CN105302959A - Offline programming method for six-axis grinding and polishing industrial robot - Google Patents
Offline programming method for six-axis grinding and polishing industrial robot Download PDFInfo
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- CN105302959A CN105302959A CN201510717822.6A CN201510717822A CN105302959A CN 105302959 A CN105302959 A CN 105302959A CN 201510717822 A CN201510717822 A CN 201510717822A CN 105302959 A CN105302959 A CN 105302959A
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Abstract
The invention discloses an offline programming method for a six-axis grinding and polishing industrial robot. The method specifically comprises: establishing a model; extracting workpiece processing path information; processing point data; generating processing motion joint angles of the robot; generating a processing motion track of the robot; simulating a grinding and polishing processing motion of the robot; and generating motion key parameter conversion module and code of the robot. The offline programming method simplifies the offline programming process for the six-axis grinding and polishing industrial robot, has practicality, and can quickly generate a six-axis grinding and polishing industrial robot program applied to grinding and polishing of workpieces with complicated surfaces.
Description
Technical field
The present invention relates to polishing field, be specifically related to a kind of six axle grinding and polishing industrial robot off-line programing methods.
Background technology
Along with the development of industrial automation, people start the application paying close attention to industrial robot, the development of Robotics just progressively replaces people to be engaged in various production operation, make the mankind from heavy, repeat dull, be harmful to health and danger production operation free.Grinding and polishing field is also just gradually adopting industrial robot to carry out grinding and polishing, at present in the industrial production to workpiece polishing usually by manually completing, there is quality of finish instability, precision not high, the shortcomings such as cost of labor is high, production efficiency is low, the dull repetition of work, polishing noise and dust have a strong impact on the health of workman.Therefore, a kind of off-line programming technique method for grinding and polishing is provided extremely to be necessary.
The operating process of existing off-line programing method ubiquity is loaded down with trivial details, the coarse problem of result, such as Chinese invention patent " a kind of method and apparatus realizing six axle polishing grinding mechanical arm off-line programings " (publication number 103692320A), disclose and a kind ofly generate polishing program fast for complex-curved polishing for off-line programming software, described method comprises: the relative position demarcating six axle polishing grinding mechanical arms and milling tools in off-line programming software; Generate polishing tracing point; Set up the three-dimensional model of system and three-dimensional model is carried out format conversion; The three-dimensional model of format transformation is imported off-line programming software and polishing tracing point is imported the three-dimensional model of format transformation; According to the three-dimensional model of the relative position of six axle polishing grinding mechanical arms and milling tools, polish tracing point and format transformation, generate polishing program.The method Problems existing is:
In Kinematics Simulation process, according to polishing point and the overlapping of tracing point of polishing, calculate the rotational angle in each joint.Each articulation angle is imported and carries out joint motions, and except adopting joint motions before and after grinding and polishing in actual process, in all the other process, all adopt linear movement.Therefore, the simulating sports track of the method cannot obtain whole actual motion track situations.
Summary of the invention
The invention provides a kind of six axle grinding and polishing industrial robot off-line programing methods, the shortcomings such as whole actual motion track situations cannot be obtained with the simulating sports track that the off-line programing method solving existing grinding and polishing exists.
The technical solution adopted in the present invention is:
A kind of six axle grinding and polishing industrial robot off-line programing methods, comprise the following steps:
(1), Modling model: the three-dimensional model first being set up polishing system by three-dimensional software, this polishing system comprises robot, polished machine, workpiece and corresponding fixture, then completes the layout of polishing system working environment on three-dimensional software.
(2), work pieces process routing information is extracted: limit of utilization method of equal intervals obtains work pieces process geological information data in conjunction with three-dimensional software secondary development, these data comprise the point on the position of processing stand, normal vector, secondary normal vector and tangent vector direction, set up three groups of series of points three-dimensional coordinates of a series of processing stand coordinate system;
Limit method of equal intervals is specific as follows: on work pieces process curved surface, cook up the curve L that will process, do the border of curved surface M with curve L, is equidistantly the equidistant surface M of 1mm to curved surface M work
1, curved surface M
1on boundary curve L
1be the equidistant curve of curve L; Again with curve L, L
1make curved surface M
2, same work is equidistantly the equidistant surface M of 1mm
3, L
2be the another side equidistant curve of curve L; At curve L, L
1, L
2on evenly get the point of some quantity.The content of above-mentioned three-dimensional software secondary development is the plug-in unit of the three-dimensional software that can obtain a large amount of point coordinate value fast.
(3), point data process: carry out coordinate conversion by the work pieces process geological information data obtained, and obtain another group point with these three groups of points, set up homogeneous matrix afterwards, set up processing stand coordinate system three point coordinate P respectively as what obtain in step (2)
01=(x
01, y
01, z
01), P
11=(x
11, y
11, z
11) and P
21=(x
21, y
21, z
21), the coordinate after changing is P
01＇=(x
01＇, y
01＇, z
01＇), P
11＇=(x
11＇, y
11＇, z
11＇) and P
21＇=(x
21＇, y
21＇, z
21＇), another P is obtained according to vector product principle
31＇=(x
31＇, y
31＇, z
31＇); Then its homogeneous matrix T
1be:
, according to the requirement of processing stand data configuration, processing curve, curve need discretely be the point of specified quantity, and get all data messages; The discrete of above-mentioned homogeneous matrix setting is counted as n, for the wherein homogeneous matrix T of i-th
ifor:
, these information datas are stored in corresponding document, wait for that next step processes.
(4), generate robot working motion joint angle: according to the data message obtained after step (3) process, generate robot motion's joint angle data corresponding to robot polishing processing motion by Arithmetic of inverse kinematics.
(5), robot working motion track is generated: the robot polishing processing movable joint angular data obtained according to step (4), is imported in three-dimensional software by three-dimensional software secondary development and generate robot movement locus unique point and track; For three grinding and polishing points, according to the movable joint angle J that step (4) obtains
1=(j
11, j
12, j
13, j
14, j
15, j
16), ring flange center Q during its corresponding robot location 1
1=(x
1, y
1, z
1), in the 3D sketch of space, record current ring flange center; The like record J
2=(j
21, j
22, j
23, j
24, j
25, j
26) corresponding robot ring flange center Q2=(x
2, y
2, z
2), J
i=(j
i1, j
i2, j
i3, j
i4, j
i5, j
i6) the position Qi=(x at corresponding robot ring flange center
i, y
i, z
i), adopt straight line these unique points to be coupled together and form polishing processing track M.
(6), robot polishing processing motion simulation: in three-dimensional software, the processing of robots movement locus that steps for importing (5) obtains, all joint angles in robot kinematics are set, and conjugation condition emulation retrains polishing processing movement locus by certain hour condition each grinding and polishing curved surface, finally carries out the whole off-line programing of simulating, verifying.
(7), robot motion's key parameter modular converter and code is generated: the homogeneous matrix of relative coordinate system is converted to other spatial attitude description forms, after converting, according to selecting corresponding producer of robot, the language rule write according to the motion control program code of this producer of robot carries out generating corresponding program file.
From the above-mentioned description to structure of the present invention, compared to the prior art, tool of the present invention has the following advantages:
The off-line programing method of this invention, makes six axle grinding and polishing industrial robot off-line programing process simplifications, has practicality, can generate fast and be applied to the six axle grinding and polishing industrial robot programs that grinding and polishing has complex surface workpiece.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the embodiment of the present invention;
Fig. 2 is the path planning process schematic diagram of the embodiment of the present invention;
Fig. 3 is that the embodiment of the present invention utilizes equidistant surface principle to set up the schematic diagram of processing curve coordinate system;
Fig. 4 is the embodiment of the present invention each ordinate transform relation schematic diagram;
Fig. 5 is embodiment of the present invention processing stand coordinate system homogeneous matrix Establishing process schematic diagram;
Fig. 6 is the schematic flow sheet of embodiment of the present invention determination off-line programing key parameter;
Fig. 7 is embodiment of the present invention processing of robots Motion trajectory schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The present embodiment realizes a kind of six axle grinding and polishing industrial robot off-line programing methods based on this three-dimensional software of Solidworks, with reference to Fig. 1, comprises following ten key steps:
One, Modling model
The Part I that model is set up is the three-dimensional model being set up polishing system by three-dimensional software Solidworks, and a set of sand that three-dimensional model comprises a six-shaft industrial robot, machine of being thrown by four sand forms of this polishing system throws the fixture of unit, a water swivel workpiece and correspondence; The Part II that model is set up is according to reality processing drawing, determines the relative position size between each several part, three-dimensional software completes the layout of polishing system working environment.
Two, work pieces process routing information is extracted: limit of utilization method of equal intervals obtains work pieces process geological information data (comprising the point on the position of processing stand, normal vector, secondary normal vector and tangent vector direction) in conjunction with three-dimensional software Solidworks secondary development, and then sets up three groups of series of points three-dimensional coordinates of a series of processing stand coordinate system.
With reference to Fig. 2, in path planning process, first, choose curved surface to be processed, plan cutter spacing curve thereon, limit of utilization method of equal intervals obtains the normal vector N of processing stand, secondary normal vector T in conjunction with the secondary development function plug-in unit a program of three-dimensional software, and then obtains the data of the homogeneous position auto―control setting up processing stand.
With reference to Fig. 3, utilize equidistant surface principle to process machining path curve, wherein limit method of equal intervals is: on work pieces process curved surface, cook up the curve L that will process, do the border of curved surface M with curve L, is equidistantly the equidistant surface M of 1mm to curved surface M work
1, curved surface M
1on boundary curve L
1be the equidistant curve of curve L; Again with curve L, L
1make curved surface M
2, same work is equidistantly the equidistant surface M of 1mm
3, L
2be the another side equidistant curve of curve L; At curve L, L
1, L
2on evenly get the point of some.
The content of above-mentioned three-dimensional software secondary development function plug-in unit a is: the plug-in unit that can obtain the three-dimensional software of a large amount of point coordinate value fast.
Three, point data process: carry out coordinate conversion by the work pieces process geological information data obtained, and obtain another group point with these three groups of points, set up homogeneous matrix afterwards, what such as obtain sets up processing stand coordinate system three point coordinate P respectively
01=(x
01, y
01, z
01), P
11=(x
11, y
11, z
11) and P
21=(x
21, y
21, z
21), the coordinate after changing is P
01＇=(x
01＇, y
01＇, z
01＇), P
11＇=(x
11＇, y
11＇, z
11＇) and P
21＇=(x
21＇, y
21＇, z
21＇), another P is obtained according to vector product principle
31＇=(x
31＇, y
31＇, z
31＇); Then its homogeneous matrix T
1be:
According to the requirement of processing stand data configuration, processing curve, curve need discretely be the point of specified quantity, and get all data messages; Such as the discrete of above-mentioned homogeneous matrix setting is counted as n, for the wherein homogeneous matrix T of i-th
ifor:
These information datas are stored in corresponding document, wait for that next step processes.
With reference to Fig. 4, the Data Placement in the programming rectilinear motion instruction of general Six-DOF industrial robot in 5 space coordinates, that is: coordinate system (the i.e. initial TCP coordinate system) O on earth coordinates O-XYZ, ring flange
1-X
1y
1z
1, workpiece coordinate system O
2-X
2y
2z
2, processing stand coordinate system O
i-X
iy
iz
iwith tool coordinates system O
3-X
3y
3z
3.
Initial point O due to 5 coordinate systems does not overlap, so there is coordinate translation; Also and not parallel, between respective coordinates axle, there is rotation angle in respective coordinates axle.Coordinate system on earth coordinates and ring flange is that robot is intrinsic, and the coordinate system of tool coordinates system, workpiece coordinate system and processing stand is the user coordinate system according to setting up the processing analysis of workpiece.Therefore must become with earth coordinates and ring flange coordinate by tool coordinates system, workpiece coordinate system and processing stand ordinate transform is the coordinate system that female coordinate system represents, according to the direct position of robot, workpiece and buffing machine, obtain out the mathematics transformational relation between 5 coordinate systems.
Earth coordinates: the coordinate system that the position that robot is installed is set up are the benchmark of other coordinate system.
Coordinate system on ring flange: the coordinate system of the foundation on end effector of robot ring flange, his attitude is the result of each axle motion of robot, for calculating the joint angle of each axle, and female coordinate system of the workpiece be mounted on ring flange or instrument.
Workpiece coordinate system: the geometric center being generally part model is the benchmark of modeling, is female coordinate system of processing stand coordinate system.
Processing stand coordinate system: set up coordinate system to the processing stand cooked up, for overlapping with tool coordinates system, generally its Z axis is the normal vector of finished surface.
Tool coordinates system: different according to the technique of processing, its position is also different, as sand throws machine, its position is can in the optional position in abrasive band.
With reference to Fig. 5, Solidworks platform is set up the three-dimensional model of workpiece, and the correlation curve set up reference frame and set up needed for processing stand coordinate system on model, again sliding-model control is carried out to correlation curve, realize the extraction of the geological information of processing stand finally by point coordinate output inserter, geological information represents with homogeneous matrix and preserves.
Four, robot working motion joint angle is generated
Obtain the data after the geometrical information processing of processing work according to step 3, generate robot motion's joint angle data corresponding to robot polishing processing motion by Arithmetic of inverse kinematics.
With reference to Fig. 6, set up tool coordinates system and workpiece coordinate system, confirm the workpiece that robot actuator holds, with
for computing formula (wherein T is robot ring flange coordinate system, T1 is tool coordinates system, T2 is workpiece coordinate system,
for processing stand coordinate system), the curve that selection will be processed and on recording curve count n and calculate first processing stand i=1, calculate the transition matrix T of TCP, obtain each group of joint angle, judge that whether each joint angle is at angular range, so circulates, obtain n group joint angle group solution and axle configuration selective, from i=1, more adjacent two jiaos and the axle selected closest to (can be identical) configure, and finally obtain the some parameter that n group is determined, end of output.
Five, robot working motion track is generated
According to the robot polishing processing movable joint angular data that step (4) obtains, imported in solidworks three-dimensional software by solidworks secondary development function plug-in unit b and generate robot movement locus unique point and track.
With reference to Fig. 7, for three grinding and polishing points, according to the movable joint angle J that step 4 obtains
1=(j
11, j
12, j
13, j
14, j
15, j
16), ring flange center Q during its corresponding robot location 1
1=(x
1, y
1, z
1), in the 3D sketch of space, record current ring flange center; The like record J
2=(j
21, j
22, j
23, j
24, j
25, j
26) corresponding robot ring flange center Q2=(x
2, y
2, z
2), J
3=(j
31, j
32, j
33, j
34, j
35, j
36) the position Q3=(x at corresponding robot ring flange center
3, y
3, z
3), adopt straight line these unique points to be coupled together and form polishing processing track M.
Six, robot polishing processing motion simulation
In three-dimensional software, the processing of robots movement locus that steps for importing five obtains, all joint angles in robot kinematics are set, and conjugation condition emulation retrains polishing processing movement locus by certain hour condition each grinding and polishing curved surface, carries out the whole off-line programing of simulating, verifying recently.
Seven, robot motion's key parameter modular converter and code is generated
Convert the homogeneous matrix of relative coordinate system (processing stand coordinate system, workpiece and tool coordinates system) to other spatial attitude description forms (as hypercomplex number, Eulerian angle), after converting, according to selecting corresponding producer of robot, the language rule write according to the motion control program code of this producer of robot carries out generating corresponding program file.
Above are only the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.
Claims (4)
1. six axle grinding and polishing industrial robot off-line programing methods, is characterized in that, comprise the following steps:
(1), Modling model: the three-dimensional model first being set up polishing system by three-dimensional software, this polishing system comprises robot, polished machine, workpiece and corresponding fixture, on three-dimensional software, then complete the layout of polishing system working environment;
(2), work pieces process routing information is extracted: limit of utilization method of equal intervals obtains work pieces process geological information data in conjunction with three-dimensional software secondary development, these data comprise the point on the position of processing stand, normal vector, secondary normal vector and tangent vector direction, set up three groups of series of points three-dimensional coordinates of a series of processing stand coordinate system;
(3), point data process: the work pieces process geological information data obtained in step (2) are carried out coordinate conversion, and obtain another group point according to vector product principle with these three groups of points, set up homogeneous matrix afterwards and obtain all data messages, this data message is stored in corresponding document;
(4), generate robot working motion joint angle: according to the data message obtained after step (3) process, generate robot motion's joint angle data corresponding to robot polishing processing motion by Arithmetic of inverse kinematics;
(5), robot working motion track is generated: the robot polishing processing movable joint angular data obtained according to step (4), is imported in three-dimensional software by three-dimensional software secondary development and generate robot movement locus unique point and track;
(6), robot polishing processing motion simulation: in three-dimensional software, the processing of robots movement locus that steps for importing (5) obtains, all joint angles in robot kinematics are set, and conjugation condition emulation retrains polishing processing movement locus by certain hour condition each grinding and polishing curved surface, finally carries out the whole off-line programing of simulating, verifying;
(7), robot motion's key parameter modular converter and code is generated: the homogeneous matrix of relative coordinate system is converted to other spatial attitude description forms, after converting, according to selecting corresponding producer of robot, the language rule write according to the motion control program code of this producer of robot carries out generating corresponding program file.
2. a kind of six axle grinding and polishing industrial robot off-line programing methods as claimed in claim 1, it is characterized in that, described limit method of equal intervals is specific as follows: on work pieces process curved surface, cook up the curve L that will process, do the border of curved surface M with curve L, is equidistantly the equidistant surface M of 1mm to curved surface M work
1, curved surface M
1on boundary curve L
1be the equidistant curve of curve L; Again with curve L, L
1make curved surface M
2, same work is equidistantly the equidistant surface M of 1mm
3, L
2be the another side equidistant curve of curve L; At curve L, L
1, L
2on evenly get the point of some quantity.
3. a kind of six axle grinding and polishing industrial robot off-line programing methods as claimed in claim 1, is characterized in that: the content of described three-dimensional software secondary development is the plug-in unit of the three-dimensional software that can obtain a large amount of point coordinate value fast.
4. a kind of six axle grinding and polishing industrial robot off-line programing methods as claimed in claim 1, it is characterized in that, the point data process of step (3) specifically comprises: what step (2) obtained set up processing stand coordinate system three point coordinate is respectively P
01=(x
01, y
01, z
01), P
11=(x
11, y
11, z
11) and P
21=(x
21, y
21, z
21), the coordinate after changing is P
01＇=(x
01＇, y
01＇, z
01＇), P
11＇=(x
11＇, y
11＇, z
11＇) and P
21＇=(x
21＇, y
21＇, z
21＇), another P is obtained according to vector product principle
31＇=(x
31＇, y
31＇, z
31＇); Then its homogeneous matrix T
1be:
, the wherein homogeneous matrix T of i-th
ifor:
.
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| CN105945942A (en) * | 2016-04-05 | 2016-09-21 | 广东工业大学 | Robot off line programming system and method |
| CN107283422A (en) * | 2016-04-11 | 2017-10-24 | 南京埃斯顿自动化股份有限公司 | Robot based on off-line programing accommodates the method for planning track of grinding workpieces |
| CN107283422B (en) * | 2016-04-11 | 2020-01-31 | 南京埃斯顿自动化股份有限公司 | Off-line programming-based track planning method for polishing workpiece added by robot |
| CN105945946A (en) * | 2016-05-23 | 2016-09-21 | 东莞理工学院 | Six-axis mechanical arm movement control method based on G code programming |
| CN106142083A (en) * | 2016-07-21 | 2016-11-23 | 河北工业大学 | The method of the three-dimensional motion emulation of high-altitude curtain wall mounting robot |
| CN106182018A (en) * | 2016-07-30 | 2016-12-07 | 福州大学 | A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph |
| CN106600681A (en) * | 2016-11-02 | 2017-04-26 | 上海航天设备制造总厂 | A method for polishing a curved surface having obstacles |
| CN106600681B (en) * | 2016-11-02 | 2023-07-11 | 上海航天设备制造总厂 | Polishing method for curved surface with obstacle |
| CN107052312A (en) * | 2016-12-30 | 2017-08-18 | 上海发那科机器人有限公司 | A kind of automatic correction of casting cleaning machining locus and generation method |
| CN107052312B (en) * | 2016-12-30 | 2019-08-27 | 上海发那科机器人有限公司 | A kind of casting cleaning machining locus automatically correct and generation method |
| CN106896778A (en) * | 2017-04-07 | 2017-06-27 | 湘潭大学 | A kind of robot end's method for planning track based on Generating NC Tool file |
| CN109352653A (en) * | 2018-11-15 | 2019-02-19 | 北京卫星制造厂有限公司 | A kind of offline Trajectory Planning System for the cutting of mobile series-parallel robot |
| CN109927028A (en) * | 2019-03-26 | 2019-06-25 | 中国科学院宁波材料技术与工程研究所 | A kind of force-location mix control method of power man-controlled mobile robot polishing processing |
| CN110555240A (en) * | 2019-08-09 | 2019-12-10 | 华南理工大学 | automatic generation method from robot assembly model to simulation model |
| CN110555240B (en) * | 2019-08-09 | 2022-11-18 | 华南理工大学 | Automatic generation method from robot assembly body model to simulation model |
| CN110919499A (en) * | 2019-12-18 | 2020-03-27 | 东莞市照亮智能装备科技有限公司 | Off-line programming-based golf head manufacturing process |
| CN110919499B (en) * | 2019-12-18 | 2022-06-03 | 东莞市照亮智能装备科技有限公司 | Off-line programming-based golf head manufacturing process |
| CN111240271A (en) * | 2020-03-10 | 2020-06-05 | 华侨大学 | Curved surface rough machining method based on flexible abrasive particle mechanical cutting |
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