【作者】 董晓雨；

【导师】 陈建平；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2008， 硕士

【摘要】 为提高焊接机器人的任务适应性,使生产企业能够适应小批量、多批次的生产要求,本文提出了焊接工装免示教的即插即用工装快速更换的技术。本文根据已知的焊缝在工装中的位置和工装相对于变位器的位姿信息,建立了焊枪姿态在变位器支架坐标系下的数学关系,采用离线编程的方法获得焊接机器人的相对作业程序,通过刚体变换和工装初始位置的标定,获得焊枪在基础坐标系下的位置和姿态,反解机器人运动方程得到机器人各轴的脉冲值后,将相对作业程序转换成为标准作业程序。设计了统一的工装夹具进阶控制逻辑。不同工装的控制逻辑只需要填写工装上气缸数量和与之对应的传感器数量即可生成与工装夹具相对应的进阶控制逻辑。在工装中引入嵌入式控制系统,将机器人焊接的相对作业程序和控制逻辑存入其中,当新的工装引入到焊接工作站中时,将工装控制器中的相对作业程序传给系统控制器并转化为机器人的标准作业程序,实现工装的即插即用。更多还原

【Abstract】 In order to adapt to the competition in the market, the job of industrial robots takes on the feature of multi-group and multi-batch. The study subject advances a kind of teaching-free control technology of plug and play for robot welding fixture.We can get the position and orientation of the welding torch in the station coordinate system, because we can know the position of welding line in the fixture coordinate system. Through calibration, the relationship between the station coordinate system and the base coordinate system can be got. With transformation matrix, we can obtain the welding torch’s position and orientation in the base coordinate system. At last solving the robot motion function to get each axes’impulse value, we can change the relative job procedure to standard job procedure.Because different fixtures have different jigs control logic, we designed a kind of control scheme. According to the number of the cylinders and the number of sensors added in each cylinder, the jigs control logic can be easily formed.We added an embedded controller to the welding fixture and preplaced the relative job procedure and the control logic of jigs of the fixture in it. When embedded controller transmits the relative job procedure to the system controller, the system controller can automatically change the relative job procedure to standard job procedure. By this method, the system can support the plug and play when changing fixtures.更多还原