CN106200557A - Multi-spindle machining system precise motion paths planning method - Google Patents
Multi-spindle machining system precise motion paths planning method Download PDFInfo
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- CN106200557A CN106200557A CN201610885424.XA CN201610885424A CN106200557A CN 106200557 A CN106200557 A CN 106200557A CN 201610885424 A CN201610885424 A CN 201610885424A CN 106200557 A CN106200557 A CN 106200557A
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- machining system
- spindle machining
- algorithm
- planning method
- precise motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36321—Program only shape, add approach path and machining conditions automatically
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of multi-spindle machining system precise motion paths planning method, it is by the analysis to multi-spindle machining system motion path, choose background mathematics principle and algorithm model, and the basic programming mode coding algorithm provided based on multi-spindle machining system, ensure the portability of algorithm, by programming language self-contained for multi-spindle machining system and the algorithm principle chosen are combined, also the portability of algorithm is met while ensureing the accurate getatability of program, it is applicable to universal multi-spindle machining system, possesses the universal suitability, high-precision motion path can be provided.The present invention has the service of persistence, stability, brand for enterprise by providing, and does one's bit for China's industrial robot cause.Believing in the near future, Robot industry can become the pillar of the economy industry of country as automobile, and the U.S. is " country on automobile ", and China can also become " standing in the country on robot shoulder ".
Description
Technical field
The invention belongs to multiple fields such as production technology improvement, the control of multi-spindle machining system, trajectory path planning, relate to especially
And one multi-spindle machining system precise motion paths planning method.
Background technology
At present, China has become the Industrial Robot Market that the whole world is maximum, and population structure change, technological progress and policy
The factors such as blessing drive China's industry of industrial robots accelerated development.China is sure to occupy global marketing state first in continuous 3 years, contrast
200/ten thousand workmans of the industrial robot density general level of industrially developed country, China's industrial robot storage is more current
Still there is the increment space of nearly 5 times.Chinese people mouth structure flex point is the most existing, along with technological progress and national industrial policies constantly accommodate,
Following 5-10 will present accelerated development trend, and domestic industrial robot quantity of possessing will continue to increase.
The usage amount of China's industrial robot will necessarily present a rising trend, but robot industry internal core skill
Art is monopolized by foreign enterprise.By the actual experience in enterprise, find that existing multi-spindle machining system use has problems, mesh
Front in cutting industry, accurately cut road owing to robot body mechanical defect causes robot cannot complete perfect roundlet etc.
Footpath is drawn, and the basic programming mode that industrial robot company provides cannot solve exact path planning in the actual application of industry, and
The solution that industrial robot company provides is to buy the options such as cutting option bag.These options are expensive, usual enterprise
It is unwilling to pay such funds again, but must buy again, because Program path can only be carried out by buying cutting option bag
Optimize, robot could be allowed to produce and reach actual process requirement, therefore enterprise's entirety is in the state that " quilt " is bought.
Summary of the invention
It is an object of the invention to: for the problem of above-mentioned existence, it is provided that technical solution of the present invention: a kind of multi-spindle machining system
System precise motion paths planning method, it possesses the universal suitability, using the teaching of the invention it is possible to provide high-precision motion path.
The technical scheme is that and be achieved in that: multi-spindle machining system precise motion paths planning method, its feature
It is: concrete grammar comprises the following steps:
Step one: obtain information, obtains actually used multi-spindle machining system kind model, tool parameters, workpiece parameter, work
Ambient conditions and technological requirement；
Step 2: issue handling, based on obtaining information, analyzes exact path by the base of camber line, circle, semicircle, straight line and broken line
Plinth lines combine, and choose background mathematics principle and algorithm model according to different lines, use multi-spindle machining system to be carried
The basic programming mode of confession, transplants mathematical principle and algorithm, and the mathematical principle that will choose and algorithm are converted to multi-spindle machining system
The programmed algorithm that system is capable of identify that；
Step 3: actual application, tests multi-spindle machining system in actual working environment, the most excellent to existing defects position
Change, ultimately form the multi-spindle machining system precise motion path planning programmed algorithm meeting enterprise demand.
Multi-spindle machining system precise motion paths planning method of the present invention, the background mathematics in its described step 2
Principle includes with algorithm model:
A, straight line: Y=KX+B
B, circle: X*X+Y*Y=R*R
Wherein, Y is Y coordinate under two-dimensional space, and X is X-coordinate under two-dimensional space, and R is the radius of circle, and K is straight slope；
Any line segment in described multi-spindle machining system motion path is all regarded as straight line and circular arc is constituted, therefore by above-mentioned two
The basis that formula is formed as programmed algorithm, described multi-spindle machining system precise motion paths planning method is former with the mathematics on basis
Complicated computational short cut, as point of penetration, is solved, it is thus achieved that after solution the most progressively on two-dimensional space by reason and model
Rising to the calculating of three dimensions and vector, calculus calculates, and programmed algorithm by vector, matrix, calculus, three-dimensional is especially
Calculate to various dimensions.
Multi-spindle machining system precise motion paths planning method of the present invention, the basis programming in its described step 2
Mode includes: the motor control programming mode that the programming mode that multi-spindle machining system manufacturer is provided and language, PLC are provided with
And the motor control programming mode that kinematic axis card is provided.
Multi-spindle machining system precise motion paths planning method of the present invention, it is in described step 3, multiaxis machine
Tool system, when reality is tested, finds the optimum posture data of multi-spindle machining system, reduces attitude replacement frequency, at attitudes vibration
During do not carry out Product processing, make multiple axle coordinate ensure athletic posture smooth transition.
The present invention, by the analysis to multi-spindle machining system motion path, chooses background mathematics principle and algorithm model, and
The basic programming mode coding algorithm provided based on multi-spindle machining system, it is ensured that the portability of algorithm, by will be many
The self-contained programming language of shaft mechanical system and the algorithm principle chosen combine, and are ensureing the accurate getatability of program
Also meet the portability of algorithm, it is adaptable to universal multi-spindle machining system simultaneously.
Accompanying drawing explanation
Movement of tool theoretical path when Fig. 1 is the precise motion paths planning method not using the present invention.
Motion path after instrument shake when Fig. 2 is the precise motion paths planning method not using the present invention.
Fig. 3 is to be likely to occur path during the precise motion paths planning method not using the present invention.
Movement of tool theoretical path when Fig. 4 and Fig. 5 is the use of the precise motion paths planning method of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The technology of the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain this
Bright, it is not intended to limit the present invention.
Embodiment: a kind of multi-spindle machining system precise motion paths planning method, concrete grammar comprises the following steps:
Step one: obtain information, obtains actually used multi-spindle machining system kind model, tool parameters, workpiece parameter, work
Ambient conditions and technological requirement.Analyze current path and be unsatisfactory for the reason of technological requirement, and consider by which type of method solution
Certainly.
Wherein, multi-spindle machining system kind model, such as ABB AB 6 shaft industrial robot IRB 120.
Tool kind model, such as IPG laser generator, lasemech laser three-D cutting head.
Workpiece design parameter, such as material, thickness, size etc..
Working environment situation, such as processing mode, installation environment etc..
Technological requirement, such as cutting circle size, cut end surface roughness etc..
Cutting parameter, such as cutting gas, cut air pressure, cutting speed etc..
Step 2: issue handling, based on obtaining information, analyzes exact path by camber line, circle, semicircle, straight line and broken line
Basic lines combine, and choose background mathematics principle and algorithm model according to different lines, use multi-spindle machining system
The basic programming mode provided, transplants mathematical principle and algorithm, and the mathematical principle that will choose and algorithm are converted to multiaxis machine
The program that tool system is capable of identify that.
Wherein, described background mathematics principle includes with algorithm model:
A, straight line: Y=KX+B
B, circle: X*X+Y*Y=R*R
Wherein, Y is Y coordinate under two-dimensional space, and X is X-coordinate under two-dimensional space, and R is the radius of circle, and K is straight slope；
Any line segment in described multi-spindle machining system motion path is all regarded as straight line and circular arc is constituted, therefore by above-mentioned two
The basis that formula is formed as programmed algorithm, described multi-spindle machining system precise motion paths planning method is former with the mathematics on basis
Complicated computational short cut, as point of penetration, is solved, it is thus achieved that after solution the most progressively on two-dimensional space by reason and model
Rising to the calculating of three dimensions and vector, calculus calculates, and programmed algorithm by vector, matrix, calculus, three-dimensional is especially
Calculate to various dimensions.
Described basis programming mode includes:
The RAPID programming mode that programming mode that multi-spindle machining system manufacturer is provided and language, such as ABB AB provide,
EPSON company provide RC+ SPEL+ programming mode.
The multiaxis that the prompt PLC of the motor control programming mode that PLC is provided, such as letter is provided is coordinated to control, motion interpolation
Deng control programming mode.
The motor control programming mode that kinematic axis card is provided, the multijoint control axle card that high-tech company is provided the most admittedly
Multiaxis coordinate control programming mode.
Step 3: actual application, tests multi-spindle machining system in actual working environment, to existing defects position
Re-optimization, ultimately forms the multi-spindle machining system precise motion path planning programmed algorithm meeting enterprise demand.
Wherein, defect is primarily present in during three-dimensional path linear movement turns curvilinear motion, owing to multiaxis coordinates
Causing end operating attitude not stop change, tool tip produces weak vibrations, and due to the concrete condition of TCP point, by error not
Amplify with reason, finally make product have defect.
Therefore multi-spindle machining system is when reality is tested, find the optimum posture data of multi-spindle machining system, reduce attitude more
Change frequency, during attitudes vibration, do not carry out Product processing, make multiple axle coordinate the smooth transition ensureing athletic posture.
The quantity calculating gained point in the present invention is the most, and precision is the highest, but system running speed reduces；Calculate institute's invocation point
Quantity is the fewest, and precision is the lowest, but system running speed can ensure that.Therefore the quantity of Practical Calculation institute invocation point should be according to on-the-spot actual
A scope depending on environment and technological requirement.
Path is by forming one by one, so putting planning more accurately based on the programming mode of basis, special
The lines in fine diagrams, more should not accomplish a position in every possible way.Shake in work process to be considered
Deng the impact of other factors, a perfect path planning program can be made.First the design of whole program asks from actual
Topic is set out, and problem constantly refines littleization, and the problem points that constantly grasps the key link, the most constantly refines, finally hold
Live whole problem key point, by key point the most progressively build procedure system, complete whole programmed algorithm and write.
The design example that the present invention is concrete:
1, the problem solved is: industrial robot three-dimensional circular cutting path in cut is accurate with combinatorial path
Trajectory path planning.
2, the equipment used is: ABB AB IRB2400_10_150_02(is without cutting option bag), IPG company laser occurs
Device YLS-2000, lasemech_Finekerf laser three-D cutting head.
3, the workpiece of cutting is: thick No. 45 steel of 2.5mm, stamped molding is crooked pipeline shape.
4, the difficult point of cutting is: the circular cutting of (1) φ 10 and φ 20；(2) radial end face three-dimensional surface cutting at pipeline.
5, path planning program:
(1) round the circle of φ 10 will be carried out 420 parts of deciles, obtains 420 points according to technological requirement, be determined by home position,
Normal equation finally by circle calculates the data of 420 points in space, and these data are write the position in controller
Put in data, finally perform.
(2) will be round according to technological requirement, the circle of φ 20 is carried out 180 parts of deciles, obtains 180 points, be determined by the center of circle
Position, calculates the data of 180 points in space, and these data is write in controller finally by round normal equation
Position data in, finally perform.
(3) cutting of bend pipe radial end face, is divided into whole path straightway, curved section, and gathers each section respectively up to
Few four to five point data, are judged data precision again by contrast model data, rear by software acquisition line segment number
Learn model, according still further to offs offset commands, click on line displacement teaching in individual line segment and process, according to line segment length with want refinement
Degree, the number of reasonable arrangement point.Wherein, straight line portion generally uses and processes less than three points, and ensures the one of attitude
Cause property, curved portion, according to the data of degree of crook reasonable disposition point in constant distance, also need to insert as fruit dot has lacked
Mend.
6, program re-optimization: carry out equipment debugging, reasonable disposition migration path at actual industrial scene, prevent worked
Journey occurring, attitude is widely varied, and repeatedly tests program, it is ensured that program mistake will not occur because of reasons such as storehouses,
By program optimization productive temp, improve production efficiency.
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
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (4)
1. multi-spindle machining system precise motion paths planning method, it is characterised in that: concrete grammar comprises the following steps:
Step one: obtain information, obtains actually used multi-spindle machining system kind model, tool parameters, workpiece parameter, work
Ambient conditions and technological requirement；
Step 2: issue handling, based on obtaining information, analyzes exact path by the base of camber line, circle, semicircle, straight line and broken line
Plinth lines combine, and choose background mathematics principle and algorithm model according to different lines, use multi-spindle machining system to be carried
The basic programming mode of confession, transplants mathematical principle and algorithm, and the mathematical principle that will choose and algorithm are converted to multi-spindle machining system
The program that system is capable of identify that；
Step 3: actual application, tests multi-spindle machining system in actual working environment, the most excellent to existing defects position
Change, ultimately form the multi-spindle machining system precise motion path planning programmed algorithm meeting enterprise demand.
Multi-spindle machining system precise motion paths planning method the most according to claim 1, it is characterised in that: described step
Background mathematics principle in rapid two includes with algorithm model:
A, straight line: Y=KX+B
B, circle: X*X+Y*Y=R*R
Wherein, Y is Y coordinate under two-dimensional space, and X is X-coordinate under two-dimensional space, and R is the radius of circle, and K is straight slope；
Any line segment in described multi-spindle machining system motion path is all regarded as straight line and circular arc is constituted, therefore by above-mentioned two
The basis that formula is formed as programmed algorithm, described multi-spindle machining system precise motion paths planning method is former with the mathematics on basis
Complicated computational short cut, as point of penetration, is solved, it is thus achieved that after solution the most progressively on two-dimensional space by reason and model
Rising to the calculating of three dimensions and vector, calculus calculates, and programmed algorithm by vector, matrix, calculus, three-dimensional is especially
Calculate to various dimensions.
Multi-spindle machining system precise motion paths planning method the most according to claim 1, it is characterised in that: described step
Basic programming mode in two includes: the motion that the programming mode that multi-spindle machining system manufacturer is provided and language, PLC are provided
The motor control programming mode that control programming mode and kinematic axis card are provided.
Multi-spindle machining system precise motion paths planning method the most according to claim 1, it is characterised in that: in described step
In rapid three, multi-spindle machining system, when reality is tested, finds the optimum posture data of multi-spindle machining system, reduces attitude and changes frequency
Rate, does not carry out Product processing during attitudes vibration, makes multiple axle coordinate the smooth transition ensureing athletic posture.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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| CN103412514A (en) * | 2013-07-08 | 2013-11-27 | 华中科技大学 | Path planning method in multi-axis linkage abrasive belt grinding processing |
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| CN102581849A (en) * | 2012-01-05 | 2012-07-18 | 东南大学 | Method for planning trajectories of industrial robot based on NC (numerical control) codes |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN110815226B (en) * | 2019-11-15 | 2022-03-01 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113245722B (en) * | 2021-06-17 | 2021-10-01 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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