CN108608413A - A kind of conversion of industrial robot welding procedure, multiplexing method and jig caliberating device - Google Patents
A kind of conversion of industrial robot welding procedure, multiplexing method and jig caliberating device Download PDFInfo
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- CN108608413A CN108608413A CN201810563057.0A CN201810563057A CN108608413A CN 108608413 A CN108608413 A CN 108608413A CN 201810563057 A CN201810563057 A CN 201810563057A CN 108608413 A CN108608413 A CN 108608413A
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- jig
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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
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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
Abstract
The present invention provides a kind of industrial robot jig caliberating device, it is characterised in that：Including host computer, robot controller, industrial robot, jig caliberating device, jig；The host computer is connected with robot controller；The robot controller is connected with industrial robot；The jig caliberating device includes calibration positioning device peace platform caliberating device；The pedestal of the jig and industrial robot is connected；The calibration positioning device is connected in robot end；The platform caliberating device is connected with jig；The jig has the location structure for limiting the six-freedom degree of workpiece on work top.The present invention is with low cost and meets the required precision of actual use, realizes that the mutual conversion of robot welding operation procedure is multiplexed.
Description
Technical field
The present invention relates to industrial robot automatic welding field, the especially welding procedures of small lot multiple types product to turn
Change multiplexing method and jig caliberating device.
Background technology
At present in robot welding field, since part processing precision and fixture manufacturing cost consider, robot off-line is compiled
Journey technology is not widely used yet, is still programmed using artificial teaching mode butt welding machine device people.As people need personalization
It asks and steps up, manufacturing industry will be produced in enormous quantities from the past is changed to customize small lot production.Therefore, in welding production operation
In, have increasing need for frequent switching production line.In order to optimize production distribution, transformation production position, adjustment life are also needed to when necessary
Produce beat.And traditional-handwork teaching mode needs to carry out teaching again to welding welding bead in different welding positions, it is time-consuming to take
Power and it is difficult to reach relatively satisfactory production efficiency.The welding procedure finished is subjected to the conversion between jig, Ke Yigui
The overprogram time is kept away, production efficiency is greatly improved and can realize the flexible topology of welding production.
Robot welding program is generally used in the conversion regime of different jigs：Establish robot coordinate system, each
Jig coordinate system；Position relationship of the different jig coordinate systems in robot coordinate system is calibrated again；In robot
The transformational relation T between each jig is calculated in coordinate system；Location information in program to be converted is passed through into jig
Between transformational relation T convert to Target Weld platform, complete Program transformation.
In welding field, the working space of welding robot commonly reaches several meters, and that is arranged around robot is multiple
Jig spacing also reaches several meters.In conventional method, robot program's conversion is needed through external equipment, and such as three coordinates are surveyed
Instrument or laser tracker are measured to demarcate jig.The absolute fix precision of robot itself increases with service life simultaneously
It gradually reduces, in order to ensure Program transformation required precision, needs to measure robot TCP absolute at each jig
Position error is modified error and improves the front and back welding track pose accuracy of conversion.This so that whole measurement expense is high
And gimmick complexity is measured, general enterprises do not have the ability of associated calibration detection.
Invention content
A kind of industrial robot welding procedure conversion of present invention proposition, multiplexing method and jig caliberating device, mesh
Be to avoid using expensive calibration measuring apparatus and can directly eliminate robot absolute positioning error in jig zero position
The influence set realizes robot absolute positioning error blocking at jig zero, with low cost and meets actual use
Required precision, realize robot welding operation procedure mutual conversion be multiplexed.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of industrial robot jig caliberating device, it is characterised in that：Including host computer, robot controller, work
Industry robot, jig caliberating device, jig；The host computer is connected with robot controller；The robot control
Device processed is connected with industrial robot；The jig caliberating device includes calibration positioning device peace platform caliberating device；It is described
The pedestal of jig and industrial robot is connected；The calibration positioning device is connected in robot end；The platform calibration
Device is connected with jig；The jig has the location structure for limiting the six-freedom degree of workpiece on work top.
At least 3 calibration points not on the same line on the platform caliberating device, calibration point are connected or are embedded in
On platform caliberating device；The platform caliberating device is mounted on jig.
The jig uses " Position with One Plane and Two Holes " positioning method；The jig is for fixed and positioning welding folder
Tool；There is the weld clip location hole to be matched with jig location hole.
The host computer includes robot controller communication module, welding gun and jig information logging modle, welds and put down
Platform coordinate system resolves module and user interface；
The robot communication module is established with industrial robot for host computer and communicates and carry out data transmission, including
Read and write robot I/O states, reading and writing internal memory data, read-write robot program file etc.；
The jig coordinate system resolves module by recording acquisition calibration point set data, meter on each jig
Calculate the transformational relation that simultaneously optimal estimation goes out each jig；
The welding gun and each jig parameter of jig information logging modle recorder people and current welding gun ginseng
Number, including record each platform nominal data, record each jig transformational relation, record welding gun TCP parameters etc..
The calibration point of the platform caliberating device is tip calibration point.It is positioned to for meeting welding in a manner of inexpensive
It asks.
The present invention also provides a kind of conversion of industrial robot welding procedure, multiplexing methods, it is characterised in that：
Use industrial robot jig caliberating device as described in claim 1；
Platform calibration includes the following steps：
Step S1：Calibration positioning device is mounted on industrial robot end；
Step S2：Platform caliberating device is mounted on jig A；
Step S3：Booting is powered, industrial robot initialization；
Step S4：Industrial robot TCP parameters are set；
Step S5：Mobile industrial robot makes calibration positioning device be overlapped with the calibration point in calibrating block, and records and work as
Front position coordinate；
Step S6：All calibration points on platform caliberating device are calibrated in order and record corresponding position coordinate, and note is flat
It is { A } that station symbol, which pinpoints point set,；
Step S7：Platform caliberating device is installed on jig B, step S5, S6 is repeated, remembers platform calibration point point
Collection is { B }；
Step S8：Calibration point set { A } and { B } is inputted into jig coordinate system and resolves module, calculates two jigs
Transformational relation T；
Step S9：The transformational relation T for demarcating point set { A }, { B } and calculating is stored in welding gun and jig information note
Record module.
Program transformation multiplexing includes the following steps：
Step S1'：Booting is powered, host computer, industrial robot initialization；
Step S2'：Program P to be converted, program P are corresponded to calibration point set { A } and the switch target weldering of jig A
The calibration point set { B } for meeting platform B is transmitted to host computer；
Step S3'：Calculate or call jig transformational relation T；
Step S4'：The converted relationship T of all posture informations of welding procedure P is converted to the pose on new jig
Information is converted into new welding procedure P '；
Step S5'：Transformed welding procedure is transmitted on robot controller；
Step S6'：Transformed welding procedure P ' is called to carry out weld job.
The jig coordinate system resolves module and the calculating process of transformational relation is divided into translational componentRotation point
Amount
The transformational relation that Program transformation uses is the result of calculation preserved after having calculated or is recalculated using calibration point set
As a result.
Calibration positioning device uses tip positioning method with the calibration point coincidence system on platform caliberating device.
The invention has the beneficial effects that：
The present invention directly uses the absolute fix precision calibration jig of robot itself, easy to operate, optional equipment
Device economy；Use the absolute fix precision of robot itself can be with direct compensation jig physical location and machine simultaneously
Deviation caused by people's absolute fix trueness error, under the premise of meeting actual use required precision, the program for reaching economic turns
It changes, enables production operation flexible topology, improve production efficiency.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structure of the invention figure；
Fig. 2 is mechanical part structure chart of the present invention；
Fig. 3 is jig of the present invention；
Fig. 4 is platform caliberating device of the present invention；
Fig. 5 is calibration positioning device of the present invention；
Fig. 6 is host computer of the present invention, robot controller, industrial robot frame diagram；
Fig. 7 is the specific calculation method of the present invention.
Specific implementation mode
In order to illustrate more clearly of technical scheme of the present invention, letter will be made to attached drawing needed in description below
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, other embodiments are can also be obtained according to these attached drawings.
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, present embodiments provide a kind of conversion of industrial robot welding procedure,
Multiplexing method and jig caliberating device include mainly that jig 1 and jig 6, platform caliberating device 2, calibration are determined
Position device 3, industrial robot 4, welding gun 5, wherein：
Industrial robot 4 is general Six-DOF industrial robot.
Jig 1 and jig 6 are connected with robot base；
Jig 1 and jig 6 include workbench body 2-1, location hole 2-2, directional hole 2-3；
Location hole 2-2 and directional hole 2-3 on jig 1 and jig 6 can be converted mutually.
Jig 1 and jig 6 have location structure, can limit the six-freedom degree of workpiece on work top.
Jig caliberating device includes platform caliberating device 2 and calibration positioning device 3.
Platform caliberating device 2 is mounted on workbench body 2-1；
Platform caliberating device 2 includes guide slot 3-1, caliberating device main body 3-2, location hole 3-3, tip position 3-4；
At least three tip position 3-4 not point-blank on platform caliberating device 2；
Welding gun 5 is connected on the end flange of industrial robot 4；
Calibration positioning device 3 is mounted on welding gun seat；
Calibration positioning device 3 includes welding gun connecting pin 4-1, calibration positioning device main body 4-2, alignment tips 4-3, positioning
Tip 4-4；
Calibration positioning device 3 increases positioning tip 4-4 by general welding gun calibrating installation and is transformed.
As shown in Figure 6：
Host computer 8 includes robot controller communication module, welding gun and jig information logging modle, jig
Coordinate system resolves module and user interface, and host computer 8 connects robot controller 7, and robot controller connects industrial robot
4；
Robot communication module is established with industrial robot for host computer and communicates and carry out data transmission, including read-write
Robot I/O states, reading and writing internal memory data, read-write robot program file etc.；
Jig coordinate system resolves module by recording acquisition calibration point set data on each jig, calculates simultaneously
Optimal estimation goes out the transformational relation of each jig；
Welding gun and each jig parameter of jig information logging modle recorder people and current parameters of welding gun, packet
It includes and records each platform nominal data, records each jig transformational relation, record welding gun TCP parameters etc..
Platform calibration so that position tip 4-4 overlaps with tip position 3-4 by controlling robot, and records calibration
Dot position information；
Record calibration point need to be demarcated according to set calibration sequence；
Host computer 8 by robot controller communication module read machine people's current location information, and be recorded in welding gun and
In jig information logging modle；
Jig coordinate system resolves the spatial pose transformational relation that module is used to calculate jig 1 and 6, in this hair
In a bright embodiment, the calibration dot position information is obtained and is recorded point by point by host computer.In another embodiment of the present invention
In, the calibration dot position information is first recorded as robot program's file, then is believed by the position in host computer reading program file
Breath is calculated.
The specific calculation method for calculating the transformation relation T of jig 1 and jig 6 is：
As shown in Figure 7：
The calibration point on jig 1 (namely in jig A, i.e. Fig. 7 by conversion platform A) is obtained, remembers calibration point
Collection is { A }；With identical calibration measuring method and identical calibration proceeding measurement jig 6, (namely jig B schemes
In 7 by conversion platform B) on calibration point, note calibration point set be { B }：
{ A }={ A1,A2,...,An}
{ B }={ B1,B2,...,Bn}
A1=(Ax1,Ay1,Az1),A2=(Ax2,Ay2,Az2),...,An=(Axn,Ayn,Azn)
B1=(Bx1,By1,Bz1),B2=(Bx2,By2,Bz2),...,Bn=(Bxn,Byn,Bzn)
Calculate calibration point set { A }, { B } center of gravity：
Then the translational component of point set { A } to point set { B } is：
Point set { An } is translated with { Bn } so that OA, OB overlap to obtain { PA } and { PB } with base origin of coordinate.
Calculate rotation tangent vector vector set { t }：
Then have：
At least 3 tip position 3-4 not point-blank on the platform caliberating device 2 then have two
Not parallel tangent vector：
Include but not limited to have 3 tip position 3-4 not point-blank on the platform caliberating device 2
Situation；In general, the number of tip position 3-4 is more than 3；
The vector starting point for rotating tangent vector vector set { t } is moved to coordinate origin, vector end-points coordinate is denoted as
{Pt}；
Point set { Pt } was fitted to the plane F of co-ordinate zero point using least square method, then the normal vector of plane FWith point
Collect the equivalent rotary axis of { PA } and { PB }Collinearly；
Determine equivalent rotary axis：
Calculate equivalent rotary axisIt is transformed into and overlaps transformation matrix Tf with robot base mark system z-axis；
By point set { PA } and { PB } by transformation matrix Tf, it is converted into point set { RA } and { RB }；
Remove the point set { RA } and the z-axis component of { RB }；
It calculates and corresponds to calibration point on { RA } and { RB }, around the rotational angle theta of robot base mark system Z axisi：
It calculates and corresponds to calibration point on { RA } and { RB }, arrive the sum of the distance l of robot base mark system Z axisi；
Then equivalent rotary angle θ is：
By transformation parameterBe converted to transformation matrix T：
Wherein, v θ=1-c θ, s θ=sin (θ), c θ=cos (θ)
The present invention concrete operation method be：
Platform calibration includes the following steps：
Step S1：Calibration positioning device is mounted on industrial robot end；
Step S2：Platform caliberating device is mounted on jig A；
Namely：The transformational relation of jig 1 and jig 6 is equivalent to the transformational relation of fixed point on platform, will put down
Platform caliberating device 2 is mounted on jig 1；
Step S3：Booting is powered, industrial robot initialization；
Step S4：Robot TCP parameters are set；
Step S5：Mobile industrial robot makes calibration positioning device be overlapped with the calibration point in calibrating block, and records and work as
Front position coordinate；
Step S6：All calibration points on platform caliberating device are calibrated in order and record corresponding position coordinate, and note is flat
It is { A } that station symbol, which pinpoints point set,；
Step S7：Platform caliberating device is installed on jig B, step S5, S6 is repeated, remembers platform calibration point point
Collection is { B }；
Namely：Mobile industrial robot 4 is so that the positioning tip 4-4 on calibration positioning device 3 and platform caliberating device 2
One of upper tips tip position 3-4 alignment, the location information that record current robot controller calculates；Have successively
Sequence completes the calibration of other tip positions 3-4 on platform caliberating device 2 and record；
Platform caliberating device 2 is mounted on jig 6；
The calibration dot position information on jig 6 is measured with identical gimmick and is recorded；
Calibration measures so calibration point, completes measurement and the record of platform calibration point.
Step S8：Calibration point set { A } and { B } is inputted into jig coordinate system and resolves module, calculates two jigs
Transformational relation T；
Namely：Calibration point input jig coordinate system is resolved into module, calculates the change of jig 1 and jig 6
Relationship T is changed, method is for example above-mentioned.
Step S9：The transformational relation T for demarcating point set { A }, { B } and calculating is stored in welding gun and jig information note
Record module.
Program transformation multiplexing includes the following steps：
Step S1'：Booting is powered, host computer, industrial robot initialization；
Step S2'：Program P to be converted, program P are corresponded to calibration point set { A } and the switch target weldering of jig A
The calibration point set { B } for meeting platform B is transmitted to host computer；
Step S3'：Calculate or call jig transformational relation T；
Step S4'：The converted relationship T of all posture informations of welding procedure P is converted to the pose on new jig
Information is converted into new welding procedure P '；
Step S5'：Transformed welding procedure is transmitted on robot controller；
Step S6'：Transformed welding procedure P ' is called to carry out weld job.
Described program converts multiplexing method, in one embodiment of this invention, reads the welding procedure position text finished
Part multiplies track pose coordinate with transition matrix T-phase point by point, obtains the welding procedure on jig to be converted, realizes journey
Sequence conversion multiplexing.In another embodiment of the invention, transition matrix T is converted into identifiable pose expression side of robot
The mutation of transition matrix T is indicated input robot controller by formula, including but not limited to RPY, Euler, rotating vector law, by
The included Program transformation function of robot controller realizes Program transformation.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with its
The difference of his embodiment, just to refer each other for identical similar portion between each embodiment.To the disclosed embodiments
Above description enables those skilled in the art to implement or use the present invention.Various modifications to these embodiments are to this
It will be apparent for the professional technician in field, the general principles defined herein can not depart from this hair
In the case of bright spirit or scope, realize in other embodiments.Therefore, the present invention is not intended to be limited to illustrated herein
These embodiments, and be to fit to widest range consistent with the principles and novel features disclosed in this article.
Claims (9)
1. a kind of industrial robot jig caliberating device, it is characterised in that：Including host computer, robot controller, industry
Robot, jig caliberating device, jig；The host computer is connected with robot controller；The robot control
Device is connected with industrial robot；The jig caliberating device includes calibration positioning device peace platform caliberating device；The weldering
The pedestal for connecing platform and industrial robot is connected；The calibration positioning device is connected in robot end；The platform calibration dress
It sets and is connected with jig；The jig has the location structure for limiting the six-freedom degree of workpiece on work top.
2. a kind of industrial robot jig caliberating device according to claim 1, it is characterised in that：The platform mark
Determine at least 3 calibration points not on the same line on device, calibration point is connected or is embedded on platform caliberating device；It is described
Platform caliberating device is mounted on jig.
3. a kind of industrial robot jig caliberating device according to claim 1 or 2, it is characterised in that：On described
Position machine includes robot controller communication module, welding gun and jig information logging modle, jig coordinate system resolving mould
Block and user interface；
The robot communication module is established with industrial robot for host computer and communicates and carry out data transmission, including read-write heads
Device people I/O states, reading and writing internal memory data, read-write robot program file etc.；
The jig coordinate system resolves module by recording acquisition calibration point set data on each jig, calculates and most
The excellent transformational relation for estimating each jig；
The welding gun and each jig parameter of jig information logging modle recorder people and current parameters of welding gun, including
Record each platform nominal data, record each jig transformational relation, record welding gun TCP parameters etc..
4. a kind of industrial robot jig caliberating device according to claim 1 or 2, it is characterised in that：It is described flat
The calibration point of platform caliberating device is tip calibration point.
5. a kind of industrial robot welding procedure conversion, multiplexing method, it is characterised in that：
Use industrial robot jig caliberating device as described in claim 1；
Platform calibration includes the following steps：
Step S1：Calibration positioning device is mounted on industrial robot end；
Step S2：Platform caliberating device is mounted on jig A；
Step S3：Booting is powered, industrial robot initialization；
Step S4：Industrial robot TCP parameters are set；
Step S5：Mobile industrial robot makes calibration positioning device be overlapped with the calibration point in calibrating block, and records current location
Coordinate；
Step S6：All calibration points on platform caliberating device are calibrated in order and record corresponding position coordinate, remember platform mark
It is { A } to pinpoint point set；
Step S7：Platform caliberating device is installed on jig B, step S5, S6 is repeated, note platform calibration point point set is
{B}；
Step S8：Calibration point set { A } and { B } is inputted into jig coordinate system and resolves module, calculates the conversion of two jigs
Relationship T；
Step S9：The transformational relation T for demarcating point set { A }, { B } and calculating is stored in welding gun and jig information records mould
Block.
6. a kind of industrial robot welding procedure conversion according to claim 5, multiplexing method, it is characterised in that：
Program transformation multiplexing includes the following steps：
Step S1'：Booting is powered, host computer, industrial robot initialization；
Step S2'：Program P to be converted, program P are corresponded to the calibration point set { A } and switch target jig of jig A
The calibration point set { B } of B is transmitted to host computer；
Step S3'：Calculate or call jig transformational relation T；
Step S4'：The converted relationship T of all posture informations of welding procedure P is converted to the posture information on new jig,
It is converted into new welding procedure P '；
Step S5'：Transformed welding procedure is transmitted on robot controller；
Step S6'：Transformed welding procedure P ' is called to carry out weld job.
7. a kind of industrial robot welding procedure conversion according to claim 5, multiplexing method, it is characterised in that：It is described
Jig coordinate system resolves module and the calculating process of transformational relation is divided into translational componentRotational component
8. a kind of industrial robot welding procedure conversion according to claim 5, multiplexing method, it is characterised in that：Program
The transformational relation used is converted to be the result of calculation preserved after having calculated or recalculate result using calibration point set.
9. a kind of industrial robot welding procedure conversion according to claim 5, multiplexing method, it is characterised in that：Calibration
Positioning device uses tip positioning method with the calibration point coincidence system on platform caliberating device.
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| CN201810563057.0A CN108608413A (en) | 2018-06-04 | 2018-06-04 | A kind of conversion of industrial robot welding procedure, multiplexing method and jig caliberating device |
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| CN201810563057.0A CN108608413A (en) | 2018-06-04 | 2018-06-04 | A kind of conversion of industrial robot welding procedure, multiplexing method and jig caliberating device |
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| CN109590640A (en) * | 2018-11-30 | 2019-04-09 | 芜湖普威技研有限公司 | Automobile component welding fixture location calibration device |
| CN110508953A (en) * | 2019-09-23 | 2019-11-29 | 宁波奥克斯厨电制造有限公司 | A kind of positioning device and localization method of fixture for laser welding |
| CN111070210A (en) * | 2020-01-02 | 2020-04-28 | 中车青岛四方机车车辆股份有限公司 | Workpiece positioning and calibrating method |
| CN111546320A (en) * | 2020-05-25 | 2020-08-18 | 中科新松有限公司 | Robot program multiplexing system, method and computer readable storage medium |
| CN114237159A (en) * | 2022-02-24 | 2022-03-25 | 深圳市大族光电设备股份有限公司 | Welding arc automatic generation method and device, computer equipment and storage medium |
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| CN109590640A (en) * | 2018-11-30 | 2019-04-09 | 芜湖普威技研有限公司 | Automobile component welding fixture location calibration device |
| CN110508953A (en) * | 2019-09-23 | 2019-11-29 | 宁波奥克斯厨电制造有限公司 | A kind of positioning device and localization method of fixture for laser welding |
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| CN114237159A (en) * | 2022-02-24 | 2022-03-25 | 深圳市大族光电设备股份有限公司 | Welding arc automatic generation method and device, computer equipment and storage medium |
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Application publication date: 20181002 |