Research On The Key Technology Of Offline Programming Of Welding Robot Based On SolidWorks

Welding is an important manufacturing method for many products.The application of welding robots has greatly improved the impact of the welding environment on welding workers,reduced work intensity,and improved work efficiency.When the welding robot uses manual teaching programming,it takes a lot of time,the programming efficiency is low,and the welding site environment is poor.Especially when facing the welding of a single small batch of complex curved parts,the problem is more prominent.This article is based on a cooperative project of a company in Wenzhou City that uses ABB robots as a platform for secondary development.Through the motion analysis and simulation of robotics,establish the trajectory and pose planning model of the welding robot,and improve the key algorithm for the linear and arc interpolation of complex curved welds.Using SolidWorks' rich API application program interface,build a welding offline programming system and verify it through experiments to realize the integration of CAD/CAM software and offline programming.The specific content is as follows:(1)Summarize the development method of offline programming system.In addition,the environment for building this system is configured,and the composition and related functions of the main functional modules are explained.(2)Completed the kinematics analysis of the research object robot in the system and the calculation of the corresponding joint angle formula of the robot,and finally verified by the MATLAB simulation mathematics software.At the same time,the calibration of the coordinate system of the welding tool and the workpiece is researched.(3)Research on the linear-arc interpolation problem in the welding trajectory,and a trajectory interpolation method based on the principle of Bezier curve transition is given to optimize the welding trajectory.Related researches are carried out on the factors related to the quality of the weld,such as the ideal welding position and welding torch pose in welding operations.At the same time,the coordinate change relationship between the track weld and the end of the welding gun is calculated.(4)The establishment of offline programming system and the realization of the main functions of the system.Discrete the welding trajectory,obtain the posture information of all discrete points,and realize the extraction and processing of the welding trajectory information.Through the use of SolidWorks API functions,the robot kinematics calculation and motion simulation are completed.After completing the system simulation and completing the welding operation,the corresponding robot code is generated according to the specific robot program standard.Finally,through experiments on the welding trajectory of the wave plate,the systems welding trajectory planning,simulation and code conversion functions are verified.This article mainly studies the construction of the offline programming system for welding robots,improves the trajectory planning method of the straight-arc complex curve welding seam,designs a welding motion simulation method based on trajectory discrete,and realizes the integration of computer-aided design software and offline programming.After experimental verification,the offline programming system built in this article has a certain feasibility,and the relevant experimental data meets the requirements of the operation.