CN109760045A - A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method - Google Patents

A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method Download PDF

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CN109760045A
CN109760045A CN201811610540.6A CN201811610540A CN109760045A CN 109760045 A CN109760045 A CN 109760045A CN 201811610540 A CN201811610540 A CN 201811610540A CN 109760045 A CN109760045 A CN 109760045A
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assembly
robot
entity
workpiece
line
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CN201811610540.6A
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CN109760045B (en
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吕红强
郝乐乐
韩九强
郑辑光
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西安交通大学
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Abstract

A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method, system include dual robot workpiece assembly section, computer and the wireless module for communication for having visual unit.Start dual robot collaborative assembly system, triggering visual unit acquires workpiece image to be assembled, and two computers obtain code corresponding to track and track needed for workpiece assembles using orbit generation method by operation off-line programming software.By running code, Liang Tai robot can not only complete single machine independence assembly work in the state of being in communication with each other, but also can complete double computer cooperation assembly work.The present invention can realize the emulation and practical set process to work based on dual robot collaborative assembly under off-line programming software environment with security and stability, entire assembling process is safe and reliable, precision is high, strong robustness, the assembly environment for adapting to multiple types workpiece, can satisfy the application demand of dual robot collaborative assembly.

Description

A kind of off-line programing orbit generation method and the dual robot based on this method cooperate with dress Match system

Technical field

The invention belongs to intelligence manufacture and robotic technology field, in particular to a kind of off-line programing orbit generation method and Dual robot collaborative assembly system based on this method.

Background technique

With the fast development of Chinese manufacturing, automatic technology is widely used, and industrial robot is also played the part of More and more important role.Individual machine people is often unable to complete more complicated work because of some limitations of its own Make task.The adaptable advantage strong, flexibility is good of double industrial robots, is the effective way for realizing intelligence manufacture.However, The problems such as collaboration path planning, co-location calibration and the tracking error of double industrial robots compensate is robot in industrial environment Middle application and key technical problem urgently to be solved in extension process.Meanwhile with the continuous improvement of manufacturing technique requirent, for The machining locus required precision of industrial robot is also being continuously improved.Traditional teaching mode is due to itself complicated for operation, efficiency Low feature can not be suitable for the operational requirements of current industrial robot.Existing off-line programming software is due to lacking view Feel processing unit, the human error introduced during workpiece alignment not can avoid.Meanwhile for dynamic with the angled assembly screwed up Make existing off-line programming technique be also required to combine teaching determine rotation angle could complete, be not carried out in complete meaning from Line programming.

Summary of the invention

In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of off-line programing track generation sides Method and dual robot collaborative assembly system, method based on this method pass through off-line programing orbit generation method, introduce vision and miss Poor compensated information and visual angle identification information, the working trajectory that single robot not only may be implemented are generated, can also be realized more The collaboration track of robot generates work, has the function of key generation and Dynamic Programming, and under different processing tasks Good with robustness, error is small, high-efficient advantage.Dual robot collaborative assembly system is to combine off-line programing track generation side The collaborative assembly system of method and visual processing unit, the model system that can be used as intelligent automation system are furtherd investigate, are filled The concept for embodying industrial robot work compound and industrial robot is divided to replace the concept of manual work, scalability is strong, It provides the foundation further to study group industrial robot intelligent automation system.

To achieve the goals above, the technical solution adopted by the present invention is that:

A kind of off-line programing orbit generation method, including STEP Model Reconstruction algorithm and PATH GENERATION, feature exist In the off-line programing orbit generation method includes the following steps:

STEP model file is read, and reads STEP model file information line by line in the form of reading character string, selection is suitable for The Character segmentation algorithm of file data section sentence structure carries out taxonomic revision to information representated by every line character string and is saved in In calculator memory.

Geological information and topological data are extracted, and entity instance information described in every line character string is extracted, to keyword into Row compares, and obtains the model geometric information and topological data of EXPRESS language description.

Model Reconstruction generates OCC (OpenCASCADE) using the STEP model geometric information and topological data extracted In corresponding model and be shown in computer off-line programming software.

Track generates, and crawl point and set-point are defined by way of the pickup point on workpiece OCC model, the ginseng such as utilizes Number interpolation algorithm generates a series of interpolated point between crawl point and set-point, and final all the points just constitute the dress of robot With working trajectory.

The STEP model file is read aiming at the STEP model file saved with character string forms by reading line by line The form taken is extracted its effective information and is stored in calculator memory, selects corresponding Character segmentation according to STEP file format Algorithm is split every line character string, extracts effective entity information therein.Concrete operations are, from the data segment of STEP file Start, for every line character string, extract the number between " # " and "=" and be used to presentation-entity number, extraction "=" and " (" between Character string is used to the type of presentation-entity, extract " (" it is used to the title of presentation-entity with the character string between ", ", will " (" with ") " in character string after first ", " be split by ", " obtained from each character string be used to the ginseng of presentation-entity Number.It for the entity number of each entity, entity type, entity name and parameter information is deposited in the form of structural body Storage, these structural bodies also just constitute the information of STEP model in memory.As #206=DIRECTION (", (0.E+000, 0.E+000, -1.)) show that its meaning is the entity direction (0,0, -1) that an entity number is 206 after by Character segmentation.

The extraction geological information is exactly to indicate STEP model file by the geometry entity in STEP AP203 agreement Geological information.Concrete operations are, come the geological information in Unify legislation entity by the way of parameter curve and parametric surface. In general, can all geological informations of accurate description using B-spline entity representation method.Extracting topological data is exactly to pass through Topological entity in STEP AP203 agreement indicates the topological data in STEP model file.Concrete operations are exactly, using by Topological data of the low to high hierarchical relationship in STEP AP203 agreement following table representation model.

The Model Reconstruction is exactly the OCC object created according to the entity information in STEP file corresponding thereto.Needle Is inquired by the mapping relations between STEP entity and OCC object, passes through the phase in OCC according to its type for each entity structure body Function is closed to create corresponding OCC object and initialize using substance parameter to object.If there is some entity It is the parameter of another entity, then needs this entity set-up at the OCC object with parameter attribute and at the beginning of being carried out to it Beginningization.In order to avoid repeating to initialize OCC object, the data structure of map is selected to save initialization data.In OCC StepToGeom class contains the method for converting OCC geometric object for STEP geometry entity, and StepToTopoDS packet provides The method for converting OCC topology shape for STEP topological entity.Utilize the above method, so that it may creation and entity information rapidly Corresponding OCC object.

It is exactly to define the crawl point of workpiece by picking up the point on workpiece OCC model to be assembled and put that the track, which generates, It sets a little.Intermediate trace points between crawl point and set-point then need to realize using PATH GENERATION.Concrete operations are to incite somebody to action Crawl, which is put, is divided into multiple straightways the track between set-point, realizes for parameter interpolations algorithms such as each straightway uses The generation of intermediate trace points constitutes the assembly track of robot in conjunction with the crawl point defined before together with set-point.

The dual robot collaborative assembly system based on off-line programing orbit generation method, including dual robot cooperate with work Part assembly section 1, single robot individual work pieces assembly section 2,3, robot control zone 4, display screen 5,6, in which:

It includes two industrial robots 20,21 to work in opposite directions that dual robot, which cooperates with workpiece assembly section 1, in two industrial machines The end of device people 20,21 be separately installed with clamping jaw 13,16, vision collecting unit 12,17 and assembly place tray 14,15;

Single robot individual work pieces assembly section 2,3 includes being placed on the workpiece to be assembled of workbench and being fixed on workbench Assembly pedestal for placed 18,19;

Robot control zone 4 includes computer 7,10 and robot control cabinet 8,9 and wireless module 11, wherein wireless mould Block 11 undertakes the communication between robot control cabinet 8,9 and computer 5,6 and between two computers 5,6;

The picture that workpiece to be assembled is acquired using vision collecting unit 12,17 obtains the placement angle letter of workpiece to be assembled Breath runs the off-line programing orbit generation method in computer 7,10, controls the motion profile of robot 20,21.

The wireless module 11 is exactly by technology of Internet of things, between computer 7,10 and computer 7,10 and robot The star-like local area network centered on wireless router is constituted between control cabinet 8,9, each node passes through wirelessly in local area network The communication of whole system is completed in router forwarding, wherein instruction is using " # " as starting character, using "/" as the character of full stop String need to be separated by if disposably sending a plurality of instruction between instruction with "+", first when server or client receive message Character string can be first traversed, if it find that starting character and full stop are imperfect, then illustrate not to be complete order, it is abandoned etc. To receive again;If order is complete, character string is split with "+" separator, multiple substrings are obtained, according to each The corresponding command type of character string selects different processing modules, and using the asynchronous mechanism based on message response as message at Reason mechanism, while multiple threads are prevented to message processing module using the method for mutual exclusion lock while being accessed.

The dual robot collaborative assembly system, when breaking down in double computer cooperation assembling process, Liang Tai robot 20, 21 can switch to single cpu mode carries out independent Intelligent assembly in single robot individual work pieces assembly section 2,3 respectively.

The dual robot collaborative assembly method based on off-line programing orbit generation method, Liang Tai robot execute respectively Off-line programing track generation step, to complete the workpiece assembly work under actual environment, tool in collaborative assembly system Body includes the following steps:

Step 1: starting dual robot collaborative assembly system;

Step 2: triggering vision collecting unit 12,17 acquires the picture of workpiece to be assembled, for need to screw up when assembly Workpiece calculates robot end in assembling process using its image information and needs the angle rotated;

Step 3: using the coordinate information of 3 calibration methods measurement assembly section workpiece and by calibration corresponding to each workpiece Data are stored in calculator memory;

Step 4: running off-line programming software in computer 7,10, import robot and assemble the correlation model of workpiece simultaneously Each model is calibrated, in conjunction with step 2 angle calculation as a result, carry out Liang Tai robot alone workpiece assembly and collaboration work Emulation, collision detection and the track of part assembly generate, and track needed for waiting enters step 5 after generating;

Step 5: by the post code conversion function in off-line programming software, the track generated in simulated environment being converted At executable code and to import robot control cabinet 8,9 medium pending;

Step 6: setting Liang Tai robot 20,21 is in on-line mode, the executable code that operating procedure 5 imports;

Step 7: work to be assembled finishes, and closes dual robot collaborative assembly system.Compared with prior art, of the invention Beneficial effect is:

Dual robot collaborative assembly system of the invention has fully demonstrated the concept of industrial robot work compound.Compared to existing Some off-line programming software technologies, the present invention are added visual angle recognition unit and collimation error compensating unit, are adapted to more The assembly work of seed type workpiece, high-efficient, scalability is strong.On the basis of this software technology and hardware device, Ke Yijin One step studies the mode of group's industrial robot intelligent operation, provides and has by force for correlative study and the practice of enterprise and colleges and universities The basis of power.

The off-line programing orbit generation method proposed in the present invention is improved instead of traditional artificial teaching programming mode The programming efficiency and operating accuracy of industrial robot.Compared to existing off-line programming software technology, Vision information processing list joined Member, so that the track that the method generates can be adapted for the assembly work of multiple types workpiece, adaptability is high, portable strong.

Detailed description of the invention

Fig. 1 is the flow chart of STEP Model Reconstruction algorithm in off-line programing of the present invention.

Fig. 2 is the flow chart of PATH GENERATION in off-line programing of the present invention.

Fig. 3 is the architecture diagram of dual robot collaborative assembly system of the present invention.

Fig. 4 is the operating process of dual robot collaborative assembly system of the present invention.

Specific embodiment

With reference to the accompanying drawing with example in detail embodiments of the present invention.

As shown in Figure 1, being directed to a kind of orbit generation method based on off-line programing proposed in this paper, assembled in conjunction with workpiece Example is discussed in detail Model Reconstruction algorithm flow therein, the specific steps of which are as follows:

(a) STEP model file is read, and is passed through for the STEP model file that is saved with character string forms and is read line by line Form is extracted its effective information and is stored in calculator memory, selects corresponding Character segmentation algorithm according to STEP file format Every line character string is split, effective entity information therein is extracted.Concrete operations are opened from the data segment of STEP file Begin, for every line character string, extract the number between " # " and "=" and be used to presentation-entity number, extraction "=" and " (" between word Symbol string is used to the type of presentation-entity, extract " (" it is used to the title of presentation-entity with the character string between ", ", will " (" with ") " In character string after first ", " be split by ", " obtained from each character string be used to the parameter of presentation-entity.It is right It in the entity number of each entity, entity type, entity name and parameter information is stored in the form of structural body, this A little structural bodies also just constitute the information of STEP model in memory.As #206=DIRECTION (", (0.E+000,0.E+ 000, -1.)) show that its meaning is the entity direction (0,0, -1) that an entity number is 206 after by Character segmentation.

(b) geological information and topology information are extracted, and extracting geological information is exactly by the geometry in STEP AP203 agreement Entity indicates the geological information of STEP model file.Concrete operations are united by the way of parameter curve and parametric surface One describes the geological information in entity.Such as:

#191=LINE (", #192, #193);

#192=CARTESIAN_POINT (", (- 2.0,1.0,2.0));

#193=VECTOR (", #194,1.);

#194=DIRECTION (", (- 1., 0.E+000,0.E+000));

Indicate that starting point is (- 2,1,2), along negative direction of the x-axis, the straightway that size is 1.

Extracting topological data is exactly to be indicated in STEP model file by the topological entity in STEP AP203 agreement Topological data.Concrete operations are exactly, using hierarchical relationship from low to high STEP AP203 agreement following table representation model topology Data, such as:

A closing shell substantial definition in STEP model file are as follows:

#13=CLOSED_SHELL (", (#14, #257, #558, #709, #803, #874, #944, #1052, #1151, # 1232))

Topological data therein is exactly that the entity number of the closing shell is 13, by #14, #257, #558, #709, #803, # 10 advanced face compositions that 874, #944, #1052, #1151, #1232 are defined.

(c) OCC model conversion creates corresponding OCC object according to the entity information in STEP file.Concrete operations be by Assembly in STEP model file is mapped as TopoDS_Compound in OCC, and the part in assembly is mapped as The geometry entity of constituent part is mapped as with topological entity several in OCC by the various shape that TopoDS_Compound includes What object and topology, to establish the mapping relations of STEP model Yu OCC model.To each entity structure body, according to Its entity type is created by the mapping relations between known STEP entity and OCC object using the correlation function in OCC Corresponding OCC object simultaneously initializes it using substance parameter.If an entity is the parameter of another entity, immediately It creates the OCC object of an entity as parameter and initializes.The object of all initialization is stored in a map, is avoided It repeats to initialize.StepToGeom class provides the method for converting OCC geometric object for STEP geometry entity in OCC, StepToTopoDS packet provides the method for converting OCC topology shape for STEP topological entity.It can use these methods, Quickly create corresponding OCC object.

As shown in Fig. 2, being further discussed below track on the basis of the algorithm of Model Reconstruction in conjunction with workpiece assembly case and generating calculation The main flow of method, its step are as follows:

(a) robot STEP model and workpiece STEP model needed for importing in software, using Model Reconstruction algorithm into Row OCC model is generated and is calibrated using 3 calibration methods to model;

(b) the crawl point and set-point of workpiece are defined on the OCC model of workpiece;

(c) track auxiliary magnet needed for defining robotic asssembly track;

(d) the assembly track of robot is divided into multiple straightways, and selects parametric equation corresponding to straightway, The parametric equation of 3 d-line in OCC are as follows:

C (u)=P+uD, u ∈ (- ∞ ,+∞)

In formula: u is parameter of curve;P is a point in three-dimensional space;D is a direction in three-dimensional space.

(e) parametric curve interpolators such as.Crawl point is generated for parametric curve interpolators algorithms such as straightway selections and is placed Intermediate trace points between point, specific steps are as follows:

I. the quantity N for needing the point of interpolation is determined;

Ii. setting etc. divides the step-length of parameter

Iii. according to step delta u to the parameter space [u of straightwaymin,umax] even partition is carried out, form arithmetic progression {umin,umin+Δu,umin+2Δu,…,uma}x

Iv. according to formula C (u)=P+uD, u ∈ (- ∞ ,+∞) calculates in arithmetic progression each parameter on straightway Point.

(f) posture interpolation is exactly substantially three Eulerian angles α of interpolated point, the calculating of beta, gamma.It is generally adopted in track generates The terminal angle of robot is defined with a local coordinate system.Concrete operations are calculated using the function in GeomLProp packet DirX of tangent vector of the straightway at tracing point as tracing point local coordinate system, calculate straightway where plane on it is in-orbit DirZ of the normal vector of plane at mark point as tracing point local coordinate system, then in robot end's local coordinate system Z, tri- directions X, Y are respectively as follows :-DirZ, DirX, DirY=(- DirZ) × DirX, obtain corresponding attitude matrix according to it, It thus can be in the hope of the transition matrix between basis coordinates system and local coordinate system

In formula: c is writing a Chinese character in simplified form for cos, and s is writing a Chinese character in simplified form for sin

If it is known that from basis coordinates system COIt is transformed to local coordinate system CO'Spin matrix

It can be obtained by corresponding three Eulerian angles of robot end's attitude matrix according to transition matrix;

(g) code of a series of positions comprising tracing point and posture is generated, and corresponding code is downloaded into corresponding machine Device people waits operation.

As shown in figure 3, the present invention is based on the dual robot collaborative assembly system of off-line programing orbit generation method, including it is double Robot cooperates with workpiece assembly section 1, single robot individual work pieces assembly section 2,3, robot control zone 4 and computer display screen 5,6.

Dual robot collaboration as shown in Figure 3 workpiece assembly section 1 includes two industrial robots 20,21 to work in opposite directions, The end of two industrial robots 20,21 be separately installed with clamping jaw 13,16, vision collecting unit 12,17 and assembly place Tray 14,15, clamping jaw are used to clamp the workpiece of single robot individual work pieces assembly section 2,3, and smart camera is used to identify workpiece kind The placement angle of class and workpiece, assembly placement tray are the dresses that workpiece is placed mutually during collaborative assembly by Liang Tai robot It sets.Single robot individual work pieces assembly section 2,3 is including being placed on the workpiece to be assembled of workbench and being fixed on the dress of workbench Ligand pedestal for placed 18,19.On the basis of normal communication, Liang Tai robot can fold up workpiece with a side, and a side lifts work The mode of part is alternately assembled, and under mutually matched mode, final two machines can complete a complete assembly per capita Assembly work.Particularly, when breaking down during dual robot collaborative assembly (such as: communication disconnection), Liang Tai robot Single cpu mode can be switched to and carry out independent Intelligent assembly in individual work pieces assembly section.Wherein, it needs to screw up under single cpu mode Assembly movement to be robot complete by fixed pedestal 18,19 on the table.Robot control zone 4 includes computer 7,10 and robot control cabinet 8,9 and wireless module 11, wherein wireless module 11 undertakes robot control cabinet 8,9 and computer 5, the communication between 6 and between two computers 5,6;

As shown in figure 4, the operating process of dual robot collaborative assembly system is as follows:

(a) dual robot collaborative assembly system is opened;

(b) visual unit is triggered, processing is acquired to the placement angle information of workpiece;

Wherein, when workpiece angle acquisition of information, the picture of all workpiece is acquired by mobile robot end.It will acquisition To picture by computer off-line programming software carry out processing and effective information extraction.The step of picture processing, is as follows:

I. target area pre-processes.According to workpiece identification results area, the ROI region of original image is set, by image ROI region It converts from RGB color to CMYK color space.Wherein, RGB and CMYK color space transformational relation are as follows:

Ii. Target Segmentation.According to workpiece type, the image of image ROI region special modality is extracted, and threshold is carried out to image Value segmentation and noise reduction process, obtain target workpiece binary map.

Iii. workpiece centre point is extracted.The boundary rectangle of target workpiece binary map is sought, the center of boundary rectangle is work Part centre coordinate.

Iv. Distance Filter.It is filtered at a distance from workpiece centre according to angle recognition label, primarily determines identification Mark position.

V. Morphological scale-space.Certain corrosion expansion and area filtering are carried out to the region primarily determined, are obtained final Carry out the image of angle calculation.

Vi. workpiece angle is calculated.The connected domain centre coordinate for calculating identification label, according to the center and workpiece centre coordinate The angle of workpiece is calculated.

(c) it extracts to obtain calibration information using world coordinates information of 3 calibration methods to workpiece.

(b) model of robot and workpiece needed for being imported in off-line programming software, and model is carried out using calibration information Calibration;

(e) off-line programming software is run, the process that the process and single robot to dual robot collaborative assembly are independently assembled It is emulated, and generates executable code;

(f) Liang Tai robot establishes TCP/IP communication, and double computer cooperation assembly is carried out in the case where communicating normal situation, if certain Robot breaks down or communication failure then automatically switches to single robot independence assembly mode and works;

(g) assembly terminates, and closes system.

It is worth noting that, above-mentioned specific embodiment is for illustrating the present invention, preferred reality only of the invention Scheme is applied, rather than is limited the invention, within the spirit of the invention and the scope of protection of the claims, the present invention is done Any modification, equivalent substitution, improvement and etc. out, belong to protection scope of the present invention.

Claims (9)

1. a kind of off-line programing orbit generation method, including STEP model reconstruction method and orbit generation method, which is characterized in that Specific step is as follows:
STEP model file is read, and reads STEP model file information line by line in the form of reading character string, and selection is suitable for file The Character segmentation algorithm of data segment sentence structure carries out taxonomic revision to information representated by every line character string and is saved in calculating In machine memory;
Geological information and topological data are extracted, and are extracted entity instance information described in every line character string, are compared keyword Compared with the model geometric information and topological data of acquisition EXPRESS language description;
Model Reconstruction generates phase in OCC (OpenCASCADE) using the STEP model geometric information and topological data extracted The model answered simultaneously is shown in computer off-line programming software;
Track generates, and crawl point and set-point are defined by way of the pickup point on workpiece OCC model, the parameters such as utilizes to insert It mends algorithm and generates a series of interpolated point between crawl point and set-point, final all the points just constitute the assembler of robot Make track.
2. off-line programing orbit generation method according to claim 1, which is characterized in that for what is saved with character string forms STEP model file extracts its effective information by way of reading line by line and is stored in calculator memory, according to STEP file Format selects corresponding Character segmentation algorithm to be split every line character string, to extract effective entity information therein, has Gymnastics work is: since the data segment of STEP file, for every line character string, the number extracted between " # " and "=" is used to table Show entity number, extract "=" with " (" between character string be used to the type of presentation-entity, extract " (" and ", " between character string It is every obtained from the character string in " (" with ") " after first ", " is split by ", " for the title of presentation-entity A character string is used to the parameter of presentation-entity, for the entity number of each entity, entity type, entity name and parameter information It is all to be stored in the form of structural body, these structural bodies also just constitute the information of STEP model in memory.
3. off-line programing orbit generation method according to claim 1, which is characterized in that the extraction geological information passes through Geometry entity in STEP AP203 agreement indicates the geological information of STEP model file, and concrete operations are: bent using parameter The mode of line and parametric surface carrys out the geological information in Unify legislation entity, and the extraction topological data passes through STEP AP203 Topological entity in agreement indicates the topological data in STEP model file, and concrete operations are: using level from low to high Topological data of the relationship in STEP AP203 agreement following table representation model.
4. off-line programing orbit generation method according to claim 1, which is characterized in that believed according to the entity in STEP file Breath inquires STEP entity and OCC pairs according to its type to create OCC object corresponding thereto, for each entity structure body Mapping relations as between create corresponding OCC object by the correlation function in OCC and using substance parameter to right As being initialized;It is the parameter of another entity if there is some entity, then by this entity set-up at parameter The OCC object of attribute simultaneously initializes it;To avoid repeating initializing OCC object, the data structure of map is selected to save Initialization data;StepToGeom class contains the method for converting OCC geometric object for STEP geometry entity in OCC, StepToTopoDS packet provides the method for converting OCC topology shape for STEP topological entity;Using the above method, rapidly Create OCC object corresponding with entity information.
5. off-line programing orbit generation method according to claim 1, which is characterized in that by picking up workpiece OCC to be assembled Point on model defines the crawl point and set-point of workpiece, and the intermediate trace points between crawl point and set-point then utilize track Generating algorithm realizes that concrete operations are: the track between crawl point and set-point being divided into multiple straightways, for each The parameter interpolations algorithms such as straightway use realize the generation of intermediate trace points, in conjunction with the crawl point defined before together with set-point Constitute the assembly track of robot.
6. the dual robot collaborative assembly system based on off-line programing orbit generation method described in claim 1, including track planning of dual robots People cooperates with workpiece assembly section (1), single robot individual work pieces assembly section (2,3), robot control zone (4), display screen (5,6), Wherein:
It includes two industrial robots to work in opposite directions (20,21) that dual robot, which cooperates with workpiece assembly section (1), in two industrial machines The end of device people (20,21) is separately installed with clamping jaw (13,16), vision collecting unit (12,17) and assembly and places tray (14,15);
Single robot individual work pieces assembly section (2,3) includes being placed on the workpiece to be assembled of workbench and being fixed on workbench Assembly pedestal for placed (18,19);
Robot control zone (4) includes computer (7,10) and robot control cabinet (8,9) and wireless module (11), wherein without Wire module (11) undertakes logical between robot control cabinet (8,9) and computer (5,6) and between two computers (5,6) Letter;
The picture that workpiece to be assembled is acquired using vision collecting unit (12,17), obtains the placement angle information of workpiece to be assembled, The operation off-line programing orbit generation method in computer (7,10), controls the motion profile of robot (20,21).
7. dual robot collaborative assembly system according to claim 6, which is characterized in that pass through technology of Internet of things, computer The star centered on wireless router is constituted between (7,10) and between computer (7,10) and robot control cabinet (8,9) Type local area network, each node passes through the communication that whole system is completed in wireless router forwarding in local area network, wherein instruction be with " # " is as starting character,, need to be with "+" between instruction if disposably sending a plurality of instruction using "/" as the character string of full stop It is separated by, when server or client receive message, character string can be traversed first, if it find that starting character and full stop are endless It is whole, then illustrate it is not complete order, discarding waiting is carried out to it and is received again;If order is complete, with "+" separator to character String is split, and obtains multiple substrings, selects different processing modules according to the corresponding command type of each character string, and Using the asynchronous mechanism based on message response as message processing facility, while multiple threads are prevented using the method for mutual exclusion lock It accesses simultaneously to message processing module.
8. dual robot collaborative assembly system according to claim 6, which is characterized in that when dual robot collaborative assembly process When middle failure, Liang Tai robot (20,21) can switch to single cpu mode single robot individual work pieces assembly section (2, 3) independent Intelligent assembly is carried out.
9. the operation method of dual robot collaborative assembly system according to claim 6, which is characterized in that Liang Tai robot point Not Shi Yong the off-line programing orbit generation method, complete actual environment in dual robot collaborative assembly work, specifically include Following steps:
Step 1: starting dual robot collaborative assembly system;
Step 2: triggering vision collecting unit (12,17) acquires the picture of workpiece to be assembled, for the work for needing to screw up when assembly Part calculates robot end in assembling process using its image information and needs the angle rotated;
Step 3: using the coordinate information of 3 calibration methods measurement assembly section workpiece and by calibration data corresponding to each workpiece It is stored in calculator memory;
Step 4: the correlation model of the operation off-line programming software in computer (7,10), importing robot and assembly workpiece is simultaneously right Each model is calibrated, in conjunction with step 2 angle calculation as a result, carry out Liang Tai robot alone workpiece assembly and collaboration workpiece Emulation, collision detection and the track of assembly generate, and track needed for waiting enters step 5 after generating;
Step 5: by the post code conversion function in off-line programming software, the track generated in simulated environment is converted to can It executes code and to import robot control cabinet (8,9) medium pending;
Step 6: setting Liang Tai robot (20,21) is in on-line mode, the executable code that operating procedure 5 imports;
Step 7: work to be assembled finishes, and closes dual robot collaborative assembly system.
CN201811610540.6A 2018-12-27 2018-12-27 Offline programming track generation method and double-robot cooperative assembly system based on same CN109760045B (en)

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