CN103713579A - Industrial robot operation method - Google Patents

Industrial robot operation method Download PDF

Info

Publication number
CN103713579A
CN103713579A CN201310680291.9A CN201310680291A CN103713579A CN 103713579 A CN103713579 A CN 103713579A CN 201310680291 A CN201310680291 A CN 201310680291A CN 103713579 A CN103713579 A CN 103713579A
Authority
CN
China
Prior art keywords
workpiece
industrial robot
point
operational
axis
Prior art date
Application number
CN201310680291.9A
Other languages
Chinese (zh)
Other versions
CN103713579B (en
Inventor
莫衡阳
胡家强
李春旺
赵毅
Original Assignee
武汉钢铁(集团)公司
武汉武钢华工激光大型装备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉钢铁(集团)公司, 武汉武钢华工激光大型装备有限公司 filed Critical 武汉钢铁(集团)公司
Priority to CN201310680291.9A priority Critical patent/CN103713579B/en
Publication of CN103713579A publication Critical patent/CN103713579A/en
Application granted granted Critical
Publication of CN103713579B publication Critical patent/CN103713579B/en

Links

Classifications

    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses an industrial robot operation method, and relates to the technical field of intelligent machines. The industrial robot operation method of the invention comprises the following steps: a three-dimensional model diagram of a workpiece is obtained; then, the machining path of the workpiece is obtained; and then, the industrial robot operation process of the workpiece is calculated automatically; and finally, the operation process is introduced into the industrial robot to realize the operation of the industrial robot on the workpiece. According to the invention, through the off-line programming method, and by utilizing the industrial robot official programming software and the third-party software company software, such as CAM software, in the programming process, what an operator needs to do is to introduce the three-dimensional model diagram of the workpiece, and then select the machining path of the workpiece, so that the industrial robot operation process of the workpiece can be calculated automatically so as to realize technical effects of high programming efficiency and high automation level.

Description

A kind of industrial robot operational method

Technical field

The present invention relates to intelligent machine technical field, relate in particular to a kind of industrial robot operational method.

Background technology

Along with the development of modern production, the utilization factor of industrial robot is more and more higher, has improved greatly efficiency and the quality of suitability for industrialized production.

Utilizing industrial robot to carry out in the technical field of Intelligent Laser processing, Modern Laser processed and applied mainly relies on multiaxis (majority is three axles) numerically-controlled machine to carry out, the method can only be applied to the part of surperficial comparison rule, and for complex parts, for example large mold is at a loss what to do.Therefore the application of industrial robot in modern industry manufacture process is in recent years increasingly extensive, and its service efficiency and economy are decided by its programmed method to a great extent.

Industrial robot still adopts traditional on-line teaching method programming at present.This because their product life cycle is short, production task alternates the frequent programming that causes soon a large amount of operational use time of robot that accounted for, thereby greatly reduces its service efficiency concerning some medium and small sized enterprises, cannot embody its superiority.And the precision of robot motion's track, in the situation that not having vision sensor to follow the tracks of, substantially depend on the patient and painstaking and range estimation precision of operator when teaching.Along with the increase of robot application to small batch production and the complexity of finishing the work, this teach programming mode has been difficult to meet production requirement.

Summary of the invention

The embodiment of the present invention provides a kind of industrial robot operational method, for solving the technical matters that prior art industrial robot programming efficiency is low, automatization level is not high, reaches the technique effect that programming efficiency is high, automatization level is high.

The embodiment of the present invention provides a kind of industrial robot operational method, and described method comprises: the three-dimensional model diagram that obtains a workpiece; The machining path of acquisition to described workpiece; Automatically calculate the industrial robot work flow of described workpiece; Described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.

Further, before the three-dimensional model diagram of described acquisition one workpiece, also comprise: proofread and correct TCP point.

Further, described correction TCP point is specially: the reference substance of setting up an XY axis coordinate system; By the method that creates point, set up job procedure, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular; When industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously; The direction turning to according to instrument and described second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction; TCP is carried out to migration towards X-axis and Z axis again.

Further, by TCP again after X-axis and Z axis carry out migration, also comprise: configure one and move on to from X-axis forward the path program that then initial point turns to described predetermined angular and move along Y-axis positive dirction, and be disposed in the described reference substance in industrial robot and verify.

Further, automatically calculate the industrial robot work flow of described workpiece, be specially: when choosing machining path and be the limit of workpiece, automatically generate machining path.

Further, automatically calculate the industrial robot work flow of described workpiece, be specially: when choosing machining path and be the face of workpiece, import CAD software and calculate machining path.

Further, when choosing machining path and be the face of workpiece, import CAD software and calculate machining path, be specially: by described CAD software, drawing cross section on workpiece is leg-of-mutton path bar, the length that the spacing of wherein said triangular paths bar is laser facula; When setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.

Further, described described work flow is imported to described industrial robot before, also comprise: according to the described workpiece of described work flow simulation processing.

The beneficial effect of the embodiment of the present invention is as follows:

A kind of industrial robot operational method that one embodiment of the invention provides, by the method for off-line programing, utilize industrial robot official programming software and third party software company software, as CAM software, in programming process, only need to import the three-dimensional model diagram of workpiece, and then select the machining path to workpiece, the industrial robot work flow that can automatically calculate described workpiece, has reached the technique effect that programming efficiency is high, automatization level is high.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of a kind of industrial robot operational method in one embodiment of the invention;

Fig. 2 is the structural representation of a kind of industrial robot in one embodiment of the invention;

Fig. 3 proofreaies and correct the schematic flow sheet that TCP is ordered in one embodiment of the invention;

Fig. 4 is the schematic diagram that arranges of proofreading and correct reference substance that TCP orders in one embodiment of the invention;

During face that Fig. 5 is is workpiece when machining path in one embodiment of the invention, set the principle schematic of TCP;

During face that Fig. 6 is is workpiece when machining path in one embodiment of the invention, set the schematic flow sheet of TCP.

Embodiment

A kind of industrial robot operational method that one embodiment of the invention provides, by the method for off-line programing, utilize industrial robot official programming software and third party software company software, as CAM software, in programming process, only need to import the three-dimensional model diagram of workpiece, and then select the machining path to workpiece, the industrial robot work flow that can automatically calculate described workpiece, has reached the technique effect that programming efficiency is high, automatization level is high.

For making those skilled in the art understand more in detail the present invention, below in conjunction with accompanying drawing, describe the present invention.

As described in Figure 1, Fig. 1 is a kind of industrial robot operational method in one embodiment of the invention, and described method comprises:

Step 10: proofread and correct TCP point;

Specifically, the English full name of described TCP is TOOL CENTER POINT, and the Chinese meaning can be expressed as the tool work point that industrial robot is installed.

Step 20: the three-dimensional model diagram that obtains a workpiece;

Step 30: obtain the machining path to described workpiece;

Step 40: the industrial robot work flow of automatically calculating described workpiece;

Step 50: described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.

Specifically, as shown in Figure 2, a kind of industrial robot that the embodiment of the present invention provides comprises: laser instrument camera lens 1, semiconductor laser 2, the 6th axle 3 of six-shaft industrial robot, traversing slide unit 4.Wherein, laser instrument camera lens 1 is arranged on semiconductor laser 2 and forms a laser mirror head assembly, and integral body is fixed on the 6th axle 3 of six-shaft industrial robot, then by industrial robot floor installation on traversing slide unit 4, the range of work is expanded.Semiconductor laser 2 transfers to industrial robot to control its focal length and path, relies on the off-line programming software of industrial robot to complete.

Further, can carry out programming of the present invention in the off-line programming software by industrial robot.Specifically, a newly-built standard program in the off-line programming software of industrial robot, the three-dimensional model diagram of workpiece is imported in this software, then choose the line to the face of the processing of workpiece or processing, now software can calculate the work flow of the industrial robot of workpiece automatically, also be the path program of industrial robot, finally import to and in robot, complete processing.In order to guarantee that the operational method of the robot that the embodiment of the present invention provides meets final demand, reduce error rate, can in importing industrial robot, complete first being processed, implementation step 41, that is: according to the described workpiece of described work flow simulation processing.That is to say, by simulation, process and confirm that the work flow of programming meets real demand, reduces the generation of fault.

In a kind of industrial robot operational method providing at the present embodiment, step 10: proofreading and correct TCP point is a key point.If proofread and correct badly, can have a strong impact on machining precision, but not provide the method that can proofread and correct TCP in the off-line programming software of industrial robot.Therefore this enforcement provides a kind of TCP bearing calibration, as shown in Figure 3, comprising:

Step 11: the reference substance of setting up an XY axis coordinate system;

Step 12: set up job procedure by the method that creates point, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular;

Step 13: when industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously;

Step 14: the direction turning to according to instrument and second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction;

Step 15: in programming software, TCP is carried out to migration towards X-axis and Z axis again;

Step 16: write one and move on to from X-axis forward the path program that then initial point turns to described predetermined angular and move along Y-axis positive dirction in programming software, and be disposed in the described reference substance in industrial robot and verify.

For the bearing calibration of clearer expression TCP, 4 describe in detail by reference to the accompanying drawings below, wherein, the reference substance of the present embodiment is selected A4 blank sheet of paper.Particularly:

1. get a blank A4 paper, draw an XY coordinate system;

2. in programming software, with establishment point methods, programme, two point coordinate positions are all the same, and just the attitude of robot is different, and instrument need turn to 90 degree, and laser instrument camera lens is perpendicular to the ground all the time;

In 3. robot, move this program, the first point (a) is aimed to the initial point of XY coordinate system shown in accompanying drawing 4, working procedure is write down the position of second point (b shown in accompanying drawing 4) the off-set value of measurement and initial point, and in this example, second point is all offset 10mm along X-axis Y-axis positive dirction;

4. the direction turning to according to instrument and second point are determined the offset direction of laser beam at the quadrant of coordinate system, utilize the mathematical method of similar triangles to calculate, final definite laser instrument focus has been offset 14.14mm towards X positive dirction, in programming software, TCP is carried out to migration towards X-axis and Z axis again;

5. in programming software, write one and from X-axis forward, move on to initial point and then turn to the 90 path programs that move along Y-axis positive dirction, in Kao Ru robot, utilize coordinate paper just now to verify.

On the other hand, the step 40 in the embodiment of the present invention: automatically calculate the industrial robot program code of described workpiece, can have different computing method according to the machining path of choosing is different, particularly:

Step 401: when choosing machining path and be the limit of workpiece, utilize programming software automatically to generate machining path.

Step 402: when choosing machining path and be the face of workpiece, import CAD software and draw machining path.

Simultaneously, for embodiments of the invention, due to the not selection of face in the programming software of industrial robot, therefore when carrying out face processing, need in Three-dimensional CAD Software, will on the face of needs processing, by " scanning " mode, draw path, as shown in accompanying drawing 5,6, comprising:

Step 4021: drawing cross section on workpiece 1 is leg-of-mutton path bar 2, the length that the spacing of wherein said triangular paths bar is laser facula;

Step 4022: when setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.

In sum, the method providing by the embodiment of the present invention, the laser-processing system of having utilized industrial robot off-line programming software to programme and form, can substitute traditional numerical control laser process machine completely, for complex parts particularly large mold have good application, also be different from general robot artificial teach programming mode, working (machining) efficiency is improved.By off-line programming software, in Ke office, complete robotic programming, without breaks in production.Robot program can be ready in advance, improves integral production efficiency.The various tool providing by software can be carried out the tasks such as training, programming and optimization, the profitability of hoisting machine robot system under the prerequisite that does not affect production.

Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.

Claims (8)

1. an industrial robot operational method, is characterized in that, described method comprises:
Obtain the three-dimensional model diagram of a workpiece;
The machining path of acquisition to described workpiece;
Automatically calculate the industrial robot work flow of described workpiece;
Described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.
2. operational method as claimed in claim 1, is characterized in that: before the three-dimensional model diagram of described acquisition one workpiece, also comprise:
Proofread and correct TCP point.
3. operational method as claimed in claim 2, is characterized in that: described correction TCP point is specially:
Set up the reference substance of an XY axis coordinate system;
By the method that creates point, set up job procedure, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular;
When industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously;
The direction turning to according to instrument and described second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction;
TCP is carried out to migration towards X-axis and Z axis again.
4. operational method as claimed in claim 3, is characterized in that: TCP again after X-axis and Z axis carry out migration, is also comprised:
Configure one and move on to initial point from X-axis forward, the path program that then turns to described predetermined angular and move along Y-axis positive dirction, and be disposed in the described reference substance in industrial robot and verify.
5. operational method as claimed in claim 1, is characterized in that: automatically calculate the industrial robot work flow of described workpiece, be specially:
When choosing machining path and be the limit of workpiece, automatically generate machining path.
6. operational method as claimed in claim 1, is characterized in that: automatically calculate the industrial robot work flow of described workpiece, be specially:
When choosing machining path and be the face of workpiece, import CAD software and calculate machining path.
7. operational method as claimed in claim 6, is characterized in that, when choosing machining path and be the face of workpiece, imports CAD software and calculates machining path, is specially:
By described CAD software, drawing cross section on workpiece is leg-of-mutton path bar, the length that the spacing of wherein said triangular paths bar is laser facula;
When setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.
8. operational method as claimed in claim 1, is characterized in that, described described work flow is imported to described industrial robot before, also comprise:
According to the described workpiece of described work flow simulation processing.
CN201310680291.9A 2013-12-12 2013-12-12 A kind of industrial robot operation method CN103713579B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310680291.9A CN103713579B (en) 2013-12-12 2013-12-12 A kind of industrial robot operation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310680291.9A CN103713579B (en) 2013-12-12 2013-12-12 A kind of industrial robot operation method

Publications (2)

Publication Number Publication Date
CN103713579A true CN103713579A (en) 2014-04-09
CN103713579B CN103713579B (en) 2016-07-06

Family

ID=50406634

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310680291.9A CN103713579B (en) 2013-12-12 2013-12-12 A kind of industrial robot operation method

Country Status (1)

Country Link
CN (1) CN103713579B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104483905A (en) * 2014-11-11 2015-04-01 Abb技术有限公司 Method and system for controlling robot to machine components
CN104875204A (en) * 2015-01-06 2015-09-02 连云港宏翔东方智能技术有限公司 Offline programming module and application method of plasma space cutting robot
CN107283426A (en) * 2017-06-28 2017-10-24 重庆镭宝激光科技有限公司 A kind of track capturing system and track capturing method for being cut by laser machine people
CN108789026A (en) * 2018-05-07 2018-11-13 武汉纺织大学 A kind of heavy castings cleaning polishing process based on man-machine collaboration
CN108857093A (en) * 2018-07-24 2018-11-23 湖北三江航天红阳机电有限公司 The method and device cut using robotic laser
CN109291657A (en) * 2018-09-11 2019-02-01 东华大学 Laser Jet system is identified based on convolutional neural networks space structure part industry Internet of Things

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030200042A1 (en) * 2002-04-19 2003-10-23 Abb Ab In-process relative robot workcell calibration
WO2005084895A1 (en) * 2004-03-03 2005-09-15 Thomas Pagel Method for calibration of a working point for tools on industrial robots
CN101043980A (en) * 2004-10-20 2007-09-26 Abb研究有限公司 A system and a method for programming an in dustrial robot
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN101152717A (en) * 2006-09-28 2008-04-02 首钢莫托曼机器人有限公司 Method for generating robot cutting operation program off-line
CN101673104A (en) * 2009-10-10 2010-03-17 浙江工业大学 Processing control method of industrial robot based on G code conversion method
CN103101060A (en) * 2011-11-11 2013-05-15 鸿富锦精密工业(深圳)有限公司 Sensing calibration method for robot tool center point

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030200042A1 (en) * 2002-04-19 2003-10-23 Abb Ab In-process relative robot workcell calibration
WO2005084895A1 (en) * 2004-03-03 2005-09-15 Thomas Pagel Method for calibration of a working point for tools on industrial robots
CN101043980A (en) * 2004-10-20 2007-09-26 Abb研究有限公司 A system and a method for programming an in dustrial robot
CN101152717A (en) * 2006-09-28 2008-04-02 首钢莫托曼机器人有限公司 Method for generating robot cutting operation program off-line
CN101092031A (en) * 2007-07-12 2007-12-26 上海交通大学 Off line programming tool for industrial robot
CN101673104A (en) * 2009-10-10 2010-03-17 浙江工业大学 Processing control method of industrial robot based on G code conversion method
CN103101060A (en) * 2011-11-11 2013-05-15 鸿富锦精密工业(深圳)有限公司 Sensing calibration method for robot tool center point

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈志翔等: "弧焊机器人离线编程系统分析与设计", 《机械工程学报》 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104483905A (en) * 2014-11-11 2015-04-01 Abb技术有限公司 Method and system for controlling robot to machine components
CN104875204A (en) * 2015-01-06 2015-09-02 连云港宏翔东方智能技术有限公司 Offline programming module and application method of plasma space cutting robot
CN107283426A (en) * 2017-06-28 2017-10-24 重庆镭宝激光科技有限公司 A kind of track capturing system and track capturing method for being cut by laser machine people
CN108789026A (en) * 2018-05-07 2018-11-13 武汉纺织大学 A kind of heavy castings cleaning polishing process based on man-machine collaboration
CN108789026B (en) * 2018-05-07 2019-09-13 武汉纺织大学 A kind of heavy castings cleaning polishing process based on man-machine collaboration
CN108857093A (en) * 2018-07-24 2018-11-23 湖北三江航天红阳机电有限公司 The method and device cut using robotic laser
CN109291657A (en) * 2018-09-11 2019-02-01 东华大学 Laser Jet system is identified based on convolutional neural networks space structure part industry Internet of Things
CN109291657B (en) * 2018-09-11 2020-10-30 东华大学 Convolutional neural network-based aerospace structure industrial Internet of things identification laser coding system

Also Published As

Publication number Publication date
CN103713579B (en) 2016-07-06

Similar Documents

Publication Publication Date Title
US20180326591A1 (en) Automatic detection and robot-assisted machining of surface defects
CN105269565B (en) A kind of six axle grinding and polishing industrial robot off-line programings and modification method
Huang et al. 5-Axis adaptive flank milling of flexible thin-walled parts based on the on-machine measurement
CN104384765B (en) Based on the automatic soldering method of threedimensional model and machine vision
CN103085072B (en) Method for achieving industrial robot off-line programming based on three-dimensional modeling software
KR102028770B1 (en) System and method for the automatic generation of robot programs
DE112015004920T5 (en) Computer-implemented method for partial analysis of a workpiece, which is processed by at least one CNC machine
JP4271232B2 (en) Apparatus, method, program, and recording medium for executing offline programming of robot
CN107111298B (en) Method for optimizing productivity of computer numerical control machine process
Nojedeh et al. Tool path accuracy enhancement through geometrical error compensation
US10007254B2 (en) CAM integrated CNC control of machines
Hsu et al. A new compensation method for geometry errors of five-axis machine tools
US7869899B2 (en) Machine tool method
US9895810B2 (en) Cooperation system having machine tool and robot
CN106041946B (en) Image-processing-based robot polishing production method and production system applying same
CN103699056B (en) The little line segment real-time smooth transition interpolation method of high-speed, high precision digital control processing
CN106826829B (en) A kind of industrial robot fairing motion profile generation method of Controllable Error
US9417625B2 (en) Robot system calibration method
US20150039122A1 (en) Device, system and methods for automatic development and optimization of positioning paths for multi-axis numerically controlled machining
Martinova et al. The Russian multi-functional CNC system AxiOMA control: Practical aspects of application
US6714831B2 (en) Paint defect automated seek and repair assembly and method
CN1601418B (en) CNC production system with central database and a workpiece measuring method
CN104759945B (en) Mobile hole-making robot standard alignment method based on high precision industrial camera
US20090204249A1 (en) Quality Assurance Method When Operating An Industrial Machine
JP2009510574A (en) Control behavior of machine tool or production machine or simulation method of machine behavior

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20170615

Address after: 430070 Industrial Zone, East Lake hi tech Development Zone, Hubei, Wuhan three

Patentee after: Wuhan WISCO-HGLaser Large Scale Equipment Co., Ltd.

Address before: 430080 Friendship Avenue, Hubei, Wuhan, No. 999

Co-patentee before: Wuhan WISCO-HGLaser Large Scale Equipment Co., Ltd.

Patentee before: Wuhan Iron & Steel (Group) Corp.

TR01 Transfer of patent right