两台机器人搬运焊接

1、职业教育机电一体化专业教学资源库课 程 案 例课程名称：工业机器人调试编 制 人：王晓勇邮 箱：电 话：编制时间：20146.1 编制单位：南京工业职业技术学院工业机器人调试课程案例工业机器人应用-搬运并点焊1.课程案例基本信息课程案例名称工业机器人应用课程案例编号关键词弧焊搬运对应知识点工业机器人搬运及弧焊2.课程案例说明：两台机器人配合完成搬运和焊接功能：一号机器人将工件搬运至加工台，二号机器人将工件与法兰盘进行焊接，焊接完成后，1号机器人将工件搬运回原处；运动轨迹编程过程：1、规划运动路径；2、定义10个TCP目标点，一号机器人（pHome、p10、p20）,二号机器人（ppHome、p

2、p10、pp20、pp30、pp40、pp50、pp60），通过示教器示教并保存在程序数据中；3、设置机器人启动信号di01，di02，控制信号do1、do2和do3；4、编写程序；5、调试程序；程序及注释：图1 机器人工作站1号机器人程序：MODULE MainModuleCONST robtarget pHome:=1018.61,0.00,1217.50,0.5,-1.29048E-08,0.866026,-7.45058E-09,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p10:=1290.97,751.2

3、6,520.97,0.00341846,-2.00389E-08,-0.999994,-1.24794E-07,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p20:=1290.98,-798.22,520.97,0.00341844,3.85903E-07,-0.999994,-2.27067E-07,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR signaldi di01;VAR signaldo do1; PROC main() WHILE TRUE DO W

4、aitDI di01,1;WaitTime 0.3;ENDWHILE MoveJ Offs (p10 ,0,0,50),V800,z50,MyToolWObj:=wobj1; MoveL p10 ,V800,z50, MyTool WObj:=wobj1;Set do3; WaitTime 1;MoveL Offs (p10 ,0,0,50),V800,z50, MyTool WObj:=wobj1; MoveJ Offs (p20,0,0,50),V800,z50, MyTool WObj:=wobj1; MoveL p20 ,V800,z50, MyTool WObj:=wobj1;RSe

5、t do3; WaitTime 1; Set do1; MoveJ pHome ,V800,z50, MyTool WObj:=wobj1; Reset do1; WaitDO do2,1; MoveJ Offs (p20 ,0,0,50),V800,z50, MyTool WObj:=wobj1; MoveL p20 ,V800,z50, MyTool WObj:=wobj1;Set do3; WaitTime 1;MoveL Offs (p20 ,0,0,50),V800,z50, MyTool WObj:=wobj1; MoveJ Offs (p10,0,0,50),V800,z50,

6、MyTool WObj:=wobj1; MoveL p10 ,V800,z50, MyTool WObj:=wobj1;RSet do3; WaitTime 1; MoveJ pHome ,V800,z50, MyTool WObj:=wobj1;ENDPROCENDMODULE2号机器人程序：MODULE MainModuleCONST robtarget ppHome:=1695.10,-911.66,1493.94,0.00106239,-0.866023,0.00184009,0.499999,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;C

7、ONST robtarget pp10:=1342.20,-600.05,479.71,0.284061,0.871808,0.0239078,-0.398358,-1,1,-2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pp20:=1438.74,-496.64,479.22,0.284062,0.871807,0.0239069,-0.398358,-1,1,-2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pp30:=1611.38,-594.16,438.6

8、7,0.279779,0.823336,0.0546445,-0.490771,-1,1,-2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pp40:=1184.05,-884.94,583.32,0.00777232,-0.784358,-0.617781,0.0553968,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pp50:=1375.20,-995.69,575.32,0.0676887,-0.77528,-0.614111,0.131254

9、,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pp60:=1475.64,-902.75,575.32,0.0676889,-0.77528,-0.614111,0.131254,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR signaldi di02;VAR signaldo do2;PROC main()WHILE TRUE DO WaitDI di02,1;WaitTime 0.3;ENDWHILE WaitDO do1,1; MoveJ Offs(pp10

10、 ,0,0,150),v500,z50,tWeldGunWObj:=wobj2; ArcCStart pp10,v500,z5, tWeldGun WObj:=wobj2; ArcC pp20,pp30,v200,fine, tWeldGun WObj:=wobj2; ArcCEnd Offs (pp30 ,0,0,150),v200,fine, tWeldGun WObj:=wobj2; MoveJ Offs (pp40,0,0,150),v200,fine, tWeldGun WObj:=wobj2; ArcCStart pp40,v500,z5, tWeldGun WObj:=wobj2; MoveC pp50,pp60,v200,fine, tWeldGun WObj:=wobj2; ArcCEnd Off