机器人变位机传送带焊接

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：2014.7.6

编制单位：南京工业职业技术学院

案例27说明：

功能：此案例的工件为一根曲轴，机器人按一般程序加工时，机器人的关节运动幅度比较大，此案例采用机器人与变位机一起运动，使得机器人焊接变得更加简单高效；

运动轨迹编程过程：

1、规划运动路径；

2、此案例一共定义24（包括变位机的示教目标点）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di01；

4、编写程序；

5、调试程序；

程序及注释：

案例27 机器人工作站示意图

案例27 机器人程序：

MODULE MainModule

CONST robtarget

p10:=[[1189.22,-96.52,1030.01],[0.370059,0.098735,0.892525,0.238134],[-1,0,-1,0],[-5,9E+09,9 E+09,9E+09,9E+09,9E+09]];

CONST robtarget

p20:=[[1185.92,-24.26,920.03],[0.370058,0.0987353,0.892525,0.238134],[-1,0,-1,0],[-5,9E+09,9 E+09,9E+09,9E+09,9E+09]];

CONST robtarget

p30:=[[1185.92,-24.26,920.03],[0.370058,0.0987353,0.892525,0.238134],[-1,0,-1,0],[-5,9E+09,9 E+09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p40:=[[1185.92,-131.94,1080.81],[0.370059,0.0987354,0.892524,0.238134],[-1,0,-1,0],[-5,9E+09, 9E+09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p50:=[[1052.91,5.00,1427.50],[0.5,-5.73546E-09,0.866025,-3.31137E-09],[0,0,-1,0],[-5,9E+09,9E +09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p60:=[[1052.91,-537.28,1427.50],[0.5,-8.96166E-09,0.866025,-5.17401E-09],[0,0,-1,0],[537.284, 9E+09,9E+09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p70:=[[1115.12,-343.24,1240.79],[0.48536,-0.120105,0.840669,-0.208028],[0,-1,0,0],[537.284,9E +09,9E+09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p80:=[[1232.15,-372.35,1147.21],[0.320538,-0.1567,0.916272,-0.182061],[0,-1,0,0],[537.284,9E+ 09,9E+09,9E+09,6.11808E-05,9E+09]];

CONST robtarget

p100:=[[1214.22,-374.54,767.68],[0.320538,-0.156701,0.916272,-0.182062],[0,-1,0,0],[537.284,9

E+09,9E+09,9E+09,180,9E+09]];

CONST robtarget

p90:=[[1022.34,-373.43,956.25],[0.320538,-0.1567,0.916272,-0.182061],[0,-1,0,0],[537.284,9E+0 9,9E+09,9E+09,90.0001,9E+09]];

CONST robtarget

p120:=[[1208.28,-374.54,1149.15],[0.320537,-0.1567,0.916272,-0.182061],[0,-1,0,0],[537.284,9E +09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p110:=[[1410.77,-374.54,957.39],[0.320538,-0.156701,0.916272,-0.182062],[0,-1,0,0],[537.284,9 E+09,9E+09,9E+09,270,9E+09]];

CONST robtarget

p130:=[[1208.28,-374.53,1221.19],[0.320537,-0.1567,0.916272,-0.182061],[0,-1,0,0],[537.284,9E +09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p140:=[[1052.91,-537.28,1427.50],[0.5,-5.73546E-09,0.866025,-3.31137E-09],[0,0,-1,0],[537.284 ,9E+09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p150:=[[1052.91,-1694.21,1427.50],[0.5,-1.21879E-08,0.866025,-7.03666E-09],[0,0,-1,0],[1694.2 1,9E+09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p160:=[[1199.40,-1524.77,1058.53],[0.345531,-0.0817249,0.909742,-0.215173],[0,-1,0,0],[1694. 21,9E+09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p170:=[[1199.95,-1587.09,841.36],[0.344797,-0.0818987,0.91002,-0.215107],[0,-1,0,0],[1694.21, 9E+09,9E+09,9E+09,360,9E+09]];

CONST robtarget

p190:=[[1204.83,-1588.35,1051.68],[0.344797,-0.0818987,0.91002,-0.215107],[0,-1,0,0],[1694.2 1,9E+09,9E+09,9E+09,180,9E+09]];

CONST robtarget

p180:=[[1098.79,-1587.09,939.65],[0.344797,-0.0818991,0.91002,-0.215107],[0,-1,0,0],[1694.21, 9E+09,9E+09,9E+09,270,9E+09]];

CONST robtarget

p210:=[[1199.00,-1588.35,838.21],[0.344797,-0.0818976,0.91002,-0.215106],[0,-1,0,0],[1694.21, 9E+09,9E+09,9E+09,0.000110428,9E+09]];

CONST robtarget

p200:=[[1304.33,-1588.35,941.08],[0.344797,-0.0818984,0.91002,-0.215106],[0,-1,0,0],[1694.21, 9E+09,9E+09,9E+09,90.0001,9E+09]];

CONST robtarget

p220:=[[1199.00,-1463.58,1028.83],[0.344798,-0.0818975,0.91002,-0.215106],[0,-1,0,0],[1694.2 1,9E+09,9E+09,9E+09,0.000110428,9E+09]];

CONST robtarget

p230:=[[1052.91,-1694.21,1427.50],[0.5,-5.73546E-09,0.866025,-3.31137E-09],[0,0,-1,0],[1694.2 1,9E+09,9E+09,9E+09,0.000110428,9E+09]];

CONST robtarget