CN109226937A - Curve welding off-line programing method is mutually passed through in a kind of industrial robot space - Google Patents
Curve welding off-line programing method is mutually passed through in a kind of industrial robot space Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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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
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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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Abstract
The invention discloses a kind of industrial robot spaces mutually to pass through curve welding off-line programing method, it include: to be first directed to arc welding robot and welding workpiece threedimensional model, two curved surface of periphery to form weld seam is picked up by mouse, cutting plane group is created in workpiece coordinate system, extracts weld seam node posture information；Position and posture discretization are realized along Welded Joint Curve according to node pose, then are converted through coordinate and realized autonomous seam tracking；Joint angle sequence needed for robot kinematics is obtained against solution by robot kinematics, realizes motion simulation；Finally corresponding program file is generated according to the language rule of corresponding robot manufacturing cell written in code.The present invention realizes the independent development of off-line programing using the VTK visualization tool library of open source, independent of third party's CAD software, it only needs to pick up by mouse and produces seam track, need not move through cumbersome external data calculating and importing process, man-machine interaction is good, can quickly generate required robot program.
Description
Technical field
The present invention relates to a kind of industrial robot spaces mutually to pass through curve welding off-line programing method, belongs to industrial robot weldering
Connection technology field.
Background technique
In welding industry field, there are many cross one another structures of different shape pipe fitting, form complicated space and mutually pass through
Curved welding seam, this kind of space curve welding processing task is in manufactures rows such as automobile, ship, petroleum, steel construction, each type III pressure vessels
Industry is widely present.Complicated space curve is welded, arc welding robot teaching programming does not only take up a large amount of time, Er Qienan
To guarantee ideal welding gun pose.To overcome the shortcomings that teaching programming efficiency is low, quality is difficult to ensure, research robot off-line is compiled
Journey technology has important meaning in the application that complexity mutually passes through curve welding field.
Currently, mainly have a three classes for the off-line programing application method of complex curve welding, first kind method be directly according to
The external mature off-line programming software of support is applied.Zhong Deping et al. is in welding equipment and material, 2018,47 (1): 45-49
On the article " the robot curved surface thick plates off-line programing based on RobotStudio " delivered it is automatic using RobotStudio
The curved welding seam path off-line procedure for ABB arc welding robot is created, the application of ship thick plates is realized；Qu Bingbing
Et al. in coal mine machinery, 2016,37 (4): article " the arc welding robot off-line programing based on Roboguide delivered on 50-52
Research " realizes the off-line programing application of FANUC arc welding robot using Roboguide off-line programming software.
RobotStudio, Roboguide can automatically generate highly accurate robot program according to part model, but external software by
In with nature of business, valuable product, technology, opening up is very low, and the robot for only supporting itself manufacturer to produce, and does not have
Standby versatility, the off-line programing that can not be applied to domestically produced machine people are developed.
Second class method is to carry out secondary development using the api interface that general three-dimensional CAD modeling software provides.Middle promulgated by the State Council
Bright patent " method that industrial robot off-line programing is realized based on 3 d modeling software " (Authorization Notice No. CN103085072B),
A kind of method that industrial robot off-line programing is realized based on 3 d modeling software is disclosed, method is in 3 d modeling software
Under environment, using the 3 d modeling softwares api interfaces such as COM/OLE are supported, the space matrix of space lines and threedimensional model is obtained
Data establish Robot Virtual mathematical model, generate robot motion track, realize the off-line programing of industrial robot.But it should
Method needs to control data by external interface input space curve and robot, lacks and is autonomously generated track according to part model
Function.
A kind of Chinese invention patent application " construction method of robot off-line programming " (application publication number
CN106914896A), the robot off-line programming construction method under a kind of environment based on Three-dimensional Design Software, method are disclosed
It is to develop the industry run under Solidworks8 environment using Solidworks API secondary development and VC++ programming language
Robot Off-line Programming System, since the posture information of its robot task point need to be come by Solidworks api function interface
It extracts, therefore more demanding to computer performance, operation is time-consuming, simultaneously because the flexibility of independent development is by Soldiwroks
The limitation of software interface lacks good man-machine interaction.
Third class method is to carry out independent research using the opening interactive simulation environment that OpenGL is representative.Shi Lei et al.
In welding journal, 2015,36 (6): the article " supervisor's rotary photo passes through curve auto-welding model and emulation " delivered on 5-8 is adopted
Supervisor's related subgroup model is calculated with interspace analytic geometry method, model is accurate and computational efficiency is high, but depends on the parsing of curve
Expression, and curve is mutually passed through only for particular form, the form that irregular workpiece forms complicated Welded Joint Curve can not be solved.Xing
After raw et al. in robot, 2017,39 (1): " industrial robot based on part model is automatic for the article delivered on 111-118
Programing system " proposes, on the basis of OpenGL and VRML, is constructed using the DXF file extraction method of part model
Robot automatic programming software, for domestic relatively advanced man-machine interactive system at present, system supports that common industrial is complicated bent
The programming of line, but the disadvantage is that do not support other part model formats other than DXF, and the posture of curved path point lacks fusion
The information of surrounding entity.
In conclusion first kind method is there is versatility deficiency, that there is man-machine interactions is poor for the second class method, from
The insufficient inherent shortcoming of main exploitation flexibility.And third class method realizes independent research using open interactive simulation environment, has
Effect ground the shortcomings that overcoming the first two class method, be the direction that current country's robot off-line programming technology further develops, but mesh
Preceding such methods are there are supporting workpiece model format is single, irregular workpiece complexity Welded Joint Curve path point information extraction difficulty
Greatly, curved path point posture lacks the technical problems such as fusion surrounding entity information.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of industrial robot space phase
Curve welding off-line programing method is passed through, using the open source visual development library VTK (Visualization based on OpenGL
Toolkit) technology creates robot three-dimensional modeling and simulation environment, realizes machine using the VC++ platform of Visual Studio
The exploitation of people's off-line programing system.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
Curve welding off-line programing method is mutually passed through in a kind of industrial robot space, comprising the following steps:
Step 1: importing arc welding system threedimensional model: establishing the threedimensional model of robotic arc-welding system in three-dimensional software,
The arc welding system includes robot, welding gun, workpiece and corresponding fixture, and the importing of robotic arc-welding system's threedimensional model is based on
The Viusal Studio off-line programming software of VTK completes the layout of arc welding system working environment on the software.Based on VTK's
Viusal Studio off-line programing platform supports the threedimensional model file format imported to have 4 kinds of IGES, STEP, OBJ, STL etc.,
The threedimensional model of importing realizes the layout of off-line programing working environment by VTK pose transforming function transformation function vtkTransform.Wherein,
It, being capable of discretization formation curved surface by VTK data type vtkAssembly with the threedimensional model that IGES or STEP format imports
(including plane) can also ressemble integral.
Step 2: it extracts weld seam node posture information: in the Viusal Studio off-line programming software based on VTK, leading to
Cross mouse pick up forming curves weld seam two curved surface of periphery, in workpiece coordinate system create cutting plane group, by cutting plane group with
The intersection information of two curved surfaces, acquires welding node position and normal vector, acquires welding node posture by main normal plane dichotomy.Weldering
Specific step is as follows for the acquisition of seam node posture information:
Step 2-1: curve welding node position coordinate data is mutually passed through in extraction: method creates cutting plane group first, using one
Curve acquisition welding node is mutually passed through in the equidistant cutting plane cutting of group.Detailed process is as follows for method:
S1 the normal vector of cutting plane) is determined, method flow diagram is referring to attached drawing 2:
S1.1) in VTK, after two curved surface tri patch of curved welding seam are mutually passed through in formation, with data type
The storage of vtkPolyData form, is picked up in off-line programing system by mouse, and two curved surfaces are denoted as curved surface PD respectively1And PD2.Two
The precedence that curved surface picks up is on algorithm without influence, therefore above-mentioned notation has generality.
S1.2) determine the main normal direction mark of two curved surfaces, curved surface PD1And PD2Main normal direction respectively correspond and be denoted as NV1With
NV2, main normal direction mark value range is set as 0,1 and 2, identifies the component main body of the main normal direction of curved surface respectively along X to, Y-direction or Z
To.
S1.3) final required plane cutting method vectorial is denoted as NVCIf the main normal direction mark of two curved surfaces is inconsistent, truncated
The negated above-mentioned curved surface PD of face normal direction1And PD2Another direction of main normal direction, i.e. NVC=3- (NV1+NV2)；
S1.4 it) if the main normal direction mark of two curved surfaces is consistent, need to further determine.Select non-curved PD1And PD2Common main method
It is alternative plane cutting method to being denoted as NV to the another two direction of markC1(orNormal direction) and NVC2(orNormal direction).
S1.5 function bounds ()) is sought according to vtkPolyData type surface coordinates extreme value and determines edgeWithNormal direction
When respective whole story cutting plane position.Bounds function can seek curved surface maximum and minimum value in the X, Y, Z direction.
Wherein,To curved surface PD1Cutting plane be denoted asTo curved surface PD2'sTo curved surface PD1's
Cutting plane is denoted asTo curved surface PD2'sIt calculates separatelyNormal direction whole story cutting plane shape on curved surface 1/2
At transversal number of segment,What is formed is denoted asWithWhat is formed is denoted asWithIt is above-mentionedNormal direction
Cutting plane forms the case where transversal section referring to attached drawing 3a~3b.
S1.6) compare two normal direction and form transversal number of segment summation size: note The normal direction for taking total sum number small be final plane cutting method to.That is: if SNC1< SNC2, then NVC=NVC1(orNormal direction),
Conversely, then taking NVC=NVC2(orNormal direction).
S2) determine the whole story plan-position of cutting plane: whole story section is denoted as C respectivelySAnd CE, sought using bounds function
Plane cutting method is to NVCDirection top-surface camber PD1And PD2Coordinate range maximum and minimum value, be denoted as respectively It is (corresponding
PD1),(corresponding PD2), judge in two intermediate values in above-mentioned four value, and determine that at two value be respectively the whole story
Cutting plane position.Judgment method are as follows: if It surveys inside, CSIt takesPlace, conversely, CSIt takes
Place；If It surveys inside, CEIt takesPlace, conversely, CEIt takesPlace.(song mutually note: is passed through for practical
For line, cutting plane whole story position can respectively appear in PD simultaneously1Or PD2In a certain curved surface two extreme values at, this is because big absolutely
In most cases, PD1Or PD2There must be an entity curved surface to be fully located at interior survey relative to another curved surface, and extreme value size seldom occur
The case where intersection, this provides foundation for the verifying of whole story plan-position.)
S3 welding node position is determined :) with whole story section CSAnd CEN parallel cut, each cutting plane are equidistantly taken for boundary
Ci(i=1~n) is in PD1And PD2On be respectively formed n group cutting line CL1iAnd CL2i(i=1~n) can pass through function
VtkCutter, which is extracted, constitutes the corresponding point set PS of each cutting lineCL1iAnd PSCL2i(i=1~n) is deposited with type vtkPoints
Storage.The point set data directly extracted are unordered storages, according to the ID (vtkIdType type) of each point of unique identification, are led to
The sequence arrangement of the secant sequence achievable point of tracing algorithm is crossed, the whole story point of every group of secant point set constitutes a new point after sorted
Collection, total n group are denoted as(i=1~n).Due to PD1And PD2Weld seam is formed at the mutually place of passing through,
Thus the marginal point (initial point or last point) of cutting line must have one to be in weld seam, judge point setMiddle distance
Nearest two o'clock (i.e. inside two o'clock), is denoted asThe two o'clock should be theoretically overlapped, and all in weld seam
On, therefore can be taken as the welding node mutually passed through on curve.Due to there is certain miss after curved surface entity CAD model tri patch
Difference, two o'clock are not exclusively overlapped (only slight error, tiled is finer, and error is smaller), therefore the midpoint of each group two o'clock is taken to make
For final node, position coordinates are denoted as
Step 2-2: curve welding node posture coordinate data is mutually passed through in extraction:
R1 node P) is determinedCi(i=1~n) is in curved surface PD1And PD2Upper corresponding initial normal vector, by taking a curved surface as an example
(curved surface correspondent entity PolyData), method are search node P corresponding tri patch cell units in PolyData, with
Approximate normal vector of the normal direction of the cell unit as node, referring to attached drawing 4, the specific method is as follows:
R1.1 the quantity for) obtaining tri patch cell first, is denoted as Ncell, enter cyclic search below and give node P institute
Cell unit serial number；
R1.2 vertex (the v of i-th of tri patch cell (i)) is extractedi1, vi2, vi3, obtain corresponding plane equation Fi
(vi1, vi2, vi3).
R1.3) whether predicate node P is in the plane F where cell (i)iOn；(certain threshold value thres, node P are set
It is less than thres apart from plane to think planar).
R1.4) if node P is not in dough sheet plane FiOn, it is returned directly to R1.2 and judges next dough sheet；
R1.5) if node P is in dough sheet plane FiOn, seek subpoint PP of the P on the dough sheet.Judge PP whether
Where cell (i) in triangle or on side, if PP, which not inside dough sheet, returns to R1.2, judges next dough sheet, if in dough sheet
Inside is then determining with the dough sheet cell (i) as a result, end loop is searched for.
R1.6 the normal vector for determining obtained dough sheet cell (i)) is calculated, result is made.
Node P is obtained by the above methodCiIn PD1And PD2Upper corresponding initial normal vector is denoted asWith(i=1~
n)。
R2 node attitude matrix X-component) is determined
3 preserving Interpolation Using curves are constructed by every continuous 4 nodes, thus seek tangential arrow of each node along curve
Amount, by taking a certain node P as an example, the tangent vector of node P is denoted asAs node attitude matrix X-component.
R3 node attitude matrix Z component) is determined, referring to attached drawing 5, the specific method is as follows:
R3.1 the approximation of Z component) is obtained by main normal plane dichotomy, by taking a certain node P as an example, accepts previous step R1, point
Node P is not obtained in curved surface PD1And PD2On approximate normal vectorWithZ component approximation is obtained by main normal plane dichotomyUsing this method it is possible to prevente effectively from welding gun collides with curve surface of workpiece to be welded.
R3.2) due toWithFor approximation, therefore be calculatedFor approximation, it is unsatisfactory forItem
Part,For tangent vector of the Welded Joint Curve at node P, therefore construct following method and be modified, construction withFor normal direction, mistake
The plane M of node Px, willTo MxProject obtained unitization vectorAs the attitude matrix Z at revised node P points
Amount.
R4 after) obtaining node attitude matrix X-component and Z component by R2 and R3, it can thus be concluded that Y-component is
To sum up construct egress attitude matrix
Step 3: first under workpiece coordinate system, position autonomous seam tracking: is realized along Welded Joint Curve according to node pose
With posture discretization, then through coordinate system conversion robot basis coordinates system is transformed to, realize weld seam cartesian space trajectory planning.
Step 3-1: position discretization: by welding node PCiThe B-spline matched curve of (i=1~n) construction weld seam:
T1 shown in the p B-spline matched curve such as formula (1) for) constructing Welded Joint Curve:
Wherein, C (u) is the phasor function of B-spline curves, NI, pIt (u) is p specification B-spline basic function, Pi(i=0~n-
It 1) is control point, u is argument sequence, configuration node vector U=[0 ..., 0, up+1..., un, 1 ..., 1].
The key node P of Welded Joint Curve has been obtained according to step 2C, i(i=1~n) needs exist for the anti-node that pushes away accordingly and swears
Measure U and control point Pi.P=3 is taken in engineering practice, that is, constitutes 3 B-spline curves.
T2) counter to push away knot vector U: to avoid mutually passing through the feelings for occurring adjacent segment chord length in curvilinear path planning and differing greatly
Condition, using accumulating, Chord Length Parameterization method is counter to push away knot vector U.As p=3, U endpoint multiplicity is 4, then U parameter value is by formula (2)
It solves:
T3) counter to push away control point Pi(i=0~n-1): by key node sequence PC, i(i=1~n) substitution equation (after (1),
Construct the matrix form such as formula (3) of 3 B-spline curves equation groups:
Wherein, coefficient matrix and ei(i=1~n) is obtained by formula (4) and (5), as follows:
WhereinWithRespectively node PC, 1And PC, n-2The tangent vector at place can pass through first, last 4 passes respectively
Key node constructs 3 preserving Interpolation Usings, then seeks the acquisition of end tangent vector.Solving equations (3), can obtain whole controls
Vertex.Complete B-spline curves can be obtained according to the knot vector and control point that are reversely pushed out.
Step 3-2, posture discretization: method is to be carried out using quaternary number Spline Interpolation Method to joint movements attitude data
Spherical linear interpolation guarantees the welding smooth consecutive variations of athletic posture.Firstly, by node attitude matrix RP, iIt is converted into quaternary number
quai(i=1~n) is indicated, then, spherical linear interpolation formula is used between the quaternary number of two neighboring node posture
(Slerp) it is as follows to carry out operation:
ω indicates qua in formulaiWith quai+1Between angle, u is interpolation parameter, identical as position discretization, using accumulation
The value of Chord Length Parameterization method, u is obtained by formula (2).
Step 3-3, coordinate system is converted: the relationship by solving each Conversion Matrix of Coordinate can get final welding gun relative to
The attitude matrix of robot basis coordinates system.Transformational relation schematic diagram of the attached drawing 6 between each coordinate system.Robot basis coordinates system
The position orientation relation of { B } and workpiece coordinate system { WP } isWeld seam discrete point auxiliary coordinates { PiRelative to workpiece coordinate system
Relational matrix isTransition matrix between welding gun coordinate system { T } and weld seam auxiliary coordinates isIt can according to formula (7)
Find out relational matrix of the welding gun relative to robot base mark system are as follows:
Step 4: robot motion's emulation:
Under the three-dimensional simulated environment based on VTK, mutually passed through using the weld seam that function vtktube shows that step 3 obtains
Curve, i.e. the motion virtual track of robot obtain pass needed for robot kinematics against solution by robot kinematics
Angle sequence is saved, motion simulation is carried out.System, which carries out collision detection and joint angle, to transfinite judgement, to verify the reasonable of running track
Property.
Step 5: robotic motion routine code is generated:
According to the program feature for selecting corresponding producer of robot, by relative coordinate system, (basis coordinates system, workpiece and tool are sat
Mark system) homogeneous matrix be converted into corresponding spatial attitude description form (such as quaternary number, Eulerian angles), after converting, according to
The language rule of the motion control program written in code of the producer of robot carries out generating corresponding program file.
The utility model has the advantages that curve welding off-line programing method is mutually passed through in a kind of industrial robot space provided by the invention, relatively
In the prior art, has the advantage that 1, realizes the independent development of off-line programing using the VTK visualization tool library of open source,
Independent of any third party's CAD software；2,4 kinds of threedimensional model formats such as IGES, STEP, OBJ, STL are supported, modeling is met
Versatility；3, the extracting method of complicated Welded Joint Curve path node position and posture, especially path point posture are provided really
Surrounding entity surface information has been merged calmly；4, it only needs to produce seam track by mouse pick-up operation, need not move through cumbersome
External data calculate and importing process, easy to operate practical, man-machine interaction is good, can quickly generate required robot journey
Sequence.
Detailed description of the invention
Fig. 1 is overall step flow diagram of the invention；
Fig. 2 is the flow chart that plane cutting method vector determines method in step 2 of the present invention；
Fig. 3 a~3b is respectivelyWithNormal direction cutting plane forms the schematic diagram of transversal section on weld seam peripheral curved surface；
Fig. 4 determines method flow in the physically corresponding approximate normal vector of curved surface for welding node in step 2 of the present invention
Figure；
Fig. 5 is the determination schematic diagram of welding node attitude matrix Z component in step 2 of the present invention；
Fig. 6 is mutually to pass through curve in step 3 of the present invention to weld each coordinate system transition diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention will be further explained.
In order to verify specific implementation of the invention, the Xin Shida STEP SA1800 six of welding gun is fixed certainly using end
By degree industrial robot carry out two cylindrical body intersecting shapes at shape of a saddle space curve Welding experiment.What is used mutually passes through in cylindrical body
The radius of supervisor is 150mm, and the radius of branch pipe is 100mm.Each coordinate data unit as shown below is mm.
Curve is mutually passed through for a kind of industrial robot space as shown in Figure 1 and welds off-line programing method, and implementation steps are as follows:
Step 1: arc welding system threedimensional model is imported, and is laid out under off-line programing environment.To complete layout, robot
Between workpiece according to attained pose relationship carry out part calibration, the workpiece coordinate system obtained according to calibration result { WP } relative to
The position of robot basis coordinates system { B } and posture relationship are as follows:
Relative positional relationship:
Relative attitude (ZYX Eulerian angles) relationship:
To deserved attitude matrix are as follows:
Step 2: weld seam node posture information is extracted: including position and posture information two parts.
It determines the normal vector of cutting plane, picks up curved surface PD1And PD2, calculated by tri patchization, principal normal vector difference
Are as follows:
NormalVec1=[- 0.0102, -0.9999,0.0], NormalVec2=[0.0, -0.9626,0.2709]；
That is the two principal normal vector identifies identical, NV1=NV2=1.
Selected NVC1=0 (orNormal direction) and NVC2=2 (orNormal direction)
The transversal number of segment of formation is denoted as respectivelyWithWith
Compare two normal direction and form transversal number of segment summation size: note
Therefore finally take SNC1< SNC2, then NVC=NVC1(orNormal direction), i.e. NVC=0, i.e. plane cutting method is to taking X-axis.
Determine the whole story plan-position of cutting plane:
The curved surface PD extracted according to bounds function1And PD2Coordinate range, obtain at workpiece coordinate system { WP }, rise
Beginning cutting plane CSOrigin is [- 100, -50,255.9]；Terminal cutting plane CEOrigin is [100, -50,255.9].
The above results, which are transformed into robot basis coordinates system { B } by workpiece coordinate system { WP }, to be had:
Originate cutting plane CSOrigin is [821.2863,55.3713,896.9163]；
Terminal cutting plane CEOrigin is [1021.1,63.9,895.1]；
In conjunction with plane cutting method to must originate and terminal cutting plane equation be respectively as follows:
CS: 0.9990x+0.0427y-0.0091z+104.364=0
CE: 0.9990x+0.0427y-0.0091z-95.436=0
Cutting plane number N=12 is set, in CSAnd CEBetween form equidistant cutting plane group.It is walked according to Summary
Rapid two method obtains, and it is as shown in table 1 below relative to the pose of workpiece coordinate system to obtain 12 weld seam nodes:
Table 1.
Step 3: first under workpiece coordinate system, position autonomous seam tracking: is realized along Welded Joint Curve according to node pose
With posture discretization, then through coordinate system conversion robot basis coordinates system is transformed to, realize weld seam cartesian space trajectory planning.
According to the obtained welding node of table 1, position discretization by node location coordinate construct B-spline matched curve come
It realizes, using 3 Uniform B-spline interpolation；Posture discretization is using quaternary number Spline Interpolation Method to joint movements attitude data
Carry out spherical linear interpolation；Since data volume is larger after discretization, P is only intercepted here1To P3Three welding nodes between portion
Dispersion is separated as a result, as shown in table 2:
Table 2.
There is good continuity by the position of the visible above-mentioned discrete point of table 2 and attitude data, for welding movement position and
The smooth consecutive variations of posture provide guarantee.In conjunction in step 1 part calibration data and formula (7) can be by workpiece coordinate
Discrete point pose data under system are transformed into relative under robot basis coordinates system, and the corresponding offline point of table 2 is in robot basis coordinates
The pose data of system are as shown in table 3 below:
Table 3.
Step 4: it robot motion's emulation: is obtained needed for robot kinematics by robot kinematics against solution
Joint angle sequence carries out motion simulation.System, which carries out collision detection and joint angle, to transfinite judgement, to verify the reasonable of running track
Property.
In an experiment, it enables welding gun coordinate system and weld seam auxiliary coordinates coincide, is obtained thus according to step 3 discrete
Point can carry out Inverse Kinematics Solution in the pose data of robot basis coordinates system, since data volume is larger, only list 3 weld seam of table here
The corresponding joint angle sequence of discrete point pose data, as shown in table 4:
Table 4.
By table 4 as it can be seen that joint angle sequence variation is smooth, and do not occur joint angle and transfinite, using the data in off-line programing
It drives robot to complete motion simulation under environment, shows the welding motion profile reasonable.
Step 5: robotic motion routine code is generated: according to the end pose data of table 3 or the joint angle sequence of table 4
Data produce corresponding srd and srp program file in conjunction with the Characteristics in Compiling of Xin Shida STEP robot control program's code,
Wherein, two types, pose variable (type AXISPOS) and pass can be used for saving kinematic variables data, variable in srd file
It saves variable (Type C ARTPOS), is corresponded to each other with table 3 and 4 data of table；Srp file is used to generate the control by variable data operation
Processing procedure sequence.
As seen from the above-described embodiment, provided by the invention that curved welding seam path node position and appearance are mutually passed through based on the space VTK
State extracting method only needs to produce weld seam rail by mouse pick-up operation independent of third party's CAD software
Mark needs not move through cumbersome external data calculating and importing process, and man-machine interaction is good, can quickly generate required robot journey
Sequence completes off-line programing exploitation.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. curve welding off-line programing method is mutually passed through in a kind of industrial robot space, which comprises the following steps:
Step 1: it imports arc welding system threedimensional model: establishing the threedimensional model of robotic arc-welding system in three-dimensional software, and will
The threedimensional model of robotic arc-welding system imports the Viusal Studio off-line programming software based on VTK, completes on the software
The layout of arc welding system working environment；
Step 2: it extracts weld seam node posture information: in the Viusal Studio off-line programming software based on VTK, passing through mouse
Mark picks up two curved surface of periphery of forming curves weld seam, and cutting plane group is created in workpiece coordinate system, bent with two by cutting plane group
The intersection information in face acquires welding node position, and acquires welding node posture by main normal plane dichotomy；
Step 3: first under workpiece coordinate system, position and appearance autonomous seam tracking: are realized along Welded Joint Curve according to node pose
State discretization, then robot basis coordinates system is transformed to through coordinate system conversion, realize weld seam cartesian space trajectory planning；
Step 4: it robot motion's emulation: under the three-dimensional simulated environment based on VTK, is shown and is walked using function vtktube
Rapid three obtained weld seams mutually pass through curve, i.e. the motion virtual track of robot, obtain robot against solution by robot kinematics
Joint angle sequence needed for motion process carries out motion simulation；
Step 5: it generates robotic motion routine code: according to the program feature of selected robot, basis coordinates system, workpiece being sat
The homogeneous matrix of mark system and tool coordinates system is converted into corresponding spatial attitude description form, after converting, according to selected machine
The language rule of the motion control program written in code of device people carries out generating corresponding program file.
2. curve welding off-line programing method is mutually passed through in a kind of industrial robot space according to claim 1, feature exists
In, support that the arc welding system threedimensional model file format imported includes IGES, STEP, OBJ, STL in the step 1, importing
Threedimensional model realizes the layout of off-line programing working environment by VTK pose transforming function transformation function.
3. curve welding off-line programing method is mutually passed through in a kind of industrial robot space according to claim 1, feature exists
In in the step 2, the extraction step of the welding node position coordinate data includes the normal vector of determining cutting plane, determination
The whole story plan-position of cutting plane and determining welding node position；The extraction step of the node attitude data includes determining welding
Node on two curved surface of weld seam periphery corresponding initial normal vector, determine each component of node attitude matrix.
4. curve welding off-line programing method is mutually passed through in a kind of industrial robot space according to claim 1, feature exists
In in the step 3, the position discretization method is using the B-spline matched curve by welding node construction weld seam come real
It is existing；The posture discretization method be using quaternary number spline interpolation to joint movements attitude data carry out spherical linear interpolation come
It realizes.
5. curve welding off-line programing method is mutually passed through in a kind of industrial robot space according to claim 1, feature exists
In progress collision detection and joint angle overrun testing, judge the reasonability of running track in the simulation process of the step 4.
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