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通过测绘建模、模型尺寸校准、搭建自动焊接工艺参数数据库等措施,实现了FANUC弧焊机器人的离线编程,缩短了机器人的在线编程时间,提高了弧焊机器人的编程效率和设备利用率。研究表明,配置单轴变位机的FANUC弧焊机器人系统通过尺寸校准可100%消除模型尺寸误差,精度较配置双轴变位机的机器人系统高。配置双轴变位机的FANUC弧焊机器人系统离线编程受离线模型尺寸精度影响,尺寸校准可完全消除1个回转方向的误差,但无法完全消除2个以上回转方向的误差。
By means of surveying and mapping, model size calibration and automatic welding process parameter database, the offline programming of FANUC arc welding robots is realized, the on-line programming time of robots is shortened, and the programming efficiency and equipment utilization of arc welding robots are improved. The research shows that the FANUC arc welding robotic system with single axis positioner can eliminate the size error of the model 100% by size calibration, and the accuracy is higher than that of robotic system with dual axis positioner. Offline programming of FANUC arc welding robotic systems with biaxial positioners is affected by the dimensional accuracy of the off-line model. Dimensional calibration completely eliminates one direction of rotation error but does not completely eliminate more than two errors in the direction of rotation.