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工业机器人以其高重复精度 ,适应于复杂工作空间而广泛应用于工业自动化生产领域 .针对船用型材手工划线和切割操作的现状 ,研制了船用型材机器人自动划线和切割系统 ,实现了机器人柔性自动化系统在船体建造中的应用 ,解决了型材的机器人自动划线和切割 .同时针对变形型材 ,提出了基于型材边缘变形曲线的图形坐标补偿算法 ,实现了变形条件下型材的正确划线和切割 .实验验证了该机器人柔性自动化系统的可行性和高效性
Industrial robots are widely used in the field of industrial automation due to their high repeatability and adaptability to complex working spaces.According to the status quo of manual scribing and cutting operation of marine profiles, an automatic scribing and cutting system for marine profiled robots is developed to realize the robot flexibility The application of automatic system in hull construction solved the robot’s automatic scribing and cutting of the profile.At the same time, according to the deformed profile, the algorithm of figure coordinate compensation based on profile deformation curve was proposed to realize the correct scribing and cutting of the profile under the deformation condition The experiment proves the feasibility and efficiency of this robot flexible automation system