大型复杂构件的无模型工业机器人自动编程系统

大型复杂构件的无模型工业机器人自动编程系统 Model-free industrial robot automatic programming system for large complex components 侯润石 HOU Runshi 1 first-author 蒋启祥 JIANG Qixiang 1 王胜华 WANG Shenghua 1 魏秀权 WEI Xiuquan 1 杭州凯尔达机器人科技股份有限公司 杭州凯尔达机器人科技股份有限公司 HangZhou KAIERDA Robot technology Co.,Ltd. HangZhou KAIERDA Robot technology Co.,Ltd. 航空、航天、船舶制造等领域存在着大量缺少计算机几何模型的小批量、柔性化构件焊接制造需求,基于模型的离线自动编程系统难以适用。就此设计了一种无模型大型复杂构件机器人自动编程系统。该系统通过对待加工构件进行快速三维重建,分析三维重建结果,预先规划加工方案,并自动生成机器人程序,通过传感器测量几何模型与实际构件之间的偏差,在线修正机器人程序。结果表明,系统能够对缺少模型的大型复杂构件进行在线分析,无需工作夹具的辅助便能有效地完成相应的焊接任务,为机器人加工进一步自动化提供了技术基础。 In the fields of aviation, aerospace,shipbuilding,etc.,there are a large number of welding manufacturing requirements for small amount,flexible components that lack computer geometric models,for which model-based offline automatic programming systems are unsuitable. In response to this situation,a model-free robot automatic programming system for large complex components is designed.Through rapid 3D reconstruction of the processed components and analysis based on the 3D reconstruction results,the machining plan is pre-planned and the robot program is automatically generated. The deviation between the geometric model and the actual component is measured by the sensor,and the robot program is corrected online. The experiment results show that the system can analyze the large complex components lacking models online,and complete the corres-ponding welding tasks without the aid of work fixtures,providing a technical basis for the further automation of the robot processing. 无模型构件 三维重建 自动编程 在线修正 model-free components 3D reconstruction automatic programming online correction TP242.2 2022-03-08 7 50