Introduce the robotic welding system for a certain type of engine. Research on offline programming of robot welding systems. A solution for offline programming and simulation system of arc welding robot based on SolidWorks platform is proposed.
1 Introduction
With the rapid development of the domestic aerospace industry and the increasingly fierce competition in the international satellite launch market, higher requirements have been placed on the production cycle and manufacturing cost of the engine. In order to adapt to this situation, trying to improve the quality of welded joints and the quality of welded joints, and to ensure the production cycle has become a priority. The flexibility of the two robot welding systems is a good solution to this contradiction.
2 Problems with robot welding
In order to meet the welding quality requirements, one of the welds needs to be selected for robot programming. The programming method currently used is teaching programming. The operator uses the teaching box to control the movement of the robot, so that the welding gun reaches the position required to complete the welding operation, and records the pose data of each teaching point. The robot can then complete the welding of the weld in the "reproduction" state.
According to the previous tests, there are currently two problems:
(1) Unstable precision of teaching, affecting welding quality
During the teaching process, the programming effect is greatly affected by the level and status of the operator. When teaching, it should be ensured that the teaching point is on the weld trajectory to ensure the proper welding gun height, and the continuous change of the welding gun attitude is required, which requires high level of operator. In addition, the operator is in a state of high concentration for a long time, and it is difficult to ensure the accuracy of each teaching point. As a result, the final programming accuracy becomes unstable, and problems such as the torch colliding with the workpiece sometimes occur.
(2) Long programming time and low welding efficiency
In order to ensure the accuracy of the trajectory, usually 50 points need to be taught on the 100mm weld to ensure smooth running of the welding robot and consistent position of the arcing point. In the online teaching and programming of each segment, it takes 2 hours, that is, the entire product requires 200 hours in teaching programming, which is a total of 25 working days, which increases the total welding time of the nozzle extension.
Therefore, how to improve the efficiency and accuracy of programming, shorten the total welding time of the product, and improve the quality of welding become an urgent problem to be solved.
3 robotic welding offline programming technology
The current robot programming can be divided into two ways: teaching programming and offline programming. Teaching programming is effective and feasible in the case where the tasks to be performed by the robot are not complicated, and the programming time is relatively short compared to the working time, but it is not satisfactory in many complicated work applications.
3.1 Robot offline programming features
Robotic welding offline programming and simulation technology is to use the results of computer graphics to build a model of the robot and its working environment in the computer, through the control and operation of the graphics, programming without using the actual robot, and then generating the robot program. Compared to traditional online teaching programming, offline programming has the following advantages:
a. Reduce the time the robot does not work.
b. Keep the programmer away from dangerous working conditions.
c. Easy to modify the robot program.
d. Combine various artificial intelligence and other technologies to improve programming efficiency.
e. Easy to integrate with CADICAM system to achieve CAD/CAM/Robotics integration.
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