Study On The Utilization Of Robotic Arc Welding Off-Line Programming Technology

According to the application condition and development need of arc welding robots in China, traditional programming method of industrial robot on-line teaching can't meet the demand of mass production, robotic arc welding off-line programming technology has been paid more attention to by more and more manufacturers. Therefore, utilization is now becoming the developing trend of off-line industrial robot programming system, in order to introduce robotic arc welding off-line programming technology from laboratories to enterprises; the studies of the utilization of robotic arc welding off-line programming technology are carried out in this dissertation.In this thesis, analysis from technical angle on the overall frame of robotic arc welding off-line programming technique has been done. Aiming at the utilization of robotic arc welding off-line programming, studies on the key-technologies of robotic arc welding off-line programming have been done, which includes: modeling, motion simulation, path generation, data transition, etc... Research upon automatic welding path generating method superior to screen-teaching method, adopting connecting-path method to achieve the path planning of multi-path / multi-layer welding; put forward the description method of the robotic path under the user's coordinate frame.In this thesis, the three points calibration methodology of workpiece, based on user coordinate system, is brought forward, thereby, the matching and adjusting the workpiece in the simulation environment and real workspace is well solved; the calibration of relative position between arc-robot and positioner is also studied, three points calibration methodology based on rotational positioner and three points calibration methodology based on rotational and tilted positioner are brought forward, consequently, coordinative motion of arc-robot and positioner can be guaranteed; five points calibration methodology of TCP position based on compensating computation is brought forward, sequentially, manual TCP automatic zeroing time is greatly saved and efficiency of off-line programming is improved enormously.In this thesis, the definition of coordinated motion of arc-robot and positioner is established, also, task description method and kinematics restriction of coordinated motion of robot and positioner in downhand situation have been brought forward in this dissertation, and then, coordinated motion control strategy is deduced in synchronizing motion control mode, besides, the path planning technology in coordination welding of arc-robot and positioner is deeply analyzed. Coordination technology has laid solid foundation for the universalization and utilization of robotic arc welding off-line programming technology in coordinated welding of arc-robot and positioner.Aimed at industrial application, the off-line programming experiments for robotic arc welding based on Motoman UP20 industrial robot have been made. For single-robot system, workpieces with planar linear weld and planar curvilinear weld are adopted, and off-line programming and welding are finished, which proves that the problem of utilization of robotic arc welding off-line programming technology for single-robot system has been totally solved; for coordinated system of arc-robot and positioner, workpiece with planar linear weld is adopted, and off-line programming and coordinated motion are finished, which proves that utilization of robotic arc welding off-line programming technology for coordinated system has been indeed feasible.