机器人远程激光焊接离线编程系统与路径规划
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摘要
由于远程激光焊接过程中焊接顺序和机器人路径规划对于焊接周期影响较大,因此文章提出了离线远程激光焊接编程系统。该系统以扩增实境为基础,通过3D输入设备可以实现机器人轴的快速定位,提出了以解决旅行商问题的轨迹优化算法,对机器人路径以及焊接顺序进行了优化。离线远程激光焊接编程系统不仅仅能够实现快速的空间人机交互,还具有很高的适用性,操作简单。经仿真结果可以得出,离线编程相比传统的在线编程能够节省30%的焊接时间,极大地提高了远程激光焊接效率。
Because of the influence of welding sequence and path planning on the welding cycle in the process of remote laser welding,an off-line remote laser welding programming system is proposed in this paper. This system is based on augmented reality,fast positioning of the robot axes can be achieved by the 3 D input device. The trajectory optimization algorithm is proposed to solve the traveling salesman problem. The off-line remote laser welding programming system is not only able to realize interaction with space quickly,but also it has high applicability. The simulation results showthat the off-line programming can save 30% of the welding time and greatly improve the efficiency of remote laser welding compared with the traditional online programming.
Because of the influence of welding sequence and path planning on the welding cycle in the process of remote laser welding,an off-line remote laser welding programming system is proposed in this paper. This system is based on augmented reality,fast positioning of the robot axes can be achieved by the 3 D input device. The trajectory optimization algorithm is proposed to solve the traveling salesman problem. The off-line remote laser welding programming system is not only able to realize interaction with space quickly,but also it has high applicability. The simulation results showthat the off-line programming can save 30% of the welding time and greatly improve the efficiency of remote laser welding compared with the traditional online programming.
引文
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[2]胡浩.振镜扫描式激光焊接系统的研究[D].武汉:华中科技大学,2011.
[3]徐志刚,岳超,侯雯中,等.钛合金整体壁板T型接头双作用激光焊接系统设计[J].组合机床与自动化加工技术,2016(5):100-106.
[4]冯吉才,王厚勤,张秉刚,等.空间焊接技术研究现状及展望[J].焊接学报,2015,36(6):107-112.
[5]时勇.基于汽车座椅调角器激光远程焊接系统设计及工艺研究[D].南京:东南大学,2015.
[6]Kovács A.Task sequencing for remote laser welding in the automotive industry[J].Canbridge Law Journal,2013,48(2):175-177.
[7]Ceglarek D,Huang W,Zhou S,et al.Time-based competition in manufacturing:stream-of-variation analysis(SOVA)methodology-a review[J].International Journal of Flexible Manufacturing Systems,2004,16(1):11-44.
[8]Erd9s G,Kardos C,Kemény Z,et al.Process planning and offline programming for robotic remote laser welding systems[J].International Journal of Computer Integrated Manufacturing,2016,29(12):1287-1306.
[9]王克鸿,刘永,徐越兰,等.弧焊机器人离线编程系统[J].焊接学报,2001,22(4):84-86.
[10]王克鸿,黄勇,孙勇,等.数字化焊接技术研究现状与趋势[J].机械制造与自动化,2015,44(5):1-6.
[11]魏艳红,余枫怡,占小红.焊接数字化技术及其在航空制造业中的应用[J].航空制造技术,2016(11):36-40.
[12]Hatwig J,Reinhart G,Zaeh M F.Automated task planning for industrial robots and laser scanners for remote laser beam welding and cutting[J].Production Engineering,2010,4(4):327-332.
[13]Munzert U.Bahn plan ungsal gorithmen fürdas roboter gestützte Remote-Laser strahlschweiβen[M].Herbert Utz Verlag,2010.
[14]Zah M F,Vogl W,Munzert U.Accelerating the teaching process of industrial robots-Augmented reality for intuitive man-machine interaction[J].Werkstattstechnik Online 94,2004,9:438-442.