CN106826834B - A kind of robot welding automatic localization method - Google Patents
A kind of robot welding automatic localization method Download PDFInfo
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- CN106826834B CN106826834B CN201710145748.4A CN201710145748A CN106826834B CN 106826834 B CN106826834 B CN 106826834B CN 201710145748 A CN201710145748 A CN 201710145748A CN 106826834 B CN106826834 B CN 106826834B
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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
Abstract
The invention discloses a kind of robot welding automatic localization methods, present invention determine that seek seeking a section and not being overlapped with any side boundary line of cell for straight line where a path includes multiple right angle inflection points and the length for being parallel to workpiece or is wide；It seeks a path and is divided into the transverse direction for obtaining work cell lattice transverse direction information and seeks a path and the longitudinal direction for obtaining work cell lattice longitudinal direction information and seek a path, laterally seek a path and longitudinal to seek a path be in " S-shaped " or " 2 shape ".Workpiece of the present invention for matts type, it is only necessary to which simple setting workpiece coordinate system, the parameters such as Workpiece length, width and cell number, controller can execute welding procedure automatically, and without cumbersome teaching, robot time can be substantially reduced；Each visual sensor seek position to point be all accurate, therefore the assembly precision requirement to workpiece can also be reduced.
Description
Technical field
The invention belongs to field of automatic welding, and in particular to a kind of robot welding automatic localization method.
Background technique
Current industrial robot is widely used to welding field.The operation program of robot is generally obtained by teaching,
This method is cumbersome there is complex part teaching and requires the clamping precision of workpiece relatively high deficiency.The prior art is usual
The cumbersome of teaching is solved the problems, such as using off-line programming technique and is reduced using modes such as electric arc tracking or touch sensings to workpiece
The requirement of clamping precision, but these solutions are not exclusively applicable in the welding of field subtype workpiece, when welding matrix pattern workpiece,
Grid one by one is taken a significant amount of time to the teaching needs of robot, teaching is carried out to robot, need to carried out when number of grid is more big
Unnecessary mechanical repetition teaching work is measured, the automation of robot is unfavorable for.
Summary of the invention
Goal of the invention: in view of the problems of the existing technology, the present invention provides a kind of machine that need to only carry out simple teaching
People welds automatic localization method.
Technical solution: a kind of robot welding automatic localization method includes the following steps:
(1) workpiece coordinate system is established；
(2) workpiece is divided into matrix pattern, cell number m, n on the long L, width W and length and width direction of workpiece is set
With seek position height z1；
(3) it determines and seeks a path, a path of seeking includes multiple right angle inflection points and the length for being parallel to workpiece or wide place
Straight line is sought a section and is not overlapped with any side boundary line of cell；A path is sought to be divided into for obtaining work cell lattice transverse direction
The transverse direction of information seeks a path and the longitudinal direction for obtaining work cell lattice longitudinal direction information and seeks a path, laterally seeks a path and indulges
It is in " S-shaped " or " 2 shape " to a path is sought；
(4) path and longitudinal direction is laterally sought under calculating workpiece coordinate system to seek starting point in a path, terminal and each right angle and turn
The coordinate value of point, obtains the Grid Track for seeking a path；
(5) welding robot carries out lateral position and the longitudinal direction sought according to the trajectory coordinates for seeking a path respectively and seeks position, and record swashs
The grid edge coordinate that the coordinate of robot passes through when optical sensor output signal changes；
(6) grid profile is determined according to the grid edge coordinate recorded in step (5)；
(7) path of welding planning is carried out according to grid profile, generates weld preparation point and welding is evaded a little；
(8) weld task is executed according to the path of welding planned in step (7).
Further, step (1) workpiece coordinate system is using the lower edge of workpiece as abscissa x-axis, the left margin of workpiece
For ordinate y-axis, the lower-left corner point of workpiece is origin O, crosses O point and is z-axis perpendicular to the straight line of xOy plane.
Further, it includes that four right angle inflection points and three sections are parallel to workpiece seat that a path is laterally sought described in step (3)
Abscissa seeks a section in mark system, within the scope of the ordinate where the first row cell of the ordinate of starting point in workpiece,
Within the scope of ordinate where last line cell of the ordinate of its terminal in workpiece；Or Origin And Destination is exchanged；
The longitudinal direction seeks that a path includes four right angle inflection points and what three sections were parallel to ordinate in workpiece coordinate system seeks position
Section, within the scope of the abscissa where last column unit lattice of the abscissa of starting point in workpiece, the abscissa of terminal exists
Within the scope of abscissa where the first row cell of workpiece；Or Origin And Destination is exchanged.
Further, laterally sought described in step (4) path starting point be P1, four right angle inflection points be followed successively by P2, P3,
P4, P5, terminal P6；The starting point that a path is sought in longitudinal direction is P7, and four right angle inflection points are followed successively by P8, P9, P10, P11, and terminal is
P12；The coordinate of each point is respectively as follows: under the workpiece coordinate system established in step (1)
P1(-a,L-b,z1)；P2(W+a,L-b,z1)；P3(W+a,c,z1)；P4(-a,c,z1)；P5(-a,b,z1)；P6(W+a,
b,z1)；P7(W-a,-b,z1)；P8(W-a,L+b,z1)；P9(d,L+b,z1)；P10(d,-b,z1)；P11(a,-b,z1)；P12(a,L+
b,z1)；
Wherein, (0, W/2) a ∈, b ∈ (0, L/2), c ∈ (L/2, L*3/4) and c ≠ k*m, k ∈ N；D ∈ (W/4, W/2) and
D ≠ k*n, k ∈ N.
Further, the a=W/2n, b=L/2m, c=L/2+L/4m, d=W/2-W/4n.
Further, laterally sought described in step (4) Grid Track in path i.e. along P1- > P2- > P3- > P4- > P5- >
The Grid Track of P6 longitudinally seeks the Grid Track in path i.e. along P7- > P8- > P9- > P10- > P11- > P12 Grid Track.
Further, the calculation method in step (6) are as follows:
(6.1) automatic localization obtains three key position points of single edge on workpiece, chooses wherein two o'clock in turn and determines this
Linear equation where two o'clock, and the more remaining distance to the straight line is calculated, the smallest straight line equation of selected distance
Position equation as this side；
(6.2) position equation that each edge on workpiece is calculated according to step (6.1), by these position equation simultaneous equations
Group calculates the location point coordinate of each side of workpiece intersection, i.e. grid intersection coordinate.
(6.3) grid profile is determined according to grid intersection coordinate.
Further, it is shortest to arrive at the destination walking according to robot for the planning of path of welding described in step (7)
It is planned in path.
The utility model has the advantages that workpiece of the present invention for matts type, it is only necessary to simple setting workpiece coordinate system, Workpiece length,
The parameters such as width and cell number, controller can execute welding procedure automatically, without cumbersome teaching, when robot prepares
Between can substantially reduce；Each visual sensor seek position to point be all accurate, therefore the assembly to workpiece can also be reduced
Required precision.
Detailed description of the invention
Fig. 1 is robot welding system's schematic diagram；
Fig. 2 is matrix pattern workpiece schematic diagram；
Fig. 3 is that matrix pattern workpiece seeks a schematic diagram；
Fig. 4 is the key position point on the workpiece that automatic localization is got.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
A kind of robot welding automatic localization method, the robot welding system based on 6 axis robots in structure, such as Fig. 1
Shown, hardware composition includes control cabinet, robot body, teaching machine, laser displacement sensor, the source of welding current；Wherein, robot
Ontology is the final actuating station of robot system, is responsible for executing the operation program that control cabinet generates；Teaching machine shows robot
Religion programming programs the movement that the program passed through directly controls robot body by control cabinet；Control cabinet is robot system
The movement of control robot body is responsible in core；Laser displacement sensor is installed on the arm of robot body, machine
During human action, the fluctuating below run trace can capture；The source of welding current is robot automatic localization welding system
Final actuating station, the movement of cooperative mechanical arm is responsible for executing various weld tasks.Control cabinet and teaching machine are equipped with dot laser certainly
It is dynamic to seek welding system software, for calculating welding key position point, generate robot welding program.
Welding automatic localization method specifically comprises the following steps:
(1) workpiece coordinate system is established, using the lower edge of workpiece as abscissa x-axis, the left margin of workpiece is ordinate y-axis,
The lower-left corner point of workpiece is origin O, crosses O point and is z-axis perpendicular to the straight line of xOy plane.；
(2) workpiece is divided into matrix pattern, cell number m, n on the long L, width W and length and width direction of workpiece is set
With seek position height z1, as shown in Figure 2；
(3) it determines and seeks a path, a path of seeking includes multiple right angle inflection points and the length for being parallel to workpiece or wide place
Straight line is sought a section and is not overlapped with any side boundary line of cell；A path is sought to be divided into for obtaining work cell lattice transverse direction
The transverse direction of information seeks a path and the longitudinal direction for obtaining work cell lattice longitudinal direction information and seeks a path, laterally seeks a path and indulges
It is in " S-shaped " or " 2 shape " to a path is sought；
It is specific laterally to seek that a path includes four right angle inflection points and three sections are parallel to seeking for abscissa in workpiece coordinate system
Position section, within the scope of the ordinate where the first row cell of the ordinate of starting point in workpiece, the ordinate of terminal exists
Within the scope of ordinate where the last line cell of workpiece；Or Origin And Destination is exchanged；
Longitudinal direction seeks that a path includes four right angle inflection points and what three sections were parallel to ordinate in workpiece coordinate system seeks a section,
Within the scope of abscissa where last column unit lattice of the abscissa of its starting point in workpiece, the abscissa of terminal is in workpiece
Within the scope of abscissa where first row cell；Or Origin And Destination is exchanged.
(4) path and longitudinal direction is laterally sought under calculating workpiece coordinate system to seek starting point in a path, terminal and each right angle and turn
The coordinate value of point, obtains the Grid Track for seeking a path；
As shown in figure 3, laterally sought in the present embodiment path starting point be P1, four right angle inflection points be followed successively by P2, P3,
P4, P5, terminal P6；The starting point that a path is sought in longitudinal direction is P7, and four right angle inflection points are followed successively by P8, P9, P10, P11, and terminal is
P12；The coordinate of each point is respectively as follows: under the workpiece coordinate system established in step (1)
P1(-a,L-b,z1)；P2(W+a,L-b,z1)；P3(W+a,c,z1)；P4(-a,c,z1)；P5(-a,b,z1)；P6(W+a,
b,z1)；P7(W-a,-b,z1)；P8(W-a,L+b,z1)；P9(d,L+b,z1)；P10(d,-b,z1)；P11(a,-b,z1)；P12(a,L+
b,z1)；
Wherein, (0, W/2) a ∈, b ∈ (0, L/2), c ∈ (L/2, L*3/4) and c ≠ k*m, k ∈ N；D ∈ (W/4, W/2) and
D ≠ k*n, k ∈ N take a=W/2n, b=L/2m, c=L/2+L/4m, d=W/2-W/4n in the present embodiment, it may be assumed that
·P1(-W/2n,L-L/2m,z1)
·P2(W+W/2n,L-L/2m,z1)
·P3(W+W/2n,L/2+L/4m,z1)
·P4(-W/2n,L/2+L/4m,z1)
·P5(-W/2n,L/2m,z1)
·P6(W+W/2n,L/2m,z1)
·P7(W-W/2n,-L/2m,z1)
·P8(W-W/2n,L+L/2m,z1)
·P9(W/2-W/4n,L+L/2m,z1)
·P10(W/2-W/4n,-L/2m,z1)
·P11(W/2n,-L/2m,z1)
·P12(W/2n,L+L/2m,z1)
The preferred embodiment of embodiment above, but wherein P1 point to the leftmost distance of workpiece, P2 to workpiece rightmost
Distance, the distance of P12 to the leftmost distance of workpiece, P8 to workpiece rightmost can be different, i.e., can not be a；Similarly, P1
Distance, the distance of P12 to workpiece top margin to workpiece top margin, distance, the distance of P7 to workpiece bottom edge of P6 to workpiece bottom edge
Can be different, i.e., it can not be b.
Laterally the Grid Track in path is sought i.e. along P1- > P2- > P3- > P4- > P5- > P6 Grid Track, longitudinal road Xun Wei
The Grid Track of diameter is i.e. along P7- > P8- > P9- > P10- > P11- > P12 Grid Track.
(5) welding robot carries out lateral position and the longitudinal direction sought according to the trajectory coordinates for seeking a path respectively and seeks position, and record swashs
The grid edge coordinate that the coordinate of robot passes through when optical sensor output signal changes；
(6) grid profile, circular are determined according to the grid edge coordinate recorded in step (5) are as follows:
(6.1) automatic localization obtains three key position point A, B and C points of single edge on workpiece, as shown in figure 4, in turn
It chooses wherein two o'clock and determines the linear equation where this two o'clock, and calculate the more remaining distance to the straight line, selected distance
Position equation of the smallest straight line equation as this side；
(6.2) position equation that each edge on workpiece is calculated according to step (6.1), by these position equation simultaneous equations
Group calculates the location point coordinate of each side of workpiece intersection, i.e. grid intersection coordinate.
(6.3) grid profile is determined according to grid intersection coordinate；
(7) path of welding planning is carried out according to grid profile, according to robot arrive at the destination the shortest path of walking into
Professional etiquette is drawn, and is welded at end point for each grid cell to be welded in welding starting point insertion welding initiation command
Insertion welding terminates order, generates weld preparation point and welding is evaded a little；Wherein, weld preparation point is the safety for preparing welding
Point, positioned at the surface of welding starting point；It is a little after one section of weld seam welds that welding, which is evaded, and robot ambulation is welded to next section
Seam welding prepares the safe transition point of point, positioned at the surface of welding end point.
(8) weld task is executed according to the path of welding planned in step (7).
Part that the present invention does not relate to is same as the prior art or can be implemented by using the prior art, although the present invention lists
Preferred teaching method is stated, but it should be noted that those skilled in the art can carry out various change, unless such change
Change deviates from the scope of the present invention, otherwise should be construed as being included in protection scope of the present invention.
Claims (8)
1. a kind of robot welding automatic localization method, which comprises the steps of:
(1) workpiece coordinate system is established；
(2) workpiece is divided into matrix pattern, long L, the width W of workpiece and cell number m, n on length and width direction are set and sought
Position height z1；
(3) it determines and seeks a path, it is described to seek straight line where a path includes multiple right angle inflection points and the length for being parallel to workpiece or is wide
Seek a section and be not overlapped with any side boundary line of cell；A path is sought to be divided into for obtaining work cell lattice transverse direction information
Transverse direction seek a path and the longitudinal direction for obtaining work cell lattice longitudinal direction information and seek a path, laterally seek a path and longitudinal seek
Position path is in " S-shaped " or " 2 shape "；
(4) path and longitudinal direction are laterally sought under calculating workpiece coordinate system and seeks starting point in a path, terminal and each right angle inflection point
Coordinate value obtains the Grid Track for seeking a path；
(5) welding robot carries out lateral position and the longitudinal direction sought according to the trajectory coordinates for seeking a path respectively and seeks position, and recording laser passes
The grid edge coordinate that the coordinate of robot passes through when sensor output signal changes；
(6) grid profile is determined according to the grid edge coordinate recorded in step (5)；
(7) path of welding planning is carried out according to grid profile, generates weld preparation point and welding is evaded a little；
(8) weld task is executed according to the path of welding planned in step (7).
2. a kind of robot welding automatic localization method according to claim 1, which is characterized in that step (1) described work
Part coordinate system is using the lower edge of workpiece as abscissa x-axis, and the left margin of workpiece is ordinate y-axis, and the lower-left corner point of workpiece is
Origin O crosses O point and is z-axis perpendicular to the straight line of xOy plane.
3. a kind of robot welding automatic localization method according to claim 1, which is characterized in that described in step (3)
Laterally seek that a path includes four right angle inflection points and what three sections were parallel to abscissa in workpiece coordinate system seeks a section, starting point
Within the scope of ordinate where the first row cell of the ordinate in workpiece, the last line list of the ordinate of terminal in workpiece
Within the scope of ordinate where first lattice；Or Origin And Destination is exchanged；
The longitudinal direction seeks that a path includes four right angle inflection points and what three sections were parallel to ordinate in workpiece coordinate system seeks a section,
Within the scope of abscissa where last column unit lattice of the abscissa of its starting point in workpiece, the abscissa of terminal is in workpiece
Within the scope of abscissa where first row cell；Or Origin And Destination is exchanged.
4. a kind of robot welding automatic localization method according to claim 2, which is characterized in that described in step (4)
The starting point for laterally seeking a path is P1, and four right angle inflection points are followed successively by P2, P3, P4, P5, terminal P6；A path is sought in longitudinal direction
Starting point is P7, and four right angle inflection points are followed successively by P8, P9, P10, P11, terminal P12；The workpiece coordinate established in step (1)
The coordinate of each point is respectively as follows: under being
P1(-a,L-b,z1)；P2(W+a,L-b,z1)；P3(W+a,c,z1)；P4(-a,c,z1)；
P5(-a,b,z1)；P6(W+a,b,z1)；P7(W-a,-b,z1)；P8(W-a,L+b,z1)；
P9(d,L+b,z1)；P10(d,-b,z1)；P11(a,-b,z1)；P12(a,L+b,z1)；
Wherein, (0, W/2) a ∈, b ∈ (0, L/2), c ∈ (L/2, L*3/4) and c ≠ k*m, k ∈ N；D ∈ (W/4, W/2) and d ≠
K*n, k ∈ N.
5. a kind of robot welding automatic localization method according to claim 4, which is characterized in that the a=W/2n, b
=L/2m, c=L/2+L/4m, d=W/2-W/4n.
6. a kind of robot welding automatic localization method according to claim 4, which is characterized in that described in step (4)
The Grid Track for laterally seeking a path longitudinally seeks the coordinate in path i.e. along P1- > P2- > P3- > P4- > P5- > P6 Grid Track
Track is i.e. along P7- > P8- > P9- > P10- > P11- > P12 Grid Track.
7. a kind of robot welding automatic localization method according to claim 1, which is characterized in that the meter in step (6)
Calculation method are as follows:
(6.1) automatic localization obtains three key position points of single edge on workpiece, chooses wherein two o'clock in turn and determines this two o'clock
The linear equation at place, and the more remaining distance to the straight line is calculated, the smallest straight line equation conduct of selected distance
The position equation on this side；
(6.2) position equation that each edge on workpiece is calculated according to step (6.1), by these position equation Simultaneous Equations, meter
Calculate the location point coordinate of each side of workpiece intersection, i.e. grid intersection coordinate；
(6.3) grid profile is determined according to grid intersection coordinate.
8. a kind of robot welding automatic localization method according to claim 1, which is characterized in that described in step (7)
Path of welding planning arrive at the destination the shortest path of walking according to robot and planned.
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| CN107390684B (en) * | 2017-07-14 | 2019-10-18 | 华南理工大学 | A kind of auto-parts welding optimum path planning method of multirobot collaboration |
| CN108453439A (en) * | 2018-03-14 | 2018-08-28 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | The robot welding track self-programming system and method for view-based access control model sensing |
| CN109927037B (en) * | 2019-04-22 | 2021-12-10 | 山东时代新纪元机器人有限公司 | Rapid locating method for weldment with multi-arrangement frame structure |
| CN110764518B (en) * | 2019-10-31 | 2021-05-11 | 五邑大学 | Underwater dredging robot path planning method and device, robot and storage medium |
| CN111331223B (en) * | 2020-03-27 | 2021-12-07 | 陕西丝路机器人智能制造研究院有限公司 | Robot automatic welding method for field-shaped lattice type carriage plate |
| CN111409078B (en) * | 2020-05-15 | 2021-06-11 | 北京创想智控科技有限公司 | Welding control method, device and equipment and readable storage medium |
| CN113182681B (en) * | 2021-05-24 | 2023-03-14 | 广东利元亨智能装备股份有限公司 | Method for obtaining welding track of side seam of shell cover and welding method |
| CN113894800B (en) * | 2021-09-27 | 2023-08-11 | 深圳市启玄科技有限公司 | Multi-point teaching-based regular grid welding method, device, terminal and storage medium |
| CN115055856B (en) * | 2022-05-25 | 2023-08-29 | 荣良 | Teaching-free welding method, teaching-free welding device, teaching-free welding equipment and computer-readable storage medium |
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