基于工业机器人的玻璃纤维管自动钻孔数控系统设计说明书论文
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毕 业 设 计（论 文）任 务 书设计（论文）题目： 基于工业机器人的玻璃纤维管自动钻孔数控系统设 计 学生姓名： 冯国平 学 号： 1404401034 专 业： 机械设计制造及其自动化 所在学院： 机电工程学院 指导教师： 郭语 职 称： 讲师 发任务书日期：年月日 任务书填写要求1毕业设计（论文）任务书由指导教师根据各课题的具体情况填写，经学生所在专业的负责人审查、系（院）领导签字后生效。此任务书应在毕业设计（论文）开始前一周内填好并发给学生。2任务书内容必须用黑墨水笔工整书写，不得涂改或潦草书写；或者按教务处统一设计的电子文档标准格式（可从教务处网页上下载）打印，要求正文小 4 号宋体，1.5 倍行距，禁止打印在其它纸上剪贴。3任务书内填写的内容，必须和学生毕业设计（论文）完成的情况相一致，若有变更，应当经过所在专业及系（院）主管领导审批后方可重新填写。4任务书内有关“学院”、“专业”等名称的填写，应写中文全称，不能写数字代码。学生的“学号”要写全号，不能只写最后 2 位或 1 位数字。 5任务书内“主要参考文献”的填写，应按照金陵科技学院本科毕业设计（论文）撰写规范的要求书写。6有关年月日等日期的填写，应当按照国标 GB/T 740894数据元和交换格式、信息交换、日期和时间表示法规定的要求，一律用阿拉伯数字书写。如“2002 年 4 月 2 日”或“2002-04-02”。毕 业 设 计（论 文）任 务 书1本毕业设计（论文）课题应达到的目的：本毕业设计课题的主要目的是培养学生综合运用所学的基础理论、专业知识和专业基本技能分析和解决实际问题，训练初步工程设计的能力。根据机械设计制造及其自动化专业的特点，着重培养以下几方面能力： 1调查研究、中外文献检索、阅读与翻译的能力； 2综合运用基础理论、专业理论和知识分析解决实际问题的能力； 3查阅和使用专业设计手册的能力； 4设计、计算与绘图的能力，包括使用计算机进行绘图的能力； 5撰写设计说明书（论文）的能力。 2本毕业设计（论文）课题任务的内容和要求（包括原始数据、技术要求、工作要求等）：一、课题内容：本课题来自企业横向课题。该企业专门制造生产玻璃纤维管，需要在其圆周方向加工若干均布孔。由于管材尺寸较大且现有加工设备较低级，因此目前仍采用人工使用锯片切割的形式加工，加工截面粗糙且精度较差。针对该加工对象，本课题考虑采用基于工业机器人设计开发自动化钻孔系统的模拟试验平台，该平台加工对象为比例缩小的管材，可以实现管材加工工位精确定位和钻孔。内容主要包括工业机器人系统的自动钻孔数控系统设计。二、设计要求： 1.圆管尺寸：长度2m，直径0.5m； 2.圆孔直径50mm，圆孔分布数量 12 个；3.钻孔速度：2 个/分钟； 4.加工精度：0.1mm； 5.定位精度：0.5mm. 毕 业 设 计（论 文）任 务 书3对本毕业设计（论文）课题成果的要求包括图表、实物等硬件要求： 1.外文专业文献翻译（原文和译文，译文 3000 汉字以上） ； 2.毕业设计开题报告一份； 3.编写设计说明书一份； 4.完整的数控系统接线图一份，数控程序一套。4主要参考文献： 1、曹文祥, 冯雪梅. 工业机器人研究现状及发展趋势. 机械制造, 2011, 558(49):4143 2、陈焕明, 熊震宇, 刘频. 弧焊机器人离线编程系统的设计与实现. 上海交通大学学报, 2008, 42(Sup): 2531 3、张牧, 李亮玉, 王天琪等. 基于 SolidWorks 的海洋平台导管架弧焊机器人离线编程系统. 上海交通大学学报, 2008, 42(Sup): 79 4、胡广胜, 吴向阳, 李波. 高速列车转向架焊接机器人离线编程系统的分析与开发. 金属加工, 2011, 4: 5860 5、周青松. 喷涂机器人人机交互及离线编程系统的研究: 硕士论文. 广州: 华南理工大学图书馆, 2010. 6、韩光超, 孙明, 张海鸥等. 基于 CAM 的机器人抛光轨迹规划. 华中科技大学学报, 2008, 36(5): 6062 7、许家忠, 尤波, 孔祥冰. 高压水射流切割机器人离线编程系统研究. 哈尔滨理工大学学报, 2009, 14(2): 6365 8、居正月, 吴建国, 张永康. 基于 ABB 机器人光纤激光加工系统的研究. 应用激光, 2010, 30(4): 295299 9、卢正君. 基于 CAD 的机器人离线编程与仿真系统设计:硕士论文. 南京: 东南大学图书馆, 2010. 10、刘为志, 栾楠, 刘宝生. 基于 G 代码的工业机器人的自动编程. 机器人, 2002,24(6): 497501 11、熊有伦. 机器人技术基础. (第一版). 武汉: 华中科技大学出版社, 1996. 3243 12、赵松年，张奇鹏. 机电一体化机械系统设计M . 第一版，北京：机械工业出版社，1996 13、徐龙祥，欧阳祖行.机械设计M. 第二版，北京：航空工业出版社，1999. 14、王海波.机电一体化设计基础M,北京：化学工业出版社，2012 15 范钦珊.材料力学M.北京：清华大学出版社，2008. 16、李柱.互换性与技术测量M.北京：高等教育出版社，2004. 17、哈尔滨工业大学理论力学教研室.理论力学M.北京：高等教育出版社，2009 毕 业 设 计（论 文）任 务 书5本毕业设计（论文）课题工作进度计划：15.11.20-15.12.20 学生明确选题 15.12.20-16.01.15 学生完成开题报告 16.01.15-16.03.18 学生完成设计草图阶段,明确设计方案 16.03.18-16.04.08 学生完善设计正稿 , 撰写毕业设计论文初稿 16.04.08-16.04.30 学生毕业设计完成阶段,提交毕业论文正稿, 完成期中检查 16.05.01-16.05.10 学生提交毕业设计论文,布置毕业设计展 16.05.10-16.05.15 布展、毕业答辩准备 所在专业审查意见：同意 负责人： 2016 年 1 月 18 日 毕 业 设 计（论 文）开 题 报 告设计（论文）题目： 基于工业机器人的玻璃纤维管自动钻孔数控系统设 计 学生姓名： 冯国平 学 号： 1404401034 专 业： 机械设计制造及其自动化 所在学院： 机电工程学院 指导教师： 郭语 职 称： 讲师 年 月 日 开题报告填写要求1开题报告（含“文献综述”）作为毕业设计（论文）答辩委员会对学生答辩资格审查的依据材料之一。此报告应在指导教师指导下，由学生在毕业设计（论文）工作前期内完成，经指导教师签署意见及所在专业审查后生效；2开题报告内容必须用黑墨水笔工整书写或按教务处统一设计的电子文档标准格式打印，禁止打印在其它纸上后剪贴，完成后应及时交给指导教师签署意见；3“文献综述”应按论文的框架成文，并直接书写（或打印）在本开题报告第一栏目内，学生写文献综述的参考文献应不少于 15 篇（不包括辞典、手册）；4有关年月日等日期的填写，应当按照国标 GB/T 740894数据元和交换格式、信息交换、日期和时间表示法规定的要求，一律用阿拉伯数字书写。如“2004年 4 月 26 日”或“2004-04-26”。5、开题报告（文献综述）字体请按宋体、小四号书写，行间距 1.5 倍。毕 业 设 计（论文） 开 题 报 告 1结合毕业设计（论文）课题情况，根据所查阅的文献资料，每人撰写不少于1000 字左右的文献综述： 本设计题目是 基于工业机器人的玻璃纤维管自动钻孔数控系统设计。 随着高新技术的迅猛发展，新的学科门类层出不穷，机械制造被认为是一门比较古典的学科。然而，随着材料科学、微电子技术、计算机科学和传感器技术的发展，特别是近二十年来，数控技术的广泛应用，传统制造模式向柔性化、自动化、数字化的反向发展，制造技术出现了许多新的特点，从学科发展的角度看，主要是制造技术已经成为一门综合技术。尤其是科技的进步与革新，建立了更加合理的生产关系，人力劳动已经逐渐被机械所取代，而这种变革为人类社会创造出巨大的财富，极大地推动了人类社会的进步。时至今天，机电一体化、机械智能化等技术应运而生。人类充分发挥主观能动性，进一步增强对机械的利用效率，使之为我们创造出更加巨大的生产力，并在一定程度上维护了社会的和谐。工业机器人的出现是人类在利用机械进行社会生产史上的一个里程碑。在发达国家中，工业机器人自动化生产线成套设备已经成为自动化的主流及未来的发展方向。工业机器人的普及是实现自动化生产、提高社会生产效率、推动企业和社会生产力发展的有效手段。工业机器人在工业生产中能代替人做某些单调、频繁和重复的长时间作业，或是危险、恶劣环境下的作业，例如在冲压、压力铸造、热处理、焊接、涂装、塑料制品成形、机械加工和简单装配等工序上，以及在原子能工业等部门中，完成对人体有害物料的搬运或工艺操作。广泛采用工业机器人，不仅可提高产品的质量与产量，而且可以保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本。因此，研究和设计各种用途的机器人特别是工业机器人、 推广机器人的应用是有现实意义的。 全球领先的工业机器人制造商瑞典 ABB 致力于研发、生产机器人已有 40 多年的历史，是工业机器人的先行者，拥有全球超过 17.5万多台机器人安装经验，在瑞典、挪威和中国等地设有机器人研发、制造和销售基地。ABB 于 1969 年售出全球第一台喷涂机器人，于 1974 年发明了世界上第一台工业机器人，并拥有当今种类最多、最全面的机器人产品、技术和服务，以及最大的机器人装机量。 数控系统的生产厂商较多，其产品规格、接口类型及通信协议等各具特点，但控制原理与方式大同小异，SINUMERIK 840D 数控系统就是当今世界数控产品的佼佼者，是 SIEMENS 公司 SINUMERIK 系列产品的突出代表，广泛应用于各行各业的中高端设备。相对于其他数控系统产品而言，SINUMERIK 840D 的开放性、拓展性、接口及通信通用性以及安全稳定性尤为突出。它将主轴和轴统一管理，应用标准 PC 技术和网络通信技术，使产品兼容性、扩展性极好。 而将工业机器人与数控系统结合，集两者优点于一体，能摆脱传统制造的桎梏，使得工业制造更加的智能与人性化，在保证了产品质量的同时，提高了生产效率，避免了大量的工伤事故。 参考文献 1曹文祥, 冯雪梅. 工业机器人研究现状及发展趋势. 机械制造, 2011, 558(49) 2陈焕明, 熊震宇, 刘频. 弧焊机器人离线编程系统的设计与实现. 上海交通大学学报, 2008, 42(Sup) 3张牧, 李亮玉, 王天琪等. 基于 SolidWorks 的海洋平台导管架弧焊机器人离线编程系统. 上海交通大学学报, 2008, 42(Sup) 4胡广胜, 吴向阳, 李波. 高速列车转向架焊接机器人离线编程系统的分析与开发. 金属加工, 2011, 4 5周青松. 喷涂机器人人机交互及离线编程系统的研究: 硕士论文.广州: 华南理工大学图书馆, 2010. 6韩光超, 孙明, 张海鸥等. 基于 CAM 的机器人抛光轨迹规划. 华中科技大学学报, 2008, 36(5) 7许家忠, 尤波, 孔祥冰. 高压水射流切割机器人离线编程系统研究. 哈尔滨理工大学学报, 2009, 14(2) 8居正月, 吴建国, 张永康. 基于 ABB 机器人光纤激光加工系统的研究. 应用激光, 2010, 30(4) 9卢正君. 基于 CAD 的机器人离线编程与仿真系统设计: 硕士论文. 南京: 东南大学图书馆, 2010. 10刘为志, 栾楠, 刘宝生. 基于 G 代码的工业机器人的自动编程. 机器人, 2002,24(6) 11熊有伦. 机器人技术基础. (第一版). 武汉: 华中科技大学出版社, 1996. 3243 12赵松年，张奇鹏. 机电一体化机械系统设计M . 第一版，北京：机械工业出版社，1996 13徐龙祥，欧阳祖行.机械设计M. 第二版，北京：航空工业出版社，1999. 14王海波.机电一体化设计基础M,北京：化学工业出版社，2012 15范钦珊.材料力学M.北京：清华大学出版社，2008. 16李柱.互换性与技术测量M.北京：高等教育出版社，2004. 17哈尔滨工业大学理论力学教研室.理论力学M.北京：高等教育出版社，2009 毕 业 设 计（论文） 开 题 报 告 2本课题要研究或解决的问题和拟采用的研究手段（途径）： 课题研究内容 本课题以南京本地一家工厂的玻璃纤维管钻孔为对象，设计一套自动钻孔备。 要求完成以后，可以在 RoborStudio 平台上模拟钻孔，并能灵活的适应不同的加工位置，并完成对数控系统的设计与其余设备的选型。课题研究手段 本课题主要是对基于工业机器人的玻璃纤维管自动钻孔数控系统进行设计。在对 RobotStudio 平台与 SINUMERIK 840D 数控系统有一定掌握的情况下，通过数控系统连接玻璃纤维管支架的光电编码器和机器人工作小车，组建一套玻璃纤维管自动钻孔设备。要求完成以后，可以在 RoborStudio 平台上模拟钻孔，并能灵活的适应不同的加工位置，并完成对数控系统的设计与其余设备的选型。 毕 业 设 计（论文） 开 题 报 告 指导教师意见：1对“文献综述”的评语：对工业机器人应用于现场加工的研究现状、发展趋势、设计原则、存在问题、未来发展方向作了较丰富的综述，内容充实、条理清晰、表述清楚。 2对本课题的深度、广度及工作量的意见和对设计（论文）结果的预测：本课题涉及玻璃纤维管自动钻孔数控系统设计，具有非常现实的应用背景。本设计主要包括基于工业机器人的玻璃纤维管自动钻孔数控系统设计，要求设计者不仅掌握较扎实的机电一体化设计能力，还应掌握较深的机器人专业理论基础，因此本课题较难，工作量较大。本设计的成果应包括基于工业机器人的玻璃纤维管自动钻孔数控系统设计的搭建、硬件电路设计、软件系统设计等内容。3.是否同意开题： 同意 不同意指导教师： 2016 年 03 月 08 日所在专业审查意见：同意 负责人： 2016 年 03 月 09 日1毕 业 设 计（论 文）外 文 参 考 资 料 及 译 文译文题目： 基于工业机器人的玻璃纤维管自动钻孔数控系统设计 学生姓名： 冯国平 学 号：1404401034 专 业： 机械设计制造及其自动化 所在学院： 机电工程学院 指导教师： 郭语 职 称： 2Weld robot application present conditionAccording to incompletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu Han.What we says welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but constitute.In many task environments, a set robot even can complete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the completion corresponds of task.Therefore, come up to say from a certain meaning, the development history of industrial robot is the development history that welds robot.Know to all, weld to process to request that welder have to have well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welders labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time.However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to change.Handicraft Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to“see“ this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and dont seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the 3application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning.Actually, industrial robot at welded the application of realm to produce on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower request.Order the Han robot assembles to produce a great deal of on-line application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want only change procedure, can produce in the same on-line carry on assemble to weld to different cars type.BE born till the beginning of this 80s in century from the robot, the robot technique experienced a development process of long term slowness.90s, along with the rapid development of calculator technique, micro-electronics technique, and network technique.etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the persons labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with compared in the past;And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price compare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower.Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare to adopt the 4benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest nation.Go to at the end of 2004 the whole world to have at least in the industrial robot of service about 1,000,000.Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to combine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within assemble process Han.Robots giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.Moreover, robots giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc.Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy.etc.) get an application in the material in the car structure.These materials welding usually can not solve with the welding of tradition method, have to adopt 5to lately weld a method and weld a craft.Among them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub combining of Han to become inevitable trend.Be like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld.Give or get an electric shock Hu Han to compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghais car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type.etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry persons arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isnt unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to 6the robot very important.Different treatment of system to this problem of the robot control doesnt exert a homology.Is general to come to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.For some weld situation, work piece because of leading big or the space is several what the shape is too complicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 13 exterior stalks at this time.Usually have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot;Two is to let the work piece move or turn, make work piece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Hans sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a track.Although this way still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance efficiency.But because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans.Two is the way that adopts a completely off-line plait distance, make the robot weld 7drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to compute in a set to independently complete on board, dont need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of “conjecture show to teach“(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the space acquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio.etc.Figure 9 show develop by oneself for the writer of according to PC of 3D can see to turn an off-line plait dist
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