机器人倒置焊接

1、职业教育机电一体化专业教学资源库课程案例工业机器人调试王晓勇201467课程名称: 编制人: 邮 箱: 电 话: 编制时间：编制单位：南京工业职业技术学院案例12说明：功能：为了节省空间以及更加方便快捷的完成焊接任务，有时需要将机器人进 行倒置放置，此案例为机器人倒置完成焊接任务；运动轨迹编程过程：1、规划运动路径；（由于安装空间比较小，机器人本体比较大，因此机器人的 一些动作必须在工作空间外部完成，在进入工作空间）2、定义12个TCP目标点，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diO1 ；4、编写程序；5、调试程序；程序及注释：案例12机器人工作站示意图案例 11机器人程

2、序：MODULE MainModuleCONST robtarget p10:=-195.86,420.90,1811.92,0.678114,-0.100891,0.0483881,0.726389,1,-1,-1,2,0,9E+09,9 E+09,9E+09,9E+09,9E+09;CONST robtarget p20:=-195.86,420.90,1811.92,0.678114,-0.100891,0.0483881,0.726389,1,-1,-1,2,1700,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p30:=-162.37

3、,394.24,1900.91,0.949487,-0.124023,0.284312,0.0475344,-1,1,-1,4,1700,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p40:=-166.28,-512.29,1900.91,0.913303,-0.0247837,0.309193,-0.263938,0,-1,-1,4,1700,9E +09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p50:=171.26,-300.41,1837.89,0.980455,-0.141176,0.12784

4、1,0.0493392,-1,-3,2,0,700.082,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p60:=171.26,-43.04,1837.89,0.980455,-0.141177,0.127842,0.0493384,-1,-3,2,0,700.082,9E +09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p70:=-51.64,193.66,1837.89,0.980455,-0.141176,0.127842,0.0493393,1,-2,0,0,700.082,9E +09,9E+0

5、9,9E+09,9E+09,9E+09;CONST robtarget p80:=-203.81,-89.58,1832.65,0.79186,-0.0288875,0.188257,-0.580244,-2,-3,3,0,356.312,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p90:=-865.73,-465.36,1832.65,0.79186,-0.0288868,0.188259,-0.580243,-2,-3,2,0,356.312,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p

6、Home:=509.63,0.00,1375.56,0.552033,-1.24249E-08,0.833822,-8.22593E-09,0,0,-1,0,356 .312,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetpzhuanhuan:=-72.64,1537.58,1147.78,0.361457,-0.630222,0.545966,0.41724,1,0,-1,0,356. 312,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pzhuanhuan10:=-72.64,1537.58,114

7、7.78,0.361457,-0.630222,0.545966,0.41724,1,0,-1,0,35 6.312,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DOWaitDI di01,1;WaitTime 0.3;ENDWHILEMoveJ pzhuanhuan,v1000 ,z50,tool0 WObj:= wobj0 ;MoveJ Offs (p10,0,0,-200), v1000,z20,tool0 WObj:= wobj0 ;MoveL p10,v200,fine ,tool0 WObj:= wobj0 ;MoveL

8、p20 ,v5,fine ,tool0 WObj:= wobj0 ;MoveL Offs (p20,150,0,0), v200 ,fine ,tool0 WObj:= wobj0 ;MoveL Offs (p20,150,0,-130),v200,fine,tool0WObj:= wobj0 ;MoveJ pzhuanhuan ,v1000,fine,tool0WObj:= wobj0 ;MoveJ Offs (p30,0,0,-200), v1000,z40,tool0 WObj:= wobj0 ;MoveL p30 ,v200,fine ,tool0 WObj:= wobj0 ;Move

9、L p40,v200,fine ,tool0 WObj:= wobj0 ;MoveL Offs (p40,0,0,-200), v200,fine ,tool0 WObj:= wobj0 ;MoveJ pzhuanhuan,v1000 ,fine ,tool0 WObj:= wobj0 ;Movej Offs (p50,0,0,-200), v1000 ,fine ,tool0 WObj:= wobj0 ;MoveL p50 ,v200,fine ,tool0 WObj:= wobj0 ;MoveC p60 ,p70 ,v200,fine ,tool0WObj:= wobj0 ;MoveL offs (p70,0,0,-200) , v200,fine ,tool0 WObj:= wobj0 ;MoveJ pzhuanhuan ,v1000,fine,tool0WObj:= wobj0 ;MoveJ Offs (p80,0,0,-200), v1000,fine,tool0WObj:= wobj0 ;MoveL p80 ,v200,fine ,tool0 WObj:= wobj0 ;MoveL p90 ,v200,fine ,tool0 WObj:= wobj0 ;MoveL Off