Programación de una célula robotizada para soldadura de complementos a depósitos de acero a presión

Abstract

Welded steel tanks are pressure containers

whose function is to store a pressure fluid.

Nowadays, industrial robots develop a very

important work in the industry, and especially

in welding systems. The automation of welding

processes has many advantages. However,

programming of the control system to change

production models remains difficult and requires

a lot of time.

The objective of this work is to develop a

methodology to program the control system of

a robot welding in a simple and quick way for

a considerable time saving. To do this, from the

definition of the layout of the welding cell, a

method to systematize the process of obtaining

the programs has been developed so that the

robot cell perform the welding process of the

elements connected to the ferrule of the tank.

The method consists of defining a structured

data with a geometric description of the tank

and the parameters of the welding process.

The method adds the calculated data to a file

using several computer programs that allow the

robot cell perform welding paths. These data are

the points and orientations of the end effector

and robot coordinates joint obtained by the

Denavit - Hartenberg method. The generated

data file is then loaded into the simulation

environment of the robot to verify the paths and

make corrections. Once validated the simulation

program, the robot program is generated and

automated welding is performed. The programs

have been generated in a parameterized way, so

changing them is simple and quick.