Therefore, robotic welding offline programming and simulation is a key technology to improve the flexibility of robot welding system, and it is an important development trend of modern robot welding manufacturing.
3.2 Status of robot offline programming technology
At present, there are offline programming software for commercial robots based on ordinary PCs in the international market, such as Workspace, ROBCAD, IGRIP, etc.
Workspace is the first commercial PC-based robot simulation and offline programming software developed by Robot Simulations. The latest version of the software uses ACIS as the modeling core, and has a good data exchange with some CAD-based CAD systems such as AutoCAD.
ROBCAD is a robot CAD and simulation system introduced by Tecnomatix in the United States in 1986. In just a few years, ROBCAD has been widely used in practical industrial systems. Many automotive companies such as Ford, Volkswagen, Fiat, and Lockheed NASA use ROBCAD to design, simulate and offline robot production lines. program.
Another well-known robot offline programming and simulation software package in the United States is IGRIP, which is an interactive robot graphics programming and simulation software package developed by Deneb Robotics in the United States. It is mainly used for robot work unit layout, simulation and offline programming. IGRIP can run on workstations such as SGI, HP, and SUN. The IGRIP software is divided into three parts: IMS, GSL. GLI. In addition, it provides users with some more advanced features through a shared library. In the field of robotic welding offline programming, Harbin Institute of Technology, Beijing University of Technology, Nanjing University of Science and Technology and other units carried out research work. Harbin Dingye University has carried out research work more than ten years ago, and its research level is in a leading position in China. It has developed offline arc welding offline programming systems such as RAWCAD, and has been applied in some products.
4 Robot offline programming and simulation solutions
The off-line programming and simulation system of arc welding robot based on SolidWorks platform is developed to realize off-line programming during the welding process of nozzle extension.
4.1 Workflow
a. Establish a CAD model and a robot model of the nozzle extension tube and the tube.
b. Segment and number the welds, and for each weld, use the offline programming system for automatic programming, including gauges for the torch trajectory
Planning of the stroke and welding gun posture.
c. Simulate the programming result and correct the planned pose based on the simulation result.
d. Calibrate the robot coordinate system to match the coordinate system in the offline programming system.
e. Convert the program obtained offline to the Motoman robot program and import it into the robot controller through the communication interface or CF card.
f. The robot uses the offline programming program to complete the welding of the workpiece.
4.2 Three-point calibration method
The three-point calibration method uses the spatial coordinates of the three feature points of the actual workpiece and the spatial coordinates of the three feature points of the virtual workpiece. Here, the label point (X) is a point on the x-axis of the calibration coordinate system [Y) is a point on the y-axis of the calibration coordinate system, and the label point (o) is the origin position of the calibration coordinate system.
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