及变位机的自动焊接系统设计与仿真  

Simulation and Design of Automatic Welding Workstation Based on Multi-industrial Robot and Positioner

作　　者：刘海龙[1] 杨利[1] 吴海波[1] LIU Hailong;YANG Li;Wu Haibo(Hunan Railway Professional Technology College,Zhuzhou 412001,China)

机构地区：[1]湖南铁道职业技术学院,湖南株洲412001

出　　处：《计算机测量与控制》2021年第9期245-249,共5页Computer Measurement &Control

基　　金：湖南省教育厅科学研究项目(19C1208)。

摘　　要：以焊接工业机器人为研究对象,针对传统焊接工作站多角度焊接协调难度大的问题,利用RobotStudio仿真设计了焊接机器人带变位机工作站;根据Q235薄板低碳钢焊接对象的实际工况,设计了冷金属过渡焊接方法相配套的焊接系统参数和供气系统;为提高系统焊接精度,重新设计了焊枪的工具坐标系和I/O网络;通过焊接机器人专用指令和Smart动态逻辑组件功能构建了焊接工作站的机器人和变位机协同作业运动轨迹,最后运用TCP跟踪和仿真功能验证了焊接轨迹和变位机协同作业的准确性;该设计方案为焊接机器人带变位机工作站的实际应用提供了参考依据和实验平台,缩短产线开发周期,提高生产效率。The RobotStudio is used to simulate and design a workstation with a welding robot positioner,which is taking the welding industrial robot as the object of the research and aiming at the difficult problem of multi-angle welding coordination in the traditional welding workstation.It’s based on the actual working condition of Q235 thin plate and low carbon steel as the object of welding and then the welding system parameters and gas supply system matching the cold metal transition welding method are designed.To improve the welding precision of the system,it has been redesigned the tool coordinate system and I/O network of the welding gun.The cooperative operation trajectory of robot and positioner with the welding workstation is constructed by using the special instruction of welding robot and the function of Smart dynamic logic component.Finally,the accuracy of the joint operation of welding track and positioner are verified by using TCP tracking and simulation.The design scheme provides reference basis and experimental platform for the practical application of welding robot workstation with positioner,which can shorten the development cycle of production line and improve production efficiency.

关 键 词：焊接机器人 变位机 弧焊 RobotStudio 工作站 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]