基于虚拟现实的焊接机器人工作站离线编程系统  

Offline Programming System for Welding Robot Workstation based on Virtual Reality

作　　者：盖胜男 王玉[1,2] 王凯[1,2] 肖珺[1,2] GAI Shengnan;WANG Yu;WANG Kai;XIAO Jun(College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China;Engineering Research Center of Advanced Manufacturing Technology for Automotive Components-Ministry of Education,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学材料与制造学部,北京100124 [2]北京工业大学汽车结构部件先进制造技术教育部工程研究中心,北京100124

出　　处：《电焊机》2023年第9期14-21,共8页Electric Welding Machine

基　　金：国家自然科学基金(51905012)。

摘　　要：在自动焊接应用中,离线编程焊接机器人通常具有一定的控制局限性。结合虚拟现实技术搭建了一套焊接机器人工作站,通过开发离线编程系统,简化机器人控制方式、灵活调整视角和自动规划焊接轨迹等,提升了焊接机器人离线编程效率。开发了同点异线焊缝识别算法,实现了单机器人的轨迹规划功能。基于焊枪基准姿态,分析横焊、平焊、立向上焊和立向下焊的焊接姿态,实现全位置焊接姿态规划。增加KBR-2Z500双轴变位机,实现多轴联动的复杂轨迹规划功能,研究了机器人运动与变位机运动的耦合与解耦问题,达成焊接机器人工作站协同运动规划。通过现实空间完全复现虚拟环境下的空间曲线焊接轨迹规划实验,验证了工作站离线编程系统的交互性、可行性和可靠性。In the application of automatic welding,offline programming welding robots usually has certain control limitations.This paper combines virtual reality technology to build a welding robot workstation.By developing an offline programming system to simplify robot control methods,flexibly adjust perspectives,and automatically plan welding trajectories for improving offline programming efficiency.Proposed the same point and different lines weld seam recognition algorithm and implemented trajectory planning function for single robot.Based on welding torch reference posture,by analyzing the welding posture of horizontal welding,flat welding,vertical upward welding,and vertical downward welding to realize all position welding posture planning.Built the welding robot workstation by adding a KBR-2Z500 dual-axis positioner,and realized multi-axis linkage complex trajectory planning function.Coupling and decoupling between robot motion and positioner motion discussed to solve the problem of welding robot workstation cooperative motion planning.In real space,replicated virtual environment spatial curve welding trajectory planning experiments.The interactivity,feasibility and reliability of the developed offline programming system has been verified.

关 键 词：虚拟现实 离线编程 焊接机器人 焊缝识别 双机协同 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]