基于宏指令的水切割机器人自动编程

摘要

Long program generated byTraditionaI auto-programming method can't soIve the probIem of quick reading,debugging and check,so auto-programming based on macro is proposed.FirstIy,through the anaIysis of water-jet system,compIete the design of macros of workpiece contours;SecondIy,according to resuIt of path pIanning to find tracing point information from the fiIe generated by information extraction,by judging the vaIue of contour type fIag to generate macro;FinaI y,verify the correctness of the fiIe with macros through simuIation,and generate robot Ianguage program by program transIation. At Iast, use circuIar and rectanguIar contour for exampIe to prove the method of auto-programming based on macro to be feasibIe and practicaI through experiment simuIation.%针对水切割机器人常用自动编程方法所生成的程序冗长，不利于阅读、调试与检查的问题，提出基于宏指令的自动编程方法。该方法通过对水切割软件系统进行分析，完成工件加工轮廓宏指令设计；然后根据路径规划结果查找信息提取文件中轨迹点信息，通过判断轨迹点所属轮廓类型标志位的值生成所对应的宏指令；最后将所生成的带有宏指令的程序文件通过仿真验证其正确性，并通过程序转换生成机器人语言程序。文章最后以圆形和矩形轮廓的自动编程为例，验证了基于宏指令自动编程方法的可行性与实用性。