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ABB机器人圆形角焊缝焊接程序

ABB机器⼈圆形⾓焊缝焊接程序

以下是ABB机器⼈圆形⾓焊缝的程序，它将⼀个焊接任务分为了多个⼦程序段（细化任务），该程序可实现⾃主计算焊道布置，简化操作，已经过实践检验。本⽂旨在提供思路，其中缺少少量关键代码，并不保证程序具有可运⾏能⼒。

MODULE MainModule

!***********************************************************

! Module:

! Description:

! Author: sunny

! Version: 1.0

!***********************************************************

! Procedure main

! This is the entry point of your program

***********************************************************

PROC main()!main Program

MoveToblind;

Threepoint_teach;

CaculateWobj;

pose_update tWeldGun,wweld;

Back_to_Start;

Autoweld;

ENDPROC

PROC MoveToblind()!安全点设置

MoveJ p_blind_home10, v100, z10, tWeldGun;

MoveJ p_blind_gd10, v100, z10, tWeldGun;

!MoveJ p_blind_gd20, v100, z10, tWeldGun;

ENDPROC

PROC Threepoint_teach()!三点⽰教圆

MoveJ p_circle_one, v100, fine, tWeldGun;

stop;

MoveL p_circle_two, v100, fine, tWeldGun;

stop;

MoveL p_circle_three, v100, fine, tWeldGun;

stop;

ENDPROC

PROC CaculateWobj()!⼯具坐标计算

<:=p_;

Radius:=CaculateRadius(p_ans);

CacFrame:=DefFrame(pCircleCenter,p_circle_one,p_circle_two);

topsurface.uframe:=CacFrame;

topsurface.oframe:=[[0,0,0],[1,0,0,0]];

wweld.uframe:=topsurface.uframe;

ans.z:=ans.z-H;

wweld.oframe:=[[0,0,0],[1,0,0,0]];

ENDPROC

PROC pose_update(PERS tooldata tWeldGun, PERS wobjdata wweld)!计算上表⾯圆周及⽰教焊接过程中的焊姿态

<:=p_;

pose2:=wweld.uframe;

<:=;

MoveL p_circle_two, v100, fine, tWeldGun;

p_upAngle0:=Offs(pCircleCenter, Circlepoint_x(0,Radius),Circlepoint_y(0,Radius),-H);

p_upAngle60:=Offs(pCircleCenter, Circlepoint_x(60,Radius),Circlepoint_y(60,Radius),-H);

p_upAngle120:=Offs(pCircleCenter, Circlepoint_x(120,Radius),Circlepoint_y(120,Radius),-H);

p_upAngle180:=Offs(pCircleCenter, Circlepoint_x(180,Radius),Circlepoint_y(180,Radius),-H);

p_upAngle240:=Offs(pCircleCenter, Circlepoint_x(240,Radius),Circlepoint_y(240,Radius),-H);

p_upAngle300:=Offs(pCircleCenter, Circlepoint_x(300,Radius),Circlepoint_y(300,Radius),-H);

p_upAngle360:=Offs(pCircleCenter, Circlepoint_x(360,Radius),Circlepoint_y(360,Radius),-H);

p_upAngleAOA:=Offs(pCircleCenter, Circlepoint_x(AOA,Radius),Circlepoint_y(AOA,Radius),-H);

:=;

bconf:=bconf;

MoveL p_upAngle0, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle60, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle120, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle180, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle240, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle300, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngle360, v50, fine, tWeldGun\WObj:=wweld;

stop;

:=;

bconf:=bconf;

MoveL p_upAngleAOA, v50, fine, tWeldGun\WObj:=wweld;

stop;

ENDPROC

PROC Back_to_Start()!返回起焊安全点

MoveJ p_upAngle360, v50, z20, tWeldGun\WObj:=wweld;

MoveC p_upAngle300, p_upAngle240,v50, z20, tWeldGun\WObj:=wweld;

MoveC p_upAngle180, p_upAngle120,v50, z20, tWeldGun\WObj:=wweld;

MoveC p_upAngle60, p_upAngle0,v50, z20, tWeldGun\WObj:=wweld;

MoveJ Offs(p_upAngle0,50,0,-50), v50, fine, tWeldGun\WObj:=wweld;

stop;

ENDPROC

PROC Path_Poseupdate()！焊接姿态赋值

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

:=;

bconf:=bconf;

ENDPROC

PROC Autoweld()!⾃动焊接及排道

VAR num n:=0;

VAR num i;

VAR num j;

FOR i FROM NOW_i TO LAYER DO

ENDFOR

ENDPROC

PROC welding()!焊接

ArcLStart p_bAngle0, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;

ArcC p_bAngle60, p_bAngle120, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;

ArcC p_bAngle180, p_bAngle240, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;

ArcCEnd p_bAngle300, p_bAngleAOA, v50, seam1, weld1, fine, tWeldGun\WObj:=wweld;

MoveJ Offs(p_bAngle360,50,0,-50), v50, fine, tWeldGun\WObj:=wweld;

Back_to_Start;

stop;

ENDPROC

PROC WeldPathCac(num Tier, num n, PERS tooldata tWeldGun, PERS wobjdata wweld)!计算焊道的轨迹

<:=;

p_bAngle0:=Offs(pCircleCenter, Circlepoint_x(0,Dr+Radius),Circlepoint_y(0,Dr+Radius), Dh);

p_bAngle60:=Offs(pCircleCenter, Circlepoint_x(60,Dr+Radius),Circlepoint_y(60,Dr+Radius), Dh);

p_bAngle120:=Offs(pCircleCenter, Circlepoint_x(120,Dr+Radius),Circlepoint_y(120,Dr+Radius), Dh); p_bAngle180:=Offs(pCircleCenter, Circlepoint_x(180,Dr+Radius),Circlepoint_y(180,Dr+Radiu

s), Dh); p_bAngle240:=Offs(pCircleCenter, Circlepoint_x(240,Dr+Radius),Circlepoint_y(240,Dr+Radius), Dh); p_bAngle300:=Offs(pCircleCenter, Circlepoint_x(300,Dr+Radius),Circlepoint_y(300,Dr+Radius), Dh);

p_bAngle360:=Offs(pCircleCenter, Circlepoint_x(360,Dr+Radius),Circlepoint_y(360,Dr+Radius), Dh); p_bAngleAOA:=Offs(pCircleCenter, Circlepoint_x(AOA,Dr+Radius),Circlepoint_y(AOA,Dr+Radius), Dh); Path_Poseupdate;

ENDPROC

本文发布于:2024-09-20 21:20:26，感谢您对本站的认可！

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