Model-driven online correction welding robot automatic programming system

摘要

In the fields of aerospace and shipbuilding, there are a large number of small-batch, flexible components to manufacture by welding. The geometric models of these components and the actual components itself often have deviations, which makes the automatic programming system based on the traditional off-line programming difficult to apply. In view of this situation, this paper designs a model-driven online correction robot automatic programming system. Through the analysis of the digitized geometric model of the component to be processed, the processing plan is planned in advance 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. Results show that the system can eliminate the influence of the deviation between the real component and the geometric model, complete the corresponding welding task effectively, and provide the technical basis for the further automation of the robot processing.