CN103713579B - A kind of industrial robot operation method - Google Patents

A kind of industrial robot operation method Download PDF

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Publication number
CN103713579B
CN103713579B CN201310680291.9A CN201310680291A CN103713579B CN 103713579 B CN103713579 B CN 103713579B CN 201310680291 A CN201310680291 A CN 201310680291A CN 103713579 B CN103713579 B CN 103713579B
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China
Prior art keywords
workpiece
industrial robot
point
axis
work flow
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CN201310680291.9A
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Chinese (zh)
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CN103713579A (en
Inventor
莫衡阳
胡家强
李春旺
赵毅
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武汉钢铁(集团)公司
武汉武钢华工激光大型装备有限公司
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Priority to CN201310680291.9A priority Critical patent/CN103713579B/en
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    • 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 a kind of industrial robot operation method, relate to intelligent machine technical field, wherein, the present invention includes the three-dimensional model diagram obtaining a workpiece;Then, it is thus achieved that the machining path to described workpiece;Subsequently, the industrial robot work flow of described workpiece is automatically calculated;Finally, described work flow is imported described industrial robot, to realize the operation to described workpiece of the described industrial robot.The present invention method by off-line programing, utilize industrial robot official programming software and third party software company software, such 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, can automatically calculate the industrial robot work flow of described workpiece, reach the technique effect that programming efficiency is high, automatization level is high.

Description

A kind of industrial robot operation method

Technical field

The present invention relates to intelligent machine technical field, particularly relate to a kind of industrial robot operation method.

Background technology

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

Carry out in the technical field of Intelligent Laser processing utilizing industrial robot, Modern Laser processed and applied relies primarily on multiaxis (majority is three axles) Digit Control Machine Tool and carries out, the method can be only applied to the part that surface ratio is relatively regular, feels simply helpless for complex parts such as large mold.Therefore industrial robot application in modern industry manufacture process in recent years is increasingly extensive, and its service efficiency and economy are decided by its programmed method to a great extent.

Current industrial robot still adopts traditional on-line teaching method to program.This is for some medium-sized and small enterprises, and what cause owing to their product life cycle is short, production task change is fast frequently programs the robot substantial amounts of effective time that accounted for, thus greatly reducing its service efficiency, it is impossible to embody its superiority.And the precision of robot motion's track, when not having vision sensor to follow the tracks of, rely basically on the operator's patient and painstaking and range estimation precision when teaching.Along with the increase of the production of robot application to small batch and completed task complexity, this teaching 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 operation method, for solving in prior art the technical problem that industrial robot programming efficiency is low, automatization level is not high, reaches programming efficiency height, technique effect that automatization level is high.

Embodiments providing a kind of industrial robot operation method, described method includes: obtain the three-dimensional model diagram of a workpiece;Obtain the machining path to described workpiece;Automatically the industrial robot work flow of described workpiece is calculated;Described work flow is imported described industrial robot, to realize the operation to described workpiece of the described industrial robot.

Further, before the three-dimensional model diagram of described acquisition one workpiece, also include: correction TCP point.

Further, described correction TCP point is particularly as follows: set up the reference substance of an XY axis coordinate system;Setting up operation routine by the method creating point, wherein two point coordinates positions are identical, and, the attitude configuring described industrial robot is different, and instrument turns to predetermined angular;When industrial robot runs described operation routine, by first initial point being directed at XY axis coordinate system, run operation routine and record the position of second point, measuring the first deviant with initial point simultaneously;The direction turned to according to instrument and described second point determine the offset direction of laser beam at the quadrant of coordinate system, and determine the laser focal point the second deviant towards X positive direction;TCP is carried out migration towards X-axis and Z axis again.

Further, by TCP again towards after X-axis and Z axis carry out migration, also include: configure one and move on to initial point from X-axis forward and then turn to described predetermined angular the path procedure moved along Y-axis positive direction, and be configured in the described reference substance in industrial robot and be verified.

Further, the industrial robot work flow of described workpiece is automatically calculated, particularly as follows: when choosing the limit that machining path is workpiece, automatically generate machining path.

Further, automatically calculate the industrial robot work flow of described workpiece, particularly as follows: when choosing the face that machining path is workpiece, import CAD software and calculate machining path.

Further, when choosing the face that machining path is workpiece, import CAD software and calculate machining path, particularly as follows: draw, by described CAD software, the path bar that cross section is triangle on workpiece, the length that spacing is laser facula of wherein said triangular paths bar;When setting TCP, configuring described second laser focal, wherein said second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, and wherein, described first laser focal is the laser focal of original setting.

Further, described, described work flow is imported before described industrial robot, also include: workpiece according to described work flow simulating cutting.

Having the beneficial effect that of the embodiment of the present invention:

A kind of industrial robot operation 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, such 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, can automatically calculate the industrial robot work flow of described workpiece, reach 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 operation 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 is the schematic flow sheet correcting TCP point in one embodiment of the invention;

Fig. 4 be in one embodiment of the invention correct TCP point reference substance schematic diagram is set;

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

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

Detailed description of the invention

A kind of industrial robot operation 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, such 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, can automatically calculate the industrial robot work flow of described workpiece, reach the technique effect that programming efficiency is high, automatization level is high.

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

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

Step 10: correction TCP point;

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

Step 20: obtain the three-dimensional model diagram of a workpiece;

Step 30: obtain the machining path to described workpiece;

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

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

Specifically, as in figure 2 it is shown, a kind of industrial robot that the embodiment of the present invention provides includes: 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, be integrally attached on the 6th axle 3 of six-shaft industrial robot, then by industrial robot floor installation on traversing slide unit 4 so that the range of work expands.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, it is possible in the programming being carried out the present invention by the off-line programming software of industrial robot.Specifically, a newly-built standardization program in the off-line programming software of industrial robot, the three-dimensional model diagram of workpiece is imported in this software, then the face of the processing to workpiece or the line of processing are chosen, now software can calculate the work flow of the industrial robot of workpiece automatically, namely the path procedure of industrial robot, finally import in robot and complete processing.Operational method in order to ensure robot that the embodiment of the present invention provides meets final demand, reduces error rate, it is possible to complete, before processing, to implement step 41, it may be assumed that workpiece according to described work flow simulating cutting in importing industrial robot.It is to say, confirm that the work flow of programming meets the demand of reality by simulating cutting, reduce the generation of fault.

In a kind of industrial robot operation method that the present embodiment provides, step 10: correction TCP point is a key point.If correcting bad, machining accuracy can be had a strong impact on, but the off-line programming software of industrial robot does not provide the TCP method that can be corrected.Therefore, this enforcement provides a kind of TCP bearing calibration, as it is shown on figure 3, include:

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

Step 12: setting up operation routine by the method creating point, wherein two point coordinates positions are identical, and, the attitude configuring described industrial robot is different, and instrument turns to predetermined angular;

Step 13: when industrial robot runs described operation routine, by first initial point being directed at XY axis coordinate system, runs operation routine and records the position of second point, measuring the first deviant with initial point simultaneously;

Step 14: the direction turned to according to instrument and second point determine the offset direction of laser beam at the quadrant of coordinate system, and determine the laser focal point the second deviant towards X positive direction;

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

Step 16: write one in programming software and move on to initial point from X-axis forward and then turn to described predetermined angular the path procedure moved along Y-axis positive direction, and be configured in the described reference substance in industrial robot and be verified.

Following for the clearer bearing calibration expressing TCP, describing in detail in conjunction with accompanying drawing 4, wherein, the reference substance of the present embodiment selects A4 blank sheet of paper.Specifically:

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

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

3. running this program in robot, the first point (shown in accompanying drawing 4 a) is directed at the initial point of XY coordinate system, operation program writes down the position of second point (shown in accompanying drawing 4 b) the deviant of measurement and initial point, and in this example, second point all offsets 10mm along X-axis Y-axis positive direction;

4. the direction turned to according to instrument and second point determine the offset direction of laser beam at the quadrant of coordinate system, the mathematical method utilizing similar triangles is calculated, finally determine that laser focal point offset by 14.14mm towards X positive direction, in programming software, TCP is carried out migration towards X-axis and Z axis again;

5. in programming software, write one move on to initial point from X-axis forward and then turn to 90 path procedure moved along Y-axis positive direction, Kao Ru robot utilizes graph paper be just now verified.

On the other hand, the step 40 in the embodiment of the present invention: automatically calculate the industrial robot program code of described workpiece, it is possible to have different computational methods according to the machining path difference chosen, specifically:

Step 401: when choosing the limit that machining path is workpiece, utilize programming software to automatically generate machining path.

Step 402: when choosing the face that machining path is workpiece, imports CAD software and draws machining path.

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

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

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

In sum, by the method that the embodiment of the present invention provides, industrial robot off-line programming software is make use of to be programmed the laser-processing system of composition, traditional numerical control laser process machine can be substituted completely, good application is had for complex parts particularly large mold, also it is different from general robot artificial teaching programming mode, makes working (machining) efficiency be improved.By off-line programming software, robotic programming can be completed in office, it is not necessary to interrupt producing.Robot program can be ready in advance, improves integral production efficiency.By the various instruments that software provides, the tasks such as training, programming and optimization, the profitability of hoisting machine people's system can be performed under the premise not affecting production.

Obviously, the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (6)

1. an industrial robot operation method, it is characterised in that described method includes:
Obtain the three-dimensional model diagram of a workpiece;
Obtain the machining path to described workpiece;
Automatically the industrial robot work flow of described workpiece is calculated;
Described work flow is imported described industrial robot, to realize the operation to described workpiece of the described industrial robot;
Before the three-dimensional model diagram of described acquisition one workpiece, also include: correction TCP point;
Described correction TCP point particularly as follows:
Set up the reference substance of an XY axis coordinate system;
Setting up operation routine by the method creating point, wherein two point coordinates positions are identical, and, the attitude configuring described industrial robot is different, and instrument turns to predetermined angular;
When industrial robot runs described operation routine, by first initial point being directed at XY axis coordinate system, run operation routine and record the position of second point, measuring the first deviant with initial point simultaneously;
The direction turned to according to instrument and described second point determine the offset direction of laser beam at the quadrant of coordinate system, and determine the laser focal point the second deviant towards X positive direction;
TCP is carried out migration towards X-axis and Z axis again.
2. operational method as claimed in claim 1, it is characterised in that: by TCP again towards after X-axis and Z axis carry out migration, also including:
Configure one and move on to initial point from X-axis forward, then turn to described predetermined angular the path procedure moved along Y-axis positive direction, and be configured in the described reference substance in industrial robot and be verified.
3. operational method as claimed in claim 1, it is characterised in that: automatically calculate the industrial robot work flow of described workpiece, particularly as follows:
When choosing the limit that machining path is workpiece, automatically generate machining path.
4. operational method as claimed in claim 1, it is characterised in that: automatically calculate the industrial robot work flow of described workpiece, particularly as follows:
When choosing the face that machining path is workpiece, import CAD software and calculate machining path.
5. operational method as claimed in claim 4, it is characterised in that when choosing the face that machining path is workpiece, imports CAD software and calculates machining path, particularly as follows:
On workpiece, the path bar that cross section is triangle is drawn, the length that spacing is laser facula of wherein said triangular paths bar by described CAD software;
When setting TCP, configuring the second laser focal, wherein said second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, and wherein, described first laser focal is the laser focal of original setting.
6. operational method as claimed in claim 1, it is characterised in that described described work flow imported described industrial robot before, also include:
Workpiece according to described work flow simulating cutting.
CN201310680291.9A 2013-12-12 2013-12-12 A kind of industrial robot operation method CN103713579B (en)

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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
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
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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.