CN106182018A - A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph - Google Patents
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph Download PDFInfo
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- CN106182018A CN106182018A CN201610613415.5A CN201610613415A CN106182018A CN 106182018 A CN106182018 A CN 106182018A CN 201610613415 A CN201610613415 A CN 201610613415A CN 106182018 A CN106182018 A CN 106182018A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The present invention relates to a kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph, by part calibration module, demarcate and obtain this workpiece coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase；By workpiece three-dimensional graph processing module, by discrete for grinding and polishing path for several spatial point, export the three-dimensional coordinate information of each spatial point, be calculated on surface of the work grinding and polishing path the spatial pose homogeneous transform matrix R that several are defined in workpiece coordinate system OW；By tool calibration module, tool tip coordinate system OT is set up in robot tool end and absorption surface position, and demarcate acquisition this tool tip coordinate system OT spatial pose homogeneous transform matrix T in basis coordinates system of robot OBase, it is achieved robot off-line programming.The beneficial effects of the present invention is: need not rely on robot off-line programming software, by the off-line programing process simplification of grinding and polishing industrial robot.
Description
Technical field
The present invention relates to workpiece grinding and polishing control field, particularly relate to a kind of grinding and polishing industrial machine based on workpiece three-dimensional graph
People's off-line programing method.
Background technology
At present, automatization based on industrial robot is to take into account production efficiency and adaptive best solution.The widest
General it is applied to the industrial circles such as Aero-Space, automobile, machining manufacture, electric, food production, is wherein applied to machinery
In processing and manufacturing, welding (including spot welding, arc-welding), spray paint, assemble and the technology such as carrying is through studying for a long period of time and apply, the most very
Maturation, occupies consequence further in actual applications.Robot application is being risen and high speed development in grinding and polishing field, mesh
Before be applied to the aircraft windows of lucite material, rifle casing surface, mould grinding and polishing, aviation boats and ships blade grinding and polishing, Zhu Mujia
The aspects such as tool.
Industrial robot is a kind of programmable machinery, and the programming for the industrial robot application in a certain field is difficult
Degree greatly, time-consumingly consumes wealth.At present in practical application in industry and research, industrial robot programming mainly has three kinds of modes: compile online
Journey, off-line programing and use augmented reality robotic programming (RPAR).
Wherein, online programming shortcoming is as follows:
(1) take the working time of robot and automation production flow line, be not available for producing before program has finally been compiled；
(2) the online programming time is long, as a example by robot sand polishing system grinding and polishing a certain model faucet, and skilled robot operator
Online programming is write a program more than 800, spends about four working days of time, and whole piece program is run cycle period and only needed 2
Minute, the programming shared time is about 3,000 times of program runtime；
(3) unicity, non-reusability: institute's calling program is difficult to modify, once in workpiece or working cell, any appliance is sent out
Changing, program is the most inapplicable, needs reprogramming, lacks flexibility.For instrument kind, working environment, there is unicity,
The program that line programming obtains is only applicable to the working environment that kind is single, condition is identical；
(4) program quality greatly depends on operator, and grinding and polishing effect relies primarily on range estimation, to teaching personnel's grinding and polishing process requirement
High；
(5) online programming is independent relative to CAD, is difficult to automatization, the intellectuality realizing manufacturing；
(6) to control robot directly perceived not for operation demonstrator, complete smooth accurately path and avoid interference with difficulty higher,
Ratio is relatively time-consuming, the situation that especially workpiece is complicated, working environment is complicated；
(7) need test for a long time and test；
(8) operator's field programming, test, have noise, dust, collision etc. show or potential injury.
Off-line programming technique, as a great development direction of programming technique, is increasingly paid attention to by research worker.
Along with the proposition of the concept such as " made in China 2025 ", " industry 4.0 ", the construction step of intelligent plant is accelerated, information
With developing to depth integration of physical system, digitized, intelligent construction are progressively applied to product, production process, enterprise operation
Deng many levels.Accelerate grinding and polishing robot and automatic production line research and development and apply at Aero-Space, medical apparatus and instruments, accurate machine
The key areas such as tool, mould has strategic effect, is beneficial to improve the product of the industries such as water heating bathroom for water heating bathroom
Quality and added value, greatly improve polishing processing environment, expands the scale of industry, promotes industry restructuring and upgrading.Realize
It is to realize robot automation to produce an indispensable step that robot program automatization generates, it is achieved robot trajectory's intelligence is advised
Draw and intelligent plant is realized significant with optimization, programming automatic generation, replace with digitized off-line programing artificial
Online programming is inexorable trend.
At present, off-line programming technique not yet reaches effectively to carry out the level of actual production, in versatility, the essence of off-line programing
Really there is also many problems to be solved on property, effectiveness.It is loaded down with trivial details generally to there is operating process in existing off-line programing method, knot
The most coarse problem, such as Chinese invention patent " a kind of method realizing six axle polishing grinding mechanical arm off-line programings and dress
Put " (application number 201310750143.X), disclose one and quickly generate polishing program for complicated bent for off-line programming software
The polishing in face, described method includes: demarcate six axle polishing grinding mechanical arms in off-line programming software relative with milling tools
Position；Generate polishing tracing point；Set up the threedimensional model of system and threedimensional model is carried out form conversion；By format transformation
Threedimensional model imports off-line programming software and polishing tracing point imports the threedimensional model of format transformation；According to six axle polishings
The threedimensional model of the relative position of polisher mechanical arm and milling tools, polishing tracing point and format transformation, generates polishing journey
Sequence.The method is demarcated in off-line programming software, does not considers the error between threedimensional model and physical device in software, thus side
Program effectiveness, accuracy that method generates cannot ensure.
Chinese invention patent " robot off-line programming and field adjustable seamless connection method " (application number
200810147853.2), this invention is robot off-line programming and field adjustable seamless connection method, including design frock clamp
And the threedimensional model of robot tool, and it is imported in off-line programming software frock clamp, robot with robot model
The technological feasibility of instrument and robot carries out checking that the installation site according to frock clamp, robot and robot tool will be real
It is consistent with actual installation situation to actual installation that thing installs the installation situation making robot tool in off-line programming software that puts in place
It is soft to off-line programing that the frock clamp coordinate system put in place relative position in basis coordinates system of robot measures measurement result
In part, frock clamp is calibrated relative to the installation site of robot so that it is adopts unanimously with actual installation situation and measures and calibration
After, generate robot program, and be directed into robot directly utilize this program complete reality production.The program that this method generates can
It is directly used in reality production, is truly realized off-line programing and field adjustable seamless connection.The method needs to compile at robot off-line
Generating program in journey software, the most just say that the realization of the method needs to rely on robot off-line programming software, off-line programming software is divided
For general off-line programming software and the supporting off-line programming software of robot building business, both are with high costs and operator are had one
Provisioning request, and the supporting off-line programming software of robot building business is just for oneself robot, has certain limitation.
Summary of the invention
It is an object of the invention to for above weak point, it is provided that a kind of grinding and polishing industrial machine based on workpiece three-dimensional graph
Device people's off-line programing method, is combined on-line proving with calculated off line, it is possible to quickly realizes robot grinding and polishing and runs Program Generating.
The present invention solves the scheme that technical problem used: a kind of grinding and polishing industrial robot based on workpiece three-dimensional graph
Off-line programing method, comprises the following steps:
Step S0: obtained the 3-D graphic of workpiece by three-dimensional software；
Step S1: by part calibration module, for setting up a workpiece coordinate system OW on workpiece, and demarcates this workpiece of acquisition
Coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase；
Step S2: by workpiece three-dimensional graph processing module, in the 3-D graphic Surface Creation grinding and polishing path of workpiece, will grind
Throw path discrete for several spatial point, export the three-dimensional coordinate information of each spatial point, be calculated surface of the work grinding and polishing road
Spatial pose homogeneous transform matrix R during several are defined on workpiece coordinate system OW on footpath；
Step S3: by tool calibration module, set up tool tip coordinate in robot tool end and absorption surface position
It is OT, and demarcates acquisition this tool tip coordinate system OT spatial pose homogeneous transformation square in basis coordinates system of robot OBase
Battle array T；
Step S4: by robot motion's emulation module, the impact point data that spatial pose homogeneous matrix R is obtained, space bit
The tool data that appearance homogeneous transform matrix T obtains, and the workpiece data that spatial pose homogeneous transform matrix W obtains, in conjunction with machine
Device people's the computation of inverse-kinematics obtains six joint angle value in robot motion's track under each impact point state, with these six passes
Joint angle value arranges joint angle constraint, it is achieved robot motion emulates；
Step S5: produce module by robot program and will calculate the position of each impact point state in gained robot motion's track
Put and work out, with attitude information, the program language used by robot.
Further, in step sl, workpiece coordinate system OW is demarcated by 3 standardizitions.
Further, described workpiece coordinate system OW builds on an apex of cuboid bottom workpiece, in robot
Mechanical arm tail end installs instrument known to a three-dimensional dimension, tool tip and surface of the work is preset by robot demonstrator
Three point cantact, obtain these three points of surface of the work coordinate figure in basis coordinates system of robot OBase, thus obtain workpiece and sit
Mark system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase.
Further, at tool tip with absorption surface, set up tool tip coordinate system, use 3 five-step approaches to demarcate
Tool tip coordinate system OT.
Further, described 3 five-step approach calibration tool ending coordinates systems comprise the following steps:
Step S30: protected with the first attitude, the second attitude and the 3rd attitude successively by robot demonstrator Non-follow control mechanical arm
Holding tool tip and the first fixed-point contact in space, it is solid that the first attitude, the second attitude and the 3rd posture position are maintained at first
The constant first step pose of formation respectively, second step pose and the 3rd step appearance at fixed point；
Step S31: keep the 3rd attitude constant, the X-axis along basis coordinates system of robot translates specific range to the second fixing point, shape
Become the 4th step appearance；
Step S33: keep the 3rd attitude constant, from the second fixing point along the Z axis of basis coordinates system of robot translation specific range to
3rd fixing point, forms the 5th step appearance；
Step S34: according to the first fixing point, the second fixing point and the coordinate of the 3rd fixing point and first step pose, second step
The joint angle information of the robot that pose, the 3rd step appearance, the 4th step appearance are corresponding with the 5th step appearance, by robot controller
Core Generator ending coordinates system OT.
Further, in described step S2, especially by following steps acquisition spatial pose homogeneous transform matrix R:
Step S21: use the surface curve instrument in three-dimensional software to generate surface curve, chooses some grinding and polishing paths, every
The surface curve that grinding and polishing path is adjacent by two and shape is consistent forms；
Step S22: choose two surface curve that wherein a grinding and polishing path is corresponding, in every surface curve in this grinding and polishing path
Upper uniformly 10-20 spatial point of laying；Respectively in the front of spatial point of the surface curve being located along on the right side of grinding and polishing path direction
One spatial point is set at 2-3mm again, using three spatial point adjacent in two surface curve in grinding and polishing path as one
Group spatial point, obtains some groups of spatial point；
Step S23: the coordinate information of three spatial point in output often group spatial point；
Step S24: generate several coordinate systems generated by three spatial point often organized in spatial point；
Step S25: the coordinate system being calculated in step S14 by 3 standardizitions spatial pose in workpiece coordinate system OW
Homogeneous transform matrix R.
Further, in described step S2, at workpiece three-dimensional graph surface hand drawn grinding and polishing path curve.
Compared with prior art, the present invention has following beneficial effect: need not rely on robot off-line programming software, will mill
Throw the off-line programing process simplification of industrial robot.On-line proving is combined by the present invention with calculated off line, has practicality, it is possible to
Quickly generate and be applied to grinding and polishing there is the grinding and polishing industrial robot program of complex surface workpiece.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings patent of the present invention is further illustrated.
Fig. 1 is the flow process of the grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph of the embodiment of the present invention
Schematic diagram.
Fig. 2 be the embodiment of the present invention the seat of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph
The transformational relation schematic diagram of mark system.
Fig. 3 be the embodiment of the present invention the work of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph
Part 3-D graphic Surface Creation grinding and polishing path schematic diagram.
Fig. 4 be the embodiment of the present invention grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph three
Point method generates the schematic diagram of coordinate system.
Fig. 5 be the embodiment of the present invention the work of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph
Part demarcates schematic diagram.
Fig. 6 be the embodiment of the present invention the work of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph
Tool demarcates 3 five-step approach schematic diagrams.
In figure: 1-robot；10-mechanical arm；11-tool tip；2-workpiece；3-grinding and polishing path；30-spatial point.
Detailed description of the invention
The present invention is further described with detailed description of the invention below in conjunction with the accompanying drawings.
As shown in figs. 1 to 6, a kind of based on workpiece three-dimensional graph the grinding and polishing industrial robot off-line programing side of the present embodiment
Method, comprises the following steps:
Step S0: obtained the 3-D graphic of workpiece 2 by three-dimensional software；
Step S1: by part calibration module, for setting up a workpiece coordinate system OW on workpiece 2, and demarcates this work of acquisition
Part coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase；
Step S2: by workpiece three-dimensional graph processing module, is used in the 3-D graphic Surface Creation grinding and polishing path 3 of workpiece 2, will
Grinding and polishing path 3 is discrete for several spatial point 30, exports the three-dimensional coordinate information of each spatial point 30, is calculated workpiece 2 table
The spatial pose homogeneous transform matrix R that on grinding and polishing path, face 3, several are defined in workpiece coordinate system OW；
Step S3: by tool calibration module, set up tool tip at robot 1 tool tip 11 with workpiece 2 contact position
Coordinate system OT, and it is homogeneous to demarcate acquisition this tool tip 11 coordinate system OT spatial pose in basis coordinates system of robot 1 OBase
Transformation matrix T；
Step S4: by robot 1 motion simulation module, the impact point data that spatial pose homogeneous matrix R is obtained, space bit
The tool data that appearance homogeneous transform matrix T obtains, and workpiece 2 data that spatial pose homogeneous transform matrix W obtains, in conjunction with machine
Device people 1 the computation of inverse-kinematics obtains six joint angle value in robot 1 movement locus under each impact point state, with these six
Joint angle value arranges joint angle constraint, it is achieved robot 1 motion simulation；
Step S5: produce module by robot 1 program and will calculate each impact point state in gained robot 1 movement locus
Position and attitude information work out the program language used by robot 1.
From the foregoing, the beneficial effects of the present invention is: the present invention is by by workpiece 2 3-D graphic and industrial robot
1 combines, and carries out off-line programing, it is not necessary to rely on robot 1 off-line programming software, is compiled by the off-line of grinding and polishing industrial robot 1
Journey process simplification.
As it is shown in figure 1, wherein the tool tip 11 in robot 11 contacts with workpiece 2 and carries out grinding and polishing, when program starts, first
Set up industrial robot 1 basis coordinates system OBase, demarcating in the present embodiment by line-of-sight course, in step sl, by 3 points
Standardizition demarcates workpiece coordinate system OW, tool tip coordinate system OT.Line-of-sight course is demarcated coordinate system and is comprised the following steps:
As shown in Figure 4, workpiece or instrument are preset three points respectively, are labeled as: A(x1, y1, z1), B(x2, y2, z2) and
C(x3, y3, z3), obtain with a B as initial point by below equation, B point is Z axis to A point, and C point falls the coordinate in ZOY plane
System:
a=(z3-z1)*(y2-y1)- (y3-y1)*(z2-z1)；
b=(z2-z1)*(x3-x1)- (z3-z1)*(x2-x1)；
c=(x2-x1)*(y3-y1)- (x3-x1)*(y2-y1)；
Nx=a/((a^2+b^2+c^2)^(1/2))；
Ny=b/((a^2+b^2+c^2)^(1/2))；
Nz=c/((a^2+b^2+c^2)^(1/2))；
Ax=(x1-x2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2) ^2)^(1/2))；
Ay=(y1-y2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2) ^2)^(1/2))；
Az=(z1-z2)/ (((x1-x2)^2+(y1-y2)^2+(z1-z2) ^2)^(1/2))；
Ox= Ay* Nz- Ny* Az；
Oy= Az* Nx- Nz* Ax；
Oz= Ax* Ny- Nx* Ay；
Obtain R,
R=[Nx, Ox, Ax, x2
Ny, Oy, Ay, y2
Nz, Oz, Az, z2
0,0,0,1].
Wherein, the normal vector of ZOY plane i.e. X-direction vector, if X-direction vector OX(a, b, c),
Nx is the component in the unit vector of the X-axis of grinding and polishing path point coordinate system R X-axis in workpiece coordinate system OW, and Ny is mill
Component in the unit vector of the X-axis of throwing path point coordinate system R Y-axis in workpiece coordinate system OW, Nz is that grinding and polishing path point is sat
Component on the unit vector of the X-axis of mark system R Z axis in workpiece coordinate system OW；Ox is the Y-axis of grinding and polishing path point coordinate system R
Unit vector X-axis in workpiece coordinate system OW on component, Oy is the unit vector of the Y-axis of grinding and polishing path point coordinate system R
The component in Y-axis in workpiece coordinate system OW, Oz is that the unit vector of the Y-axis of grinding and polishing path point coordinate system R is at workpiece coordinate
It it is the component on the Z axis in OW；Ax is the unit vector of the Z axis of grinding and polishing path point coordinate system R X-axis in workpiece coordinate system OW
On component, Ay is the component in the unit vector of the Z axis of grinding and polishing path point coordinate system R Y-axis in workpiece coordinate system OW, Az
It it is the component on the unit vector of Z axis of the grinding and polishing path point coordinate system R Z axis in workpiece coordinate system OW.
In the present embodiment, in step sl, workpiece coordinate system OW is demarcated by 3 standardizitions.
In the present embodiment, described workpiece coordinate system OW builds on an apex of cuboid bottom workpiece 2, at machine
Mechanical arm 10 end of people 1 installs instrument known to a three-dimensional dimension, by robot 1 demonstrator by tool tip 11 and workpiece
Three point cantact of 2 surface programmings, obtain these three points of workpiece 2 surface coordinate figure in basis coordinates system of robot 1 OBase,
Thus obtain workpiece coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot 1 OBase.Such as Fig. 5 institute
Showing, one of them point of three points preset is positioned at a summit of workpiece 2 top cuboid, with this summit for workpiece coordinate system OW's
Initial point.
In the present embodiment, set up tool tip 11 coordinate system in tool tip 11 and workpiece 2 contact position, use three five
Footwork calibration tool ending coordinates system OT.
In the present embodiment, described 3 five-step approach calibration tool ending coordinates systems comprise the following steps:
Step S30: by robot 1 demonstrator Non-follow control mechanical arm 10 successively with the first attitude, the second attitude and the 3rd appearance
State keeps tool tip 11 and the first fixed-point contact in space, and the first attitude, the second attitude and the 3rd posture position are maintained at
First fixed point is constant, forms first step pose, second step pose and the 3rd step appearance respectively；
Step S31: keep the 3rd attitude constant, the X-axis along basis coordinates system of robot translates specific range to the second fixing point, shape
Become the 4th step appearance；
Step S33: keep the 3rd attitude constant, from the second fixing point along the Z axis of basis coordinates system of robot translation specific range to
3rd fixing point, forms the 5th step appearance；
Step S34: according to the first fixing point, the second fixing point and the coordinate of the 3rd fixing point and first step pose, second step
The joint angle information of the robot that pose, the 3rd step appearance, the 4th step appearance are corresponding with the 5th step appearance, by robot controller
Core Generator ending coordinates system OT.
In the present embodiment, in described step S2, obtain spatial pose homogeneous transform matrix especially by following steps
R:
Step S21: use the surface curve instrument in three-dimensional software to generate surface curve, chooses some grinding and polishing paths 3, every
The surface curve that grinding and polishing path 3 is adjacent by two and shape is consistent forms；
Step S22: choose two surface curve of wherein grinding and polishing path 3 correspondence, at every surface song in this grinding and polishing path 3
10-20 spatial point 30 is uniformly laid on line；Respectively in the spatial point 30 of the surface curve being located along on the right side of direction, grinding and polishing path 3
Front one spatial point 30 is set at 2-3mm again, by three spaces adjacent in two surface curve in grinding and polishing path 3
Point 30, as one group of spatial point 30, obtains some groups of spatial point 30；
Step S23: the coordinate information of three spatial point 30 in output often group spatial point 30；
Step S24: generate several coordinate systems generated by three spatial point 30 often organized in spatial point 30；
Step S25: the coordinate system being calculated in step S14 by 3 standardizitions spatial pose in workpiece coordinate system OW
Homogeneous transform matrix R.
In the step s 21, three-dimensional software uses " surface curve " instrument, select successively to need to set up surface curve
Surface, sets U, V line quantity, if grinding and polishing workpiece 2 is faucet, arranges U, V line quantity according to curved surface complexity and is respectively
10-20, three-dimensional software, i.e. in selected Surface Creation surface curve, now can reject the unwanted surface of part bent as required
Line, the surface curve being retained as grinding and polishing path 3 and the surface curve being adjacent.One workpiece 2 surface includes some
Grinding and polishing path 3, arranges 10 grinding and polishing paths 3 altogether according to curved surface complexity and grinding and polishing tool width, and a grinding and polishing path 3 is corresponding
Article two, the surface curve that adjacent, shape is similar.
In step S23, the mode of output spatial point 30 three-dimensional coordinate information has two kinds: one to be manually to click object space
Point 30, the coordinate figure that would indicate that is manually recorded；Two is by three-dimensional software api interface secondary development program, the merit of this program
It can be the coordinate figure of batch signatures point.
In step s 25, first, spatial pose homogeneous transform matrix R is converted to locative coordinate figure and expression
The quaternary number of attitude, on grinding and polishing path, workpiece 2 surface 3, several are defined on the spatial pose homogeneous transformation in workpiece 2 coordinate system
Matrix is that R is as follows:
R=[Nx, Ox, Ax, Px
Ny, Oy, Ay, Py
Nz, Oz, Az, Pz
0,0,0,1]；
Then origin value is [Px, Py, Pz]；The quaternary number of expression attitude is [Q1, Q2, Q3, Q4]；
Wherein
Q1 =((Nx + Oy + Az+1)^(1/2))/2；
Q2= (Oz-Ay)/(4*Q1)；
Q3= (Ax - Nz)/(4*Q1)；
Q4= (Ny - Ox)/(4*Q1)。
In the present embodiment, in described step S2, at workpiece 2 3-D graphic surface hand drawn grinding and polishing path curve.
In sum, a kind of based on workpiece three-dimensional graph the grinding and polishing industrial robot off-line programing side that the present invention provides
Method, combines workpiece three-dimensional graph with industrial robot, it is not necessary to rely on robot off-line programming software, by grinding and polishing industrial machine
The off-line programing process simplification of device people.
The object, technical solutions and advantages of the present invention are further described by above-listed preferred embodiment, are answered
It is understood by, the foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
1. a grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph, it is characterised in that include following step
Rapid:
Step S0: obtained the 3-D graphic of workpiece by three-dimensional software；
Step S1: by part calibration module, for setting up a workpiece coordinate system OW on workpiece, and demarcates this workpiece of acquisition
Coordinate system OW spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase；
Step S2: by workpiece three-dimensional graph processing module, in the 3-D graphic Surface Creation grinding and polishing path of workpiece, will grind
Throw path discrete for several spatial point, export the three-dimensional coordinate information of each spatial point, be calculated surface of the work grinding and polishing road
Spatial pose homogeneous transform matrix R during several are defined on workpiece coordinate system OW on footpath；
Step S3: by tool calibration module, set up tool tip coordinate in robot tool end and absorption surface position
It is OT, and demarcates acquisition this tool tip coordinate system OT spatial pose homogeneous transformation square in basis coordinates system of robot OBase
Battle array T；
Step S4: by robot motion's emulation module, the impact point data that spatial pose homogeneous matrix R is obtained, space bit
The tool data that appearance homogeneous transform matrix T obtains, and the workpiece data that spatial pose homogeneous transform matrix W obtains, in conjunction with machine
Device people's the computation of inverse-kinematics obtains six joint angle value in robot motion's track under each impact point state, with these six passes
Joint angle value arranges joint angle constraint, it is achieved robot motion emulates；
Step S5: produce module by robot program and will calculate the position of each impact point state in gained robot motion's track
Put and work out, with attitude information, the program language used by robot.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its
It is characterised by: in step sl, demarcates workpiece coordinate system OW by 3 standardizitions.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 2, its
It is characterised by: described workpiece coordinate system OW builds on an apex of cuboid bottom workpiece, at the mechanical arm end of robot
End installs instrument known to a three-dimensional dimension, is connect by three points that tool tip and surface of the work are preset by robot demonstrator
Touch, obtain these three points of surface of the work coordinate figure in basis coordinates system of robot OBase, thus obtain workpiece coordinate system OW and exist
Spatial pose homogeneous transform matrix W in basis coordinates system of robot OBase.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 3, its
It is characterised by: at tool tip with absorption surface, set up tool tip coordinate system, use 3 five-step approach calibration tool ends
Coordinate system OT.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 4, its
It is characterised by: described 3 five-step approach calibration tool ending coordinates systems comprise the following steps:
Step S30: protected with the first attitude, the second attitude and the 3rd attitude successively by robot demonstrator Non-follow control mechanical arm
Holding tool tip and the first fixed-point contact in space, it is solid that the first attitude, the second attitude and the 3rd posture position are maintained at first
The constant first step pose of formation respectively, second step pose and the 3rd step appearance at fixed point；
Step S31: keep the 3rd attitude constant, the X-axis along basis coordinates system of robot translates specific range to the second fixing point, shape
Become the 4th step appearance；
Step S33: keep the 3rd attitude constant, from the second fixing point along the Z axis of basis coordinates system of robot translation specific range to
3rd fixing point, forms the 5th step appearance；
Step S34: according to the first fixing point, the second fixing point and the coordinate of the 3rd fixing point and first step pose, second step
The joint angle information of the robot that pose, the 3rd step appearance, the 4th step appearance are corresponding with the 5th step appearance, by robot controller
Core Generator ending coordinates system OT.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its
It is characterised by: in described step S2, especially by following steps acquisition spatial pose homogeneous transform matrix R:
Step S21: use the surface curve instrument in three-dimensional software to generate surface curve, chooses some grinding and polishing paths, every
The surface curve that grinding and polishing path is adjacent by two and shape is consistent forms；
Step S22: choose two surface curve that wherein a grinding and polishing path is corresponding, in every surface curve in this grinding and polishing path
Upper uniformly 10-20 spatial point of laying；Respectively in the front of spatial point of the surface curve being located along on the right side of grinding and polishing path direction
One spatial point is set at 2-3mm again, using three spatial point adjacent in two surface curve in grinding and polishing path as one
Group spatial point, obtains some groups of spatial point；
Step S23: the coordinate information of three spatial point in output often group spatial point；
Step S24: generate several coordinate systems generated by three spatial point often organized in spatial point；
Step S25: the coordinate system being calculated in step S14 by 3 standardizitions spatial pose in workpiece coordinate system OW
Homogeneous transform matrix R.
A kind of grinding and polishing industrial robot off-line programing method based on workpiece three-dimensional graph the most according to claim 1, its
It is characterised by: in described step S2, at workpiece three-dimensional graph surface hand drawn grinding and polishing path curve.
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