摘要
近年来,焊接机器人在工业上取得广泛应用。本文旨在研究FANUCm-10ia8l型机器人控制系统,并对焊接过程进行仿真试验。本文从弧焊机器人国内外现状和发展情况、机器人选型与介绍、机器人焊接常用设备及工艺方法切入。另外,考虑到焊接工件体积大、吨位重等特性,焊缝种类复杂且位置相离较远,设计了焊接变位机和机器人桁架用以拓展机器人焊接范围,寻找最优焊接角度,使得机器人控制器能够对机器人及外部变位机桁架机械装置进行联动控制;同时,采用robotstudio对机器人坐标进行标定,用离线编程方式,驱动机器人和配套的变位机桁架完成简单焊缝焊接动控制。
In recent years, welding robots have been widely used in industry. This paper aims to study the FANUC m-10ia 8l robot control system and simulate the welding process. This paper cuts into the current situation and development of arc welding robots at home and abroad, robot selection and introduction, and common equipment and process methods for robot welding. In addition, considering the large volume of the welding workpiece, the tonnage weight and other characteristics, the weld type is complex and the position is far away. The welding positioner and the robot truss are designed to expand the welding range of the robot, find the optimal welding angle, and make the robot control. The robot can control the linkage of the robot and the external positioner truss mechanism;at the same time, the robot coordinate is calibrated by robotstudio, and the offline welding method is used to drive the robot and the matching positioner truss to complete the simple weld welding dynamic control.
作者
郭政良
栾义忠
夏楠
GUO Zhengliang;LUAN Yizhong;XIA Nan(Shandong University,Jinan 250061)
出处
《现代制造技术与装备》
2019年第10期190-191,193,共3页
Modern Manufacturing Technology and Equipment