CN105881521B - The processing unit (plant) and method of intersection cutting are carried out using six-shaft industrial robot - Google Patents
The processing unit (plant) and method of intersection cutting are carried out using six-shaft industrial robot Download PDFInfo
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- CN105881521B CN105881521B CN201610366878.6A CN201610366878A CN105881521B CN 105881521 B CN105881521 B CN 105881521B CN 201610366878 A CN201610366878 A CN 201610366878A CN 105881521 B CN105881521 B CN 105881521B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention relates to a kind of process equipments and processing method using six-shaft industrial robot cutting, more particularly to a kind of processing unit (plant) and method carrying out intersection cutting using six-shaft industrial robot, including industrial robot system, industrial robot system includes industrial machine human body and robot control cabinet, industrial machine human body connects robot control cabinet, the signal output end connection cutting of robot control cabinet executes the signal input part of tool controller, cutting executes the control output end connection cutting execution tool of tool controller, execution tool is cut to be rigidly connected with industrial machine human body.Present invention high-precision, high reliability, stability is good, favorable expandability, can control industrial robot and realize disposable continuous cutting of the intersection with groove, have stronger practicability.
Description
Technical field
The present invention relates to a kind of process equipments and processing method using six-shaft industrial robot cutting, and in particular to a kind of
The processing unit (plant) and method of intersection cutting are carried out using six-shaft industrial robot.
Background technology
Currently, continuous ripe, perfect and various aspects the industry demand with Industrial Robot Technology improves, industrial machine
Device people is widely applied to every field, and the plurality of advantages of industrial robot is also revealed and affirmed.However, industrial
Robot is in the operation for handling particular curve, curved surface, such as intersection cutting, hardly possible by traditional teaching mode
Reach ideal job requirements, reason is that workpiece has the characteristics that surface is complicated, changeable, similar products type kind is more, is
Reach good working process effect, needs to realize precisely programming to workpiece position as much as possible, often a kind of type of workpiece
Elaborate position programming, debugging may need a couple of days as long as, time-consuming and laborious and operation effectiveness also person of modern times anticipate.Even if current market
On have many off-line programming softwares can be with automatic path planning, but preceding summary carries out Complex curve and surface, such as intersection
3D modeling models an inherently time-consuming and laborious job, and it is certain professional to need user to have.Also there is needle on the market
The special plane made to a certain operations specific for example carries out the special plane of intersection cutting, but autgmentability is poor, and stability, accuracy are not
It is high.
Invention content
According to the above-mentioned deficiencies in the prior art, the problem to be solved in the present invention is：A kind of high-precision, highly reliable is provided
Property, stability is good, favorable expandability, can control industrial robot and realize the disposable use continuously cut of the intersection with groove
Six-shaft industrial robot carries out the processing unit (plant) and method of intersection cutting.
The technical solution adopted by the present invention to solve the technical problems is：
The processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot, including industrial robot system,
Industrial robot system includes industrial machine human body and robot control cabinet, and industrial machine human body connects robot control
Cabinet, the signal output end connection cutting of robot control cabinet execute the signal input part of tool controller, cut execution tool control
The control output end connection cutting execution tool of device processed, cutting execution tool are rigidly connected with industrial machine human body.
The processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot is simple in structure, easy to use, will
Executable file is input to robot control cabinet, and controlling industrial machine human body by robot control cabinet carries cutting execution work
Tool carries out intersection cutting, and accuracy is high, and stability is good.Rigid connection, it is therefore an objective to which industrial machine human body can carry cutting and hold
Row tool is acted by the motion control instruction of robot control cabinet.
Further preferably, cutting execution tool is using flame cutter, plasma cutters, laser cutter, water knife
One kind in cutter.It can be selected according to the type and requirement of cut workpiece, it is flexible and convenient to use.
Further preferably, robot control cabinet executes tool controller with cutting and is connected by I/O or bus communication mode
It connects.Robot control cabinet executes what tool controller output operation instructed to cutting, such as the break-make of cutting instructs.
Further preferably, it cuts between execution tool and industrial machine human body by being matched with cutting execution tool
Tooling be attached.
A kind of processing method for the processing unit (plant) carrying out intersection cutting using six-shaft industrial robot, including following step
Suddenly：
Step 1) acquisition approach plans required relevant information；
Acquired information is supplied to path planning unit by step 2), carries out path planning；
Step 3) is according to the executable text of coordinates measurement robot that the characteristic and step 2) of industrial machine human body are planned
Part；
Robot executable file is sent to industrial robot system by step 4), and industrial machine human body is according to executable
File carries out cutting operation, completes intersection band beveling and cutting.
Preferably：
In the step 1) of the processing method of the processing unit (plant) for carrying out intersection cutting using six-shaft industrial robot
The required relevant information of the path planning mutually passes through information, cutting execution tool and industrial machine human body including two pipes
Relative position information and workpiece to be cut and industrial machine human body relative position information.Two pipes mutually pass through, and can obtain
The information that two pipes mutually pass through is obtained, for example is responsible for caliber, branch diameter, inclination angle, deviant.Before cutting it needs to be determined that and fixed cutting hold
Row tool needs fixed workpiece to be cut simultaneously, and then has cutting execution tool and workpiece relative to industrial machine human body's
Location information, using this two parts data as the required relevant information of path planning.
In the step 2) of the processing method of the processing unit (plant) for carrying out intersection cutting using six-shaft industrial robot
The path planning includes the following steps：
Information of the step a) acquired in path planning seeks intersection eguation；
The intersection eguation sliding-model control acquired is obtained the coordinate of setting by step b), and is taken at each setting
Obtain corresponding groove vector；
Step c) seeks the value of the cartesian space of robot according to coordinate and groove vector, and then obtains all discrete jobs
The cartesian coordinate value of point；
Step d) models industrial machine human body, and corresponding industry is asked according to the cartesian coordinate value of discrete job point
The Inverse Kinematics Solution of robot body obtains joint space solution；
Step e) chooses the optimal inverse solution of each discrete job point, and 3D model sports are driven according to inverse solution；
Step f) judges whether to need to adjust redundancy angle；The angle of operation if appearance interference, joint angles are transfinited or be unfavorable for
When degree occurs, adjusting redundancy angle is needed to carry out intervention adjusting to the redundant degree of freedom of neighbouring discrete point then according to the position of appearance
And update the cartesian coordinate value of discrete job point, then repeatedly step d)-step f) until problem disappear；If need not adjust
Redundancy angle or after overregulating there is no interference, joint angles transfinite or be unfavorable for operation angle the problem of, then carry out step
g)；
Step g) generates industrial robot according to the characteristic and split requirement of industrial machine human body, designated movement speed
The executable file of system.
The redundancy angle refers to that six-shaft industrial robot executes this operation for only needing to be performed five degree of freedom of cutting
When and an existing redundant degree of freedom, the redundant degree of freedom react the angle value in cartesian coordinate value.Described is superfluous
Complementary angle, the direction of tool coordinates system made by determines redundancy angle, i.e., a certain in the angle value in cartesian coordinate value
A, the discrete job point for needing to adjust redundancy angle is chosen in the position then occurred by redundancy angle, updates the flute of discrete job point
Karr coordinate value.
There is corresponding bevel angle in the groove vector corresponding to each setting, the determination of bevel angle is adopted
It is that, there are the tangent plane of two pipes at each setting, the dihedral angle that two tangent planes are formed takes groove angle if small 90 degree to take method
For the half of dihedral angle, it is 45 degree then to take groove angle if more than 90 degree, according to the difference of bevel angle, is existed in each setting
Corresponding groove vector.
The intersection is with beveling and cutting using one in gas flame cuttiug, plasma cut, laser cutting, high pressure waterjet
Kind.
Advantageous effect possessed by the present invention is：
1, of the present invention that work is used using the processing unit (plant) and method of six-shaft industrial robot progress intersection cutting
Make intersection cutting based on industry robot, corresponding cartesian coordinate value is only provided, the track of robot itself is still used to advise
Cost-effective method has the advantages that high-precision, high reliability.
2, it is of the present invention using six-shaft industrial robot carry out intersection cutting processing unit (plant) and method by from
Line generate robot belonging to programming language, just with debugging；Can rapid solving intersection eguation and groove vector and solve
Corresponding cartesian coordinate carries out mathematical modeling to robot, can solve inverse solution, choose the optimal solution in inverse solution, Neng Gougen
According to the motion process of cartesian coordinate reliably dummy robot；Redundancy angle adjust can to occur in operation process interference,
The problems such as joint angles limit is eliminated.
3, of the present invention that reality is passed through using the processing unit (plant) and method of six-shaft industrial robot progress intersection cutting
Border application test can be applied in cutting operation of the workpiece intersection with groove, and work well, and disposably be continuously completed
Cutting efficiently solves the problems, such as that this complex curve cutting of intersection encounters.
Description of the drawings
Fig. 1 is the device of the invention structural schematic diagram；
Fig. 2 is the operational method flow chart of the present invention；
Fig. 3 is the path planning and generation executable file process schematic of the present invention；
Wherein, 1, industrial robot system；2, industrial machine human body；3, robot control cabinet；4, execution tool is cut
Controller；5, execution tool is cut；
Specific implementation mode
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
As shown in Figure 1, the processing unit (plant) of the present invention that intersection cutting is carried out using six-shaft industrial robot, including
Industrial robot system 1, and industrial robot system 1 includes industrial machine human body 2 and robot control cabinet 3, industrial robot
Ontology 2 connects robot control cabinet 3, and the signal output end connection cutting of robot control cabinet 3 executes the signal of tool controller 4
Input terminal, cutting execute the control output end connection cutting execution tool 5 of tool controller 4, cutting execution tool 5 and industrial machine
Device human body 2 is rigidly connected.
The processing unit (plant) cutting execution tool 5 that intersection cutting is carried out using six-shaft industrial robot, which is received, to be cut
The control signal for executing tool controller 4 realizes various control functions.Robot control cabinet 3 executes tool controller 4 with cutting
It is connected by I/O or bus communication mode, is mainly cut to control and execute what 4 output operation of tool controller instructed, such as cut
Break-make instruction etc..Workpiece is fixed within the scope of robot manipulating task (generally to use this modes of emplacement：Workpiece (supervisor) to be cut
It is laterally disposed in front of robot).Subsequently to solve conveniently, coordinate system need to be demarcated as required and (generally uses this foundation side
Formula：General to require the X-axis of workpiece coordinate system vertical with the axis of main pipe, horizontally outward, Z axis is straight up；Tool coordinates system
One of axis is established along the cut direction of cutting execution tool；It is intrinsic that the world coordinate system of robot follows machine Moral quality card
Coordinate system).
Wherein, cutting execution tool 5 is using in flame cutter, plasma cutters, laser cutter, high pressure waterjet device
One kind, by being carried out with cutting 5 matched tooling of execution tool between cutting execution tool 5 and industrial machine human body 2
Connection.Robot control cabinet 3 executes tool controller 4 with cutting and is connect by I/O or bus communication mode.
The processing method of the processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot, including following step
Suddenly：
Step 1) acquisition approach plans required relevant information；Wherein, two pipes mutually pass through, and necessarily have the letter that two pipes mutually pass through
Breath, for example it is responsible for caliber, branch diameter, inclination angle, deviant；It needs to be determined that and fixed cutting execution tool and to be cut before cutting
Workpiece (supervisor), and then have location information relative to robot of cutting execution tool and workpiece (supervisor), (held according to cutting
The position relationship determination of row tool coordinates system and workpiece (supervisor) coordinate system relative to industrial machine human body's world coordinate system, with
The form of transformation matrix of coordinates indicates).
Acquired information is supplied to path planning unit by step 2), carries out path planning offline, path discrete point with
The form of cartesian coordinate value indicate (on the basis of industrial machine human body's world coordinate system, be followed successively by X values, Y value, Z values and around
The rotation angle value of three coordinate systems, the sequence of rotation angle follow the sequence of various brands robot)；
Step 3) is given birth to according to the path that the characteristic and step 2) of industrial machine human body 2 (including brand, model) are planned
At robot executable file (generating file offline)；
Robot executable file is sent to industrial robot system 1 by step 4), and industrial machine human body 2 is according to can hold
Part of composing a piece of writing executes cutting operation, completes intersection band beveling and cutting.Wherein, intersection band beveling and cutting is cut using flame
It cuts, one kind in plasma cut, laser cutting, high pressure waterjet.
The processing method of the described processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot, institute in step 1)
The required relevant information of path planning stated mutually passes through information, cutting execution tool 5 and industrial machine human body 2 including two pipes
Relative position information and workpiece to be cut and industrial machine human body 2 relative position information.
The processing method of the described processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot, institute in step 2)
The path planning stated includes the following steps：
Information of the step a) acquired in path planning seeks intersection eguation；According to mutually passing through the calibers of two pipes, inclination angle, partially
Shifting amount and cutting execute these data such as tool location, workpiece (supervisor) position, on the basis of workpiece (supervisor) coordinate system, meter
Calculate intersection eguation；
The intersection eguation acquired is carried out sliding-model control by required precision and obtains several settings and its seat by step b)
Mark, while there are the tangent plane of two pipes at each setting, the dihedral angle that two tangent planes are formed takes groove if small 90 degree
Angle is the half of dihedral angle, and it is 45 degree then to take groove angle if more than 90 degree, and according to the difference of bevel angle, in every bit, there are phases
Corresponding groove vector, can be showed in workpiece coordinate system.
Step c) seeks the value of the cartesian space of robot according to coordinate and groove vector, establishes all discrete job points
Cartesian coordinate value；
The coordinate value based on workpiece coordinate system is sought according to operation point coordinates, the operation point coordinates acquired is transformed into robot
It is X, Y, Z value of cartesian coordinate value in world coordinate system；Definition initial vector state is workpiece coordinate system Z-direction, slope
Mouth vector is used as final state, and three angle values of cartesian coordinate value are determined using the transformation relation of the two, it should be pointed out that
Be one of angle value can be any angle, the value of all settings is set to 0 degree at this time, what which as proposed above
Redundancy angle.
Step d) establishes kinematical equation to industrial machine human body 2, is asked according to the cartesian coordinate value of discrete job point
The Inverse Kinematics Solution of corresponding industrial machine human body 2, obtains joint space solution；
Step e) chooses the optimal inverse solution of each discrete job point, and 3D model sports are driven according to inverse solution；It takes and machine
The consistent principle of people chooses the optimal inverse solution of each setting；
Step f) judges whether to need to adjust redundancy angle；The angle of operation if appearance interference, joint angles are transfinited or be unfavorable for
When degree occurs, adjusting redundancy angle is needed to carry out intervention adjusting to the redundant degree of freedom of neighbouring discrete point then according to the position of appearance
And update the cartesian coordinate value of discrete job point, then repeatedly step d)-step f) until problem disappear；If need not adjust
Redundancy angle or after overregulating there is no interference, joint angles transfinite or be unfavorable for operation angle the problem of, then carry out step
g)；
Step g) generates industrial robot according to the characteristic and split requirement of industrial machine human body 2, designated movement speed
The executable file of system 1.
The redundancy angle refer to six-shaft industrial robot execute cutting five degree of freedom operations when and it is existing one it is superfluous
Cofree degree, the redundant degree of freedom react the angle value in cartesian coordinate value.
The present invention has obtained realizing intersection with beveling and cutting using six-shaft industrial robot by using above-mentioned technology
Process equipment and processing method, the present invention can make robot disposably be continuously completed cutting by adjusting redundancy angle, effectively
Ground solves the problems, such as that this complex curve cutting of intersection encounters, and especially also carries retaining wall on slope function, certainly using robot
The path planning algorithm of body keeps operation process more acurrate reliable, improves operation quality and efficiency, is suitable for industrial process applications.
Claims (8)
1. a kind of processing unit (plant) carrying out intersection cutting using six-shaft industrial robot, including industrial robot system (1), work
Industry robot system (1) includes industrial machine human body (2) and robot control cabinet (3), and industrial machine human body (2) connects machine
Device people switch board (3), it is characterised in that：The signal output end connection cutting of robot control cabinet (3) executes tool controller (4)
Signal input part, cutting execute tool controller (4) control output end connection cutting execution tool (5), cutting execute work
Have (5) to be rigidly connected with industrial machine human body (2)；
The processing method of the processing unit (plant) that intersection cutting is carried out using six-shaft industrial robot, is included the following steps：
Step 1) acquisition approach plans required relevant information；
Acquired information is supplied to path planning unit by step 2), carries out path planning；
Step 3) is according to the executable text of coordinates measurement robot that the characteristic and step 2) of industrial machine human body (2) are planned
Part；
Robot executable file is sent to industrial robot system (1) by step 4), and industrial machine human body (2) is according to can hold
Part of composing a piece of writing carries out cutting operation, completes intersection band beveling and cutting；
Path planning described in the step 2) includes the following steps：
Information of the step a) acquired in path planning seeks intersection eguation；
The intersection eguation sliding-model control acquired is obtained the coordinate of setting by step b), and phase is obtained at each setting
Corresponding groove vector；
Step c) seeks the value of the cartesian space of robot according to coordinate and groove vector, and then obtains all discrete job points
Cartesian coordinate value；
Step d) models industrial machine human body (2), and corresponding industry is asked according to the cartesian coordinate value of discrete job point
The Inverse Kinematics Solution of robot body (2) obtains joint space solution；
Step e) chooses the optimal inverse solution of each discrete job point, and 3D model sports are driven according to inverse solution；
Step f) judges whether to need to adjust redundancy angle；If appearance interference, joint angles are transfinited or be unfavorable for, the angle of operation goes out
Now, it needs to adjust redundancy angle, then according to the position of appearance, to the redundant degree of freedom of neighbouring discrete point intervene adjusting and more
The cartesian coordinate value of new discrete job point, then repeatedly step d)-step f) until problem disappears；If redundancy need not be adjusted
Angle or after overregulating there is no interference, joint angles transfinite or be unfavorable for operation angle the problem of, then carry out step g)；
Step g) is according to the characteristic and split requirement of industrial machine human body (2), designated movement speed, industrial robot system
(1) executable file.
2. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The cutting executes tool (5) using in flame cutter, plasma cutters, laser cutter, high pressure waterjet device
It is a kind of.
3. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The robot control cabinet (3) executes tool controller (4) with cutting and is connect by I/O or bus communication mode.
4. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The cutting executes between tool (5) and industrial machine human body (2) by matched with cutting execution tool (5)
Tooling is attached.
5. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The required relevant information of path planning described in step 1) including two pipes mutually pass through information, cutting execution tool (5) and
The relative position information and workpiece to be cut of industrial machine human body (2) and the relative position letter of industrial machine human body (2)
Breath.
6. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The redundancy angle refers to that six-shaft industrial robot executes when cutting five degree of freedom operations and an existing redundancy freedom
Degree, the redundant degree of freedom react the angle value in cartesian coordinate value.
7. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：There is corresponding bevel angle, the determination side of taking of bevel angle in the groove vector corresponding to each setting
Method is, there are the tangent plane of two pipes at each setting, it is two that the dihedral angle that two tangent planes are formed takes groove angle if small 90 degree
The half of face angle, it is 45 degree then to take groove angle if more than 90 degree, according to the difference of bevel angle, is existed in each setting opposite
The groove vector answered.
8. the processing unit (plant) according to claim 1 for being carried out intersection cutting using six-shaft industrial robot, feature are existed
In：The intersection is with beveling and cutting using one kind in gas flame cuttiug, plasma cut, laser cutting, high pressure waterjet.
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| CN107052548B (en) * | 2017-05-04 | 2019-06-04 | 山东大学 | The control method of supervisor's hole cutting process plasma cutting gun height of welding groove |
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| CN108890641A (en) * | 2018-05-24 | 2018-11-27 | 中信重工机械股份有限公司 | A kind of water jet robot control system and control method |
| CN108994418B (en) * | 2018-07-26 | 2021-03-23 | 上海工程技术大学 | Motion trajectory planning method for pipe-pipe intersecting line robot |
| CN109352667A (en) * | 2018-11-06 | 2019-02-19 | 山东时代新纪元机器人有限公司 | Pipeline Aceuvoglghus ovatu cutting track generation method and cutting method |
| CN110142880B (en) * | 2019-05-23 | 2022-04-01 | 泉州华数机器人有限公司 | Rollback real-time following control method for cutting equipment |
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