Self-programming Technology Of Welding Robot For Diesel Engine Base

In the shipbuilding industry,there are few welding automation equipment,large workload of welding workers and poor working environment.Combining the characteristics of more types of ships and smaller batches,the application of highly flexible robot workstations for automated welding production is the development of China’s shipbuilding industry trend.In order to realize the automatic production of diesel engine bases and improve the production efficiency of the bases,a gantry robot welding workstation was introduced.Since the welding seams of diesel engine bases are mostly internal welding seams,teaching is difficult and teaching programming efficiency is low.Therefore,the selfprogramming technology of welding robot is studied.According to the relevant technology of independent programming,the research status of robot visual sensing technology,automatic programming and welding database system at home and abroad is reviewed,and the application of visual sensing technology,automatic programming and welding database system in the field of welding robot is analyzed.Through the analysis of the welding robot’s independent programming requirements,it is necessary to comprehensively use database technology,offline simulation and programming technology,and laser vision positioning technology to achieve robotic autonomous programming in a narrow sense.Through the UG three-dimensional software,a three-dimensional model of the diesel engine base and welding torch was established.Using the standard models of robots,platforms and external axes provided by the manufacturer,a robot gantry robot simulation scene was built using Robot Master software.The calibration method of robot offline operation is studied,and the simulation scene of the workstation is calibrated in combination with the actual situation;the corrected simulation scene is used to plan and offline program the typical welding seam locating path.For the typical welding joints of diesel engine bases,vertical and horizontal welding process tests were carried out;after the experiment was completed,the qualified welding process specifications and the weld bead TCP offset were saved to the database to add multiple layers and multiple passes to the offline positioning program Provide data support for welding function;by analyzing the needs of the welding database system for independent programming,combined with the actual needs of the enterprise,through the Delphi and SQL server database software,the base welding process database system was developed.Aiming at autonomous programming of robots,a welding parameter issuing module,a welding quality monitoring module and a welding process module were developed.By selecting a suitable laser vision sensor and adding visual functions to the offline positioning program,some functions of the robot’s independent programming,such as: initial welding position positioning and welding gun TCP guidance,real-time welding seam tracking during weldin.The main function modules of offline automatic programming technology of welding robot based on laser vision are studied.The system modules mainly include: welding process database module,automatic programming module and laser vision system module.Implementations: After the offline simulation using the automatic programming module is correct,an offline positioning program is generated;Send welding parameters to the robot through the database module and monitor the welding quality in real time,and send the offline positioning program with the visual positioning function and multi-layer multi-pass welding function to the robot control cabinet via FTP,and the robot is run;When the robot automatically runs to the weld position,the laser vision module will autonomously locate the starting weld position,track the weld in real time,modify the multi-layer multi-pass welding pass and automatically call the welding parameters to achieve precise positioning of the weld and complete the welding task.