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控制系统的设计集成 离线自动编程软件系统

控制系统的设计与集成:光纤激光机器人切割系统是集集水、气、光、机、电于一体的复杂控制系统。主要包括激光控制、机器人通信、切割头跟踪控制、夹具控制、水温、气压控制和碰撞保护检测。由于机器人系统不同于一般的工控机,因此不能实时地对整个控制程序进行扫描,也不具有一般NC系统的前馈功能,因此,中央控制单元与机器人之间的通信是系统成功的关键。当机器人在外部工作环境发生变化或与外界设备发生干扰时,机器人系统不能立即自动识别和停止工作,因为机器人系统只能通过扫描线扫描其程序语言。因此,该系统的集成是困难的。

控制系统的设计集成 离线自动编程软件系统

离线自动编程软件系统:进行三维激光切割的激光切割机器人系统,必须保证激光束加工工件的要求。同时要保证激光入射方向与工件表面垂直,还要求机器人根据工件表面的轮廓来调整激光头的姿态,如图2所示。通常,机器人编程可分为教学和再现编程和离线编程。目前,国内外生产的机器人系统大多是教学和复制。ABB六轴联动机器人的编程语言是快速语言,有两种编程方式:教学回放编程和离线编程(离线编程)。


传统方法主要是使用机器人的示教再现型机器人的主要技术问题,在实际生产应用中存在的教学程序是:在线机器人示教编程过程繁琐、效率低;教学精度完全依赖于人的主观意识影响的不仅是视觉的教学经验,决策速度慢,低效率和准确性得不到保证。复杂路径难以获得满意的教学效果。机器人离线编程系统是利用计算机图形,建立机器人及其工作环境的几何模型,发现三维工件的轮廓在三维软件平台上,与正常的轮廓线,然后用一定的算法编程,控制和图形操作,沿轮廓线法线方向的机器人运动控制。应用三维动画验证程序设计的正确性。最后,生成的代码被传送到机器人控制柜,以控制机器人的运动并完成给定的任务。

The design and integration of the control system: the optical fiber laser robot cutting system is a complex control system which is integrated with water collecting, gas, light, machine and electricity. It mainly includes laser control, robot communication, cutting head follow up control, fixture control, water temperature and gas pressure control and collision protection detection. The communication between the central control unit and the robot is the key to the success of the system, because the robot system is different from the commonly used IPC, so it can not scan the whole control program in real time, nor does it have the feedforward function of the general NC system. When encountering changes in external working environment or interference with peripheral devices, the robot system can't automatically identify and stop working imtely, because the robot system can only scan its program language by line scan. Therefore, the integration of the system is difficult.
Offline automatic programming software system: to carry out 3D laser cutting laser cutting robot system, must ensure that the laser beam machining the workpiece requirements. At the same time to ensure that the laser incident direction and perpendicular to the workpiece surface, also requires the robot to adjust the laser head according to the surface of the workpiece contour gesture, as shown in figure 2. Usually, robot programming can be divided into teaching and reproduction programming and off-line programming. At present, most of the robot systems used in domestic and foreign production are teaching and reproducing. The programming language of ABB six axis linkage robot is RAPID language, and there are two ways of programming: teaching-playback programming and off-line programming (off-line programming).
The traditional programming method is mainly for teaching programming using a robot teaching playback robot main technical problems existing in the practical production and application are: online robot teaching programming process is tedious and low efficiency; the teaching accuracy relies entirely on the teaching experience of the visual decision by people's subjective consciousness influence not only, slow speed, low efficiency and accuracy can not be guaranteed. It is difficult to obtain a satisfactory teaching effect for the complex path. The robot off-line programming system is the use of computer graphics, establish the geometric model of robot and its working environment, to find out the boundary contour of 3D workpiece on the platform of 3D software, and the normal contour line, then use some programming algorithm, the control and operation of the graphics, control of robot motion along the normal direction of the contour. The 3D animation is applied to verify the correctness of programming. Finally, the generated code is transmitted to the robot control cabinet to control the robot's motion and accomplish the given task.



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