厚板双面双弧焊机器人任务规划及仿真

针对低合金高强钢厚板生产效率低下,采用双面双弧不清根焊接工艺为实现机器人智能化焊接提供了可能.采用离线仿真结合集散控制实现了多种焊接方法、多个任务和多种机器人复杂焊接系统的集成.通过建立指令目录实现了多机器人编程指令的管理,设置指令目录的指令执行条件实现机器人间运动时序关系的控制,最终实现了多机器的编程与仿真.建立集中控制中心,根据工艺要求和机器人执行条件对多任务进行规划管理,实现厚板双面机器人自动化焊接任务.

Task Layout and Simulation of Double-sided Arc Welding Robot in Thick Plate

For the low productivity in low alloy high tensile steel of thick plate,it is possible to realize robot arc welding through adopting double-sided arc welding which does not need back chipping.Off-line program and distributed controlling were adopted to realize the integration of multiple welding methods,multiple tasks and multi-robot system.Instruction catalog was used to manage multi-robot instruction.The executive condition of instruction catalog was set to control the movement order between robots.Control center was developed to plan and manage the multi-task according to the welding technology and the executive condition of robots and realize the double-sided arc welding robot in thick plate.