锅炉焊接机器人离线编程系统

Off-line programming system of arc-welding robot based on boiler

摘要: 主要研究开发了适于锅炉焊接的机器人离线编程系统。针对锅炉件的特点,建立了该空间焊缝的特征坐标系,并设计特征提取算法,进而规划出焊枪的运动路径与理想姿态,建立了典型的锅炉工件、日本安川SK6机器人等运动仿真环境。根据日本安川机器人程序的语言格式,采用该软件自动生成了机器人程序,对锅炉焊接过程进行了离线仿真试验,验证该系统是切实可行的。

Abstract: Off-line programming system of welding robot used in boiler is studied.Characteristics of boiler and its coordinates of complex spaced weld are eatched in the system.The paths and positions of torchare layed out.The environments such as boiler are built,aecording to the robot language format.The robot program is built by the system automati-cally.Simulation of boiler welded by sk6 robot are performed.It proved the system is available.