CAJ | 학술논문

介绍了焊接机器人离线编程系统的组成，分析了路径规划的实用功能；搭建了双机器人工作站仿真场景，采用单点法，先在现场标定工作平台的实际位置，然后在仿真场景中进行校准；利用该仿真场景，离线编写了机架模拟件的双机器人焊接程序，然后下载程序到现场控制柜调试运行；将机架模拟件偏移放置后，自动运行整个焊接程序，进行了模拟件的双机器人多层多道焊接．实验结果表明，模拟件焊接后的焊道符合实际的焊缝位置，经离线编写的程序能够在实际环境中得到较好的廊用．
개소료한접궤기인리선편정계통적조성，분석료로경규화적실용공능；탑건료쌍궤기인공작참방진장경，채용단점법，선재현장표정공작평태적실제위치，연후재방진장경중진행교준；이용해방진장경，리선편사료궤가모의건적쌍궤기인한접정서，연후하재정서도현장공제거조시운행；장궤가모의건편이방치후，자동운행정개한접정서，진행료모의건적쌍궤기인다층다도한접．실험결과표명，모의건한접후적한도부합실제적한봉위치，경리선편사적정서능구재실제배경중득도교호적랑용．
This paper first introduces the composition of the welding robot off-line programming sys- tem and analyzes the practical function of path planning. Then a simulation scene of a dual-robot worksta- tion is built by the single-point method, with the actual position of the working platform first settled in the field and then the calibration for working platform model conducted in the simulation scene. Then with the simulation scene, the dual-robot welding procedures for the frame analog parts are edited, and are down- loaded to the site control cabinet for debugging and running. After putting the frame analog parts by devia- ting some distance, the entire welding program is automatically run to perform the dual robotic multi-lay- ered and multi-weld welding of the analog parts. Experimental results show that the weld meets the actual seam position and that the off-line edited programs functions well in the actual environment.