Research, Based Roboguide Arc Welding Robot Offline Programming System

Off-line programming and simulation system have already been developing rapidly in the field of industrial robot and welding, and has become one of the key techniques developed for intelligence. Meanwhile controlled in welding process is the key technique in the development of robot welding.This paper puts forward the three points method used to calibrating the offset between the workpiece frame and the robot world frame, in order to provide accurate data for the setting of workpiece model. According to the six points method of tool frame of FANUC, the changing position and attitude between the tool frame and the terminate frame of robot can be calibrated.The mathematic model of seam is built up based on the re-exploit of AUTOCAD. This method can develop some seam curve of different size and shape.The definition of weld slope and weld rotation are described, and characteristics coordinates frame of seam are set up. Axis X of the frame is defined as seam axis, axis Z is defined as bisector of included angle, and axis Z is the axis of weld gun in the simulating environment. According to the feature of ROBOGUIDE, transforming method of data needed in robot simulating environment, self-developing method of welding path, and method of creating TP program from welding path are designed.Simulation of robot welding process is completed with the application of ROBOGUIDE, the simulating path is changed to TP program for practical welding, and TP program is transferred to robot controller, which all the work about off-line programming and simulation of the saddle-backed welding seam are completed. Fanally, the practical welding of the saddle-backed welding seam with robot is accomplished.VB program and TP program are combined and executed with each other to realize the controlling of position and attitude of weld gun, wire feed speed of weld machine, and welding speed in the robot welding process. These methods and key techniques provide a basis for the research and development of off-line programming and simulation system of arc robot and quality controlling of robot welding process.