CN110053045A - Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus - Google Patents
Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus Download PDFInfo
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- CN110053045A CN110053045A CN201910274414.6A CN201910274414A CN110053045A CN 110053045 A CN110053045 A CN 110053045A CN 201910274414 A CN201910274414 A CN 201910274414A CN 110053045 A CN110053045 A CN 110053045A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1666—Avoiding collision or forbidden zones
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of workpiece surface contour line acquisition methods and a kind of robot interference detection method, it is run by driving robot body along the teaching track editted, the running track that calculating robot's end effector is formed in workpiece surface, surface tracks as workpiece, data processing is carried out to surface tracks, it is approximately workpiece surface contour line, then robot interference detection is carried out according to the workpiece surface contour line of acquisition, by in simulated environment, driving robot body is run point by point along teaching track, whether intersect between detection robot and workpiece surface contour line, the tracing point of intersection is recorded and saved as interference point.Under the premise of being not necessarily to workpiece threedimensional model, it can detect whether robot interferes or collide with workpiece automatically, and wherein interfere, it can reduce the hardware cost of robot interference detection system, and carry out time and the human cost of interference detection.
Description
Technical field
The present invention relates to field of Computer Graphics, especially a kind of workpiece surface contour line acquisition methods, interference detection
Method and relevant apparatus.
Background technique
With the popularization and application of robot in the industrial production, more and more enterprises introduce robot replacement manually, into
Row production operation.By the motion profile of the preparatory planning robot of teaching mode, robot is allowed to reappear in process of production accordingly
Track to which to complete a certain specific process be common way.But in actual production process, robot and workpiece are phases
To self-existent, if robot is mechanically run only in accordance with track pre-planned, it is difficult to perceive the position of workpiece
With form, it is likely that mechanical collision, which occurs, with workpiece causes to damage.It is existing, when can be assisted by increasing sensor, pass
Sensor can largely detect that collision may occur, and then take emergency braking measure, but this way is on the one hand
Cause hardware cost to increase, is on the other hand easy to cause the malfunction of robot due to sensor maloperation.
Therefore before robot reproduction teaching track, under three-dimensional artificial environment, interference detection is carried out to robot and workpiece
It is to ensure that one of the feasible way of robot security's operation.At present in overwhelming majority three-dimensional artificial environment, to two objects in space
When body carries out interference or collision detection, it usually needs provide the threedimensional model of two detected objects, robot is due to position
Fixed, threedimensional model is usually determined and will not be changed easily, but description size of workpiece etc. is frequent change
It changes, obtains its threedimensional model and be not easy to.And in actual production process, most enterprises Problems are: work piece production
Small in batches, wide in variety, the programming for completing teaching track has belonged to and being not easy, and the detailed threedimensional model for obtaining workpiece various in style can be into
One step takes considerable time and manpower, leads to be difficult to realize the interference detection based on three-dimensional artificial.
Therefore need to propose a kind of interference detection method without workpiece threedimensional model, operator completes the programming of teaching track
Teaching track can be run directly in simulated environment later.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to solve robot interference detection in the prior art to need to spend human and material resources caused by workpiece threedimensional model, is reduced
The problem of production efficiency, it is dry to provide a kind of workpiece surface contour line acquisition methods, a kind of robot without workpiece threedimensional model
Relate to detection method, system and relevant apparatus.
The technical scheme adopted by the invention is that:
In a first aspect, the present invention provides a kind of workpiece surface contour line acquisition methods, comprising steps of
Obtain teaching Trace step: obtaining the robot teaching track of workpiece, the robot include robot body and
End effector of robot；
Obtain workpiece surface Trace step: when the robot body being driven to run along teaching track, the robot
The running track that end effector is formed in workpiece surface, the surface tracks as workpiece；
Contour line processing step: workpiece surface contour line is obtained according to the surface tracks.
Further, the acquisition teaching Trace step further include:
Further, the contour line processing step further include: data processing, the data processing include: to vacuate processing
And/or process of fitting treatment.
Second aspect, the present invention also provides a kind of robot interference detection methods, comprising steps of
Obtain workpiece profile line step: according to a kind of described in any item workpiece surface contour line acquisition methods of first aspect
Obtain the contour line of workpiece；
Interference detecting step: referring in simulated environment, and driving robot body is run point by point along the teaching track, examines
It surveys between robot and the workpiece surface contour line and whether intersects, recorded and protected using the tracing point of intersection as interference point
It deposits.
Further, it further comprises the steps of: interference point Effective judgement step: referring to and remove orphan in the interference point of acquisition
Vertical point.
The third aspect, the present invention also provides a kind of robot interference checking devices, comprising:
Obtain teaching track module: for obtaining the robot teaching track of workpiece, the robot includes robot sheet
Body and end effector of robot；
Obtain workpiece surface track module: when for driving the robot body to run along teaching track, the machine
The running track that device people end effector is formed in workpiece surface, the surface tracks as workpiece；
It obtains workpiece profile wire module: being used to carry out data processing to the surface tracks, obtain workpiece surface contour line；
To interfere detection module: being used in simulated environment, driving robot body is run point by point along the teaching track,
Whether intersect between detection robot and the workpiece surface contour line, the tracing point of intersection is recorded simultaneously as interference point
It saves.
Fourth aspect, the present invention also provides a kind of robots to interfere detection system, comprising: computer, teaching system, machine
People's system and workpiece；
The teaching system: for providing teaching track；
The robot system: including robot body, robot controller and end effector of robot, the machine
People's end effector is connected with the robot body, and the robot controller is connected with the computer；
The computer: for executing a kind of such as described in any item robot interference detection methods of second aspect, and will
Corresponding control instruction is sent to the robot controller；
The workpiece: refer to the manipulating object of end effector of robot.
Further, the computer is also used to edit the teaching track, and the editor includes: to delete extra tracing point
And/or smothing filtering is carried out to track.
5th aspect, the present invention provide a kind of robot interference detection device, comprising:
At least one processor, and the memory being connect at least one described processor communication；
Wherein, the processor is by calling the computer program stored in the memory, for executing such as second party
The described in any item methods in face.
6th aspect, the present invention provide a kind of computer readable storage medium, the computer-readable recording medium storage
There are computer executable instructions, the computer executable instructions are for executing computer as second aspect is described in any item
Method.
The beneficial effects of the present invention are:
Then the present invention drives robot body to run along teaching track by the robot teaching track of acquisition workpiece
When, the running track that end effector of robot is formed in workpiece surface carries out surface tracks as the surface tracks of workpiece
Data processing is approximately workpiece surface contour line, without carrying out detailed three-dimensional modeling to workpiece, need to only pass through robot
Ontology carries out a teaching track operation to it, and approximate surface profile line can be obtained, be approximately the three-dimensional mould of workpiece
Type, the effective information for making full use of ready-made teaching track to include are easy to operate and at low cost.
In addition, the present invention carries out robot interference detection also according to the workpiece surface contour line of acquisition, by emulation ring
In border, driving robot body is run point by point along teaching track, detect between robot and workpiece surface contour line whether phase
It hands over, the tracing point of intersection is recorded and saved as interference point.It, can be automatic under the premise of being not necessarily to workpiece threedimensional model
It detects whether robot interferes or collide with workpiece, and wherein interferes, can reduce robot interference inspection
The hardware cost of examining system, and carry out time and the human cost of interference detection.And entirely interference detection process exists completely
It is realized in simulated environment, when avoiding operation, there is a situation where real collisions to damage for robot and workpiece.In addition, should
Interference detection method is easy to learn, a line operating worker can learning manipulation, and be used for welding, gluing, spray painting, glazing,
In the flow charts such as polishing, polishing, the interference detection process of robot and workpiece is completed.
Detailed description of the invention
Fig. 1 is the implementation flow chart of workpiece surface contour line acquisition methods embodiment one in the present invention；
Fig. 2 is the coordinate system schematic diagram of workpiece surface contour line acquisition methods embodiment one in the present invention；
Fig. 3 is the end effector of robot coordinate signal of workpiece surface contour line acquisition methods embodiment one in the present invention
Figure；
Fig. 4 is the flow chart of robot interference detection method embodiment two in the present invention；
Fig. 5 is a certain workpiece to be machined schematic diagram of robot interference detection method embodiment two in the present invention；
Fig. 6 is a kind of surface profile line side view schematic diagram of robot interference detection method embodiment two in the present invention；
Fig. 7 is a kind of surface profile DNA mitochondrial DNA view signal of robot interference detection method embodiment two in the present invention
Figure；
Fig. 8 is the specific example schematic diagram of robot interference detection method embodiment two in the present invention；
Fig. 9 is the specific example partial schematic diagram of robot interference detection method embodiment two in the present invention；
Figure 10 is the structural block diagram of robot interference detection system embodiment three in the present invention；
Figure 11 is the structural block diagram of robot interference checking device example IV in the present invention.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description specifically in the description of the invention herein
Embodiment purpose, it is not intended that in limitation the present invention.
Using six common joint industrial robots as specific robot objective for implementation, machine in the embodiment of the present invention
People includes at least robot body and end effector of robot, and to spray as concrete technology, corresponding robot end is held
Row device is then spray gun, controls robot motion using robot controller, but only makees example, is not made to robot type specific
It limits.
Embodiment one:
The embodiment of the present invention one provides a kind of workpiece surface contour line acquisition methods, and Fig. 1 is provided in an embodiment of the present invention
A kind of implementation flow chart of workpiece surface contour line acquisition methods, as shown in Figure 1, this method may comprise steps of:
S11: it obtains teaching Trace step: referring to the robot teaching track for obtaining workpiece, teaching track refers to sprays in robot
In the robot manipulating tasks scenes such as painting, robot polishing, carry out task track is required to show according to the shape, size and technique of workpiece
Religion.
S12: workpiece surface Trace step is obtained: when referring to that driving robot body is run along the teaching track editted,
The running track that end effector of robot is formed in workpiece surface, the surface tracks as workpiece.
S13: contour line processing step: refer to and data processing is carried out to reduce subsequent arithmetic amount to surface tracks, obtain workpiece
Surface profile line, data processing includes: to vacuate processing or process of fitting treatment, wherein vacuating processing and process of fitting treatment is existing number
According to Processing Algorithm, this is not repeated them here.
Wherein, in step S11, further include establishing coordinate system step: referring to and establish basis coordinates system and tool coordinates system, such as Fig. 2
It is shown, it is the coordinate system schematic diagram of the present embodiment, it can be seen from the figure that being origin with robot body pedestal 41, with level
Face is the plane where xy axis, using perpendicular quadrature direction as z-axis direction, is established with O0For the basis coordinates system in the center of circle, and this implementation
In example, basis coordinates system is consistent with the coordinate system that kinematics inversion process is used in robot controller.
And O6Selection principle for the change in coordinate axis direction of the tool coordinates system in the center of circle is: when robot body 40 is in initial
When position, in the present embodiment, the x-axis direction that tool coordinates system is arranged is consistent with the x-axis direction of basis coordinates system, the purpose done so
It is to avoid the unnecessary additional operand of Rotating Transition of Coordinate bring.
In the case where each joint angle angle value of known machine human body 40 and the D-H parameter of robot body 40, by D-H parameter
It derives, obtains the transformation matrix of each adjacent segment coordinate system of robot body 40, successively each joint transformation matrix is multiplied, i.e.,
Robot body end 42 can be obtained relative to the pose expression matrix T between basis coordinates system06, this process is robot fortune
The dynamic normal solution for learning equation, since the normal solution of Robot kinematics equations is uniquely, when one group of joint angles for determining robot
When value, the position of robot body end 42 and posture just uniquely determine therewith.
Such as six articulated mechanical arms in Fig. 2, the coordinate system in one joint in end i.e. most end is under basis coordinates system
Pose expression matrix T06Are as follows:
In formula: nx、ny、nzRespectively three direction cosines of the x-axis of ending coordinates system to basis coordinates system, ox、oy、ozRespectively
For three direction cosines of the y-axis to basis coordinates system of ending coordinates system, ax、ay、azRespectively the z-axis of ending coordinates system is to base
Mark three direction cosines of system, px、py、pzRespectively expression formula of the position of ending coordinates system origin in basis coordinates system, therefore
It can be seen that T06All elements, only the D-H relating to parameters with each joint angle angle value of robot and robot body 40, and its expression in detail
Formula can be found in data, and the present embodiment does not repeat them here.
As shown in figure 3, for end effector of robot coordinate schematic diagram in the present embodiment, it can be seen from the figure that point Ot
It is the tracing point that end effector of robot 43 (for example, spray gun) is formed in workpiece surface, with point OtTool is established for origin to sit
Mark system, point OtCoordinate in ending coordinates system is that (Δ x, Δ y, Δ z), wherein Δ y is not shown in the figure, and is write as the form of matrix
Are as follows:
Wherein, Δ x, Δ y, Δ z represent point OtCoordinate value in ending coordinates system, also illustrates that end effector of robot
43 installation dimension.
Formula (1) is multiplied with formula (2), and point O can be obtainedtI.e. end effector of robot 43 is formed in workpiece surface
Tracing point, the pose expression formula in basis coordinates system indicate are as follows:
Identical as formula (2), nine elements represent posture information before matrix in formula (3), last arranges first three
Element represents location information, and therefrom it can be seen that, nine elements for representing posture do not change, and only position occurs flat
It moves and related with posture rotationally-varying.
In step S12, specific operation content are as follows: according to basic principle of coordinate transformation, executed in conjunction with robot end
The geometric dimension of device, when computing machine human body runs along teaching track, end effector of robot is formed in workpiece surface
Track, think in the present embodiment, end effector of robot is in the track that workpiece surface is formed, although work cannot be replaced completely
The detailed threedimensional model of part, but the surface profile information of workpiece is contained, the feelings obtained are lacked or are difficult in workpiece threedimensional model
Under condition, which can approximatively be replaced to the detailed threedimensional model of workpiece, therefore can be according to step S13, by work
Part surface profile line is approximately the threedimensional model of workpiece.
In the present embodiment, to workpiece surface track carry out data processing, be approximately workpiece surface contour line, without pair
Workpiece carries out detailed three-dimensional modeling, need to only carry out a teaching track operation to it by robot, can be obtained approximate
Surface profile line is approximately the threedimensional model of workpiece, the effective information for making full use of ready-made teaching track to include, operation
It is simple and at low cost.
Embodiment two:
Second embodiment of the present invention provides a kind of robot interference detection methods, as shown in figure 4, being one kind of the present embodiment
Robot interference detection method flow chart, comprising steps of
S21: it obtains workpiece profile line step: obtaining work according to a kind of workpiece surface contour line acquisition methods of embodiment one
The contour line of part；
S22: interference detecting step: referring in simulated environment, and driving robot body is run point by point along teaching track, examines
It surveys between robot and workpiece surface contour line and whether intersects, the tracing point of intersection is recorded and saved as interference point.
S23: interference point Effective judgement step: refer to and remove isolated point in obtaining interference point, to avoid the feelings of erroneous judgement
Condition.
The present embodiment carries out robot interference detection according to the workpiece surface contour line of acquisition, by simulated environment,
Whether driving robot is run point by point along teaching track, detect and intersect between current running track and workpiece surface contour line,
The tracing point of intersection is recorded and saved as interference point.Under the premise of being not necessarily to workpiece threedimensional model, it can examine automatically
It measures whether robot interferes or collide with workpiece, and wherein interferes, can reduce robot interference detection
The hardware cost of system, and carry out time and the human cost of interference detection.
Below with a specific example detailed description of the present invention robot interference detection method.
As shown in figure 5, being a certain workpiece to be machined schematic diagram, it can be seen that the workpiece configurations approximation peviform, bottom is slightly
There is bending, in a manner of dragging teaching, teaching is carried out to its inner surface and programs to form teaching track, is i.e. driving robot body edge
The operation of teaching track when, be installed on the end effector of robot of robot body end along the work piece inner surface operation,
To form a series of surface profile lines in workpiece surface.
Then, data processing is carried out to reduce subsequent arithmetic amount to surface tracks, obtains workpiece surface contour line, in addition needs
It should be noted that if current robot end effector is in close state, robot can when gauging surface contour line
Can be in the transient process between adjacent track, the mapping point that end effector of robot is formed at this time is not necessarily in workpiece table
Face, therefore, testing result is not consistent with truth when interference detection in order to prevent, needs for end effector of robot to be in
Corresponding surface profile line is rejected when closed state.
It is a kind of surface profile line side view schematic diagram and three-dimensional view signal of the present embodiment as shown in Fig. 6~Fig. 7
Figure, it can be seen from figure 7 that the workpiece surface contour line that method through this embodiment obtains, the true form ratio with workpiece
It is closer to, it is seen that the surface profile line contains the partial information of workpiece surface, therefore can be approximate by workpiece surface contour line
For the threedimensional model of workpiece, for carrying out interference detection with robot in simulated environment.
In the present embodiment, obtained teaching track is more intensive, and the workpiece surface information that can be obtained is more abundant, using this
The interference testing result that the interference detection method that embodiment provides obtains is more accurate.
In the present embodiment, drive in a simulated environment the threedimensional model of robot body and end effector of robot along
Teaching track is run point by point, and constantly the threedimensional model of detection machine device human body and end effector of robot is being run to current
When tracing point, if intersect with surface profile line, and the tracing point of intersection is saved labeled as interference point record, it is dry in order to improve
It relates to validity a little to need to remove isolated interference point, the case where to avoid erroneous judgement, improves the robot interference of the present embodiment
The accuracy of detection method.
Fig. 8 is the specific example schematic diagram of the robot interference detection method of the present embodiment, and Fig. 9 is the machine of the present embodiment
The specific example partial schematic diagram of people's interference detection method.Wherein, to increase contrast effect, the region interfered has been detected
Show the spray gun directional information of corresponding region.It can be seen from the figure that having some regions along in the operational process of teaching track
The interference between robot body and end effector of robot and workpiece surface contour line occurs.It, can be significantly from Fig. 9
Find out, when interfering, end effector of robot has passed through interference region, that is, can determine that and interfered, to avoid
Robot and workpiece collide the case where leading to damage in practical operation, and show the three-dimensional without workpiece of the present embodiment
The validity of the robot interference detection method of model.
Embodiment three:
The embodiment of the present invention three provides a kind of robot interference detection system, is one kind of the present embodiment as shown in Figure 10
Robot interferes detection system structural block diagram, it can be seen from the figure that including teaching system 2, workpiece 3, robot system 4 and meter
Calculation machine 1, workpiece 3 are the manipulating object of end effector of robot 43.
Wherein, teaching system 2 refers to the system that robot teaching programming is used, for providing teaching track, teaching system
System 2 is component necessary to robot teaching programming, according to the difference for the specific teaching mode that robot uses, teaching system
Different from generally refers to teaching machine and its ancillary equipment if using teaching machine programming mode, such as using
Teaching mode is dragged, then refers mainly to teaching handle and data collector etc..It is provided completely for interference detection system of the invention
Robot teaching track, computer 1 can be passed through after the completion of generating teaching track comprising parameters such as technique informations in track
Teaching track is edited, edit methods include: to delete extra tracing point or carry out smothing filtering etc. to track, to be formed
Complete effective track.
In the present embodiment, when teaching programming generates teaching track, need to consider end effector of robot 43 and workpiece 3
Relative pose state.By taking spraying process as an example, using spray gun as end effector of robot 43, it is installed on robot body
40 end requires spray gun vertical with workpiece surface holding is sprayed-on as far as possible to guarantee spraying effect in technique, and sprays
Rifle front end is remained unchanged to distance (i.e. spray distance) Ying Jinliang for being sprayed-on workpiece surface, it is other as welding, gluing, glazing,
The techniques such as polishing, polishing, it is similar with spraying with the requirement of the relative pose state of workpiece 3 to end effector of robot 43, and
And the requirement of the techniques such as welding, gluing is stringenter.And entirely interference detection process is realized in simulated environment completely, avoids making
When industry, there is a situation where real collisions to damage for robot and workpiece.
In addition in the present embodiment, different teaching systems is selected to be adapted to according to the specific teaching mode difference of use.
Computer 1 executes a kind of robot interference detection method of embodiment two for running three-dimensional artificial environment, will
Corresponding control instruction is sent to robot controller 44, specifically, computer 1 is joined according to edited teaching track and technique
Number generates code command according to instruction format needed for robot controller 44, and sends it to robot controller 44, with
It controls robot and reappears teaching track, and realize the batch production job task to workpiece.
Robot system 4 includes robot body 40, robot controller 44 and end effector of robot 43, wherein machine
Device people end effector 43 is connected with robot body 40, positioned at the end of robot body 40, robot controller 44 and meter
Calculation machine 1 is connected, for receiving the control instruction of the transmission of computer 1.
The robot interference detection system of the present embodiment can be realized the robot interference detection method of embodiment two, this is dry
Detection system is related to simply to be convenient for operating, a line operating worker can learn interference detection method, and be used for welding, gluing,
In the flow charts such as spray painting, glazing, polishing, polishing, the interference detection process of robot and workpiece is completed.
Example IV:
The embodiment of the present invention four provides a kind of robot interference checking device, is one kind of the present embodiment as shown in figure 11
Robot interference checking device structural block diagram, comprising:
Obtain teaching track module: for obtaining the robot teaching track of workpiece；
Obtain workpiece surface track module: when for driving robot body to run along teaching track, the robot
The running track that end effector is formed in workpiece surface, the surface tracks as workpiece；
Obtain workpiece profile wire module: for obtaining workpiece surface contour line according to the surface tracks；；
Interfere detection module: being used in simulated environment, driving robot body is run point by point along teaching track, is detected
Whether intersect between robot and workpiece surface contour line, the tracing point of intersection is recorded and saved as interference point.
In addition, the present invention also provides a kind of robots to interfere detection device, comprising:
At least one processor, and the memory being connect at least one described processor communication；
Wherein, the processor is by calling the computer program stored in the memory, for executing such as embodiment
Method described in two.
In addition, the present invention also provides a kind of computer readable storage medium, computer-readable recording medium storage has calculating
Machine executable instruction, the method that wherein computer executable instructions are used to that computer to be made to execute as described in embodiment two.
Substantially threedimensional model of the present invention according to the workpiece surface contour line of acquisition as workpiece carries out robot interference inspection
It surveys, by the way that in simulated environment, driving robot body is run point by point along teaching track, passes through detection robot and workpiece table
Whether intersect between facial contour line, the tracing point of intersection is recorded and saved as interference point, it is dry to can reduce robot
The hardware cost of detection system is related to, and carries out time and the human cost of interference detection.
The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations, although referring to aforementioned each reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified, or equivalent substitution of some or all of the technical features；And
These are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution,
It should all cover within the scope of the claims and the description of the invention.
Claims (9)
1. a kind of workpiece surface contour line acquisition methods, which is characterized in that comprising steps of
It obtains teaching Trace step: obtaining the robot teaching track of workpiece, the robot includes robot body and machine
People's end effector；
Obtain workpiece surface Trace step: when the robot body being driven to run along teaching track, the robot end
The running track that actuator is formed in workpiece surface, the surface tracks as workpiece；
Contour line processing step: workpiece surface contour line is obtained according to the surface tracks.
2. a kind of workpiece surface contour line acquisition methods according to claim 1, which is characterized in that the contour line processing
Step further include: data processing, the data processing include: to vacuate processing and/or process of fitting treatment.
3. a kind of robot interference detection method, which is characterized in that comprising steps of
Obtain workpiece profile line step: according to claim 1 or a kind of 2 described in any item workpiece surface contour line acquisition methods
Obtain the contour line of workpiece；
Interfere detecting step: in simulated environment, driving robot body is run point by point along the teaching track, detects machine
Whether intersect between people and the workpiece surface contour line, the tracing point of intersection is recorded and saved as interference point.
4. a kind of robot interference detection method according to claim 3, which is characterized in that further comprise the steps of: interference point
Effective judgement step: refer to and remove isolated point in the interference point of acquisition.
5. a kind of robot interference checking device characterized by comprising
Obtain teaching track module: for obtaining the robot teaching track of workpiece, the robot include robot body and
End effector of robot；
Obtain workpiece surface track module: when for driving the robot body to run along teaching track, the robot
The running track that end effector is formed in workpiece surface, the surface tracks as workpiece；
Obtain workpiece profile wire module: for obtaining workpiece surface contour line according to the surface tracks；
Interfere detection module: being used in simulated environment, driving robot body is run point by point along the teaching track, is detected
Whether intersect between robot and the workpiece surface contour line, is recorded and protected using the tracing point of intersection as interference point
It deposits.
6. a kind of robot interferes detection system characterized by comprising computer, teaching system, robot system and work
Part；
The teaching system: for providing teaching track；
The robot system: including robot body, robot controller and end effector of robot, the robot end
End actuator is connected with the robot body, and the robot controller is connected with the computer；
The computer: for executing a kind of such as described in any item robot interference detection methods of claim 3 or 4, and will
Corresponding control instruction is sent to the robot controller；
The workpiece: refer to the manipulating object of end effector of robot.
7. a kind of robot according to claim 6 interferes detection system, which is characterized in that the computer is also used to compile
The teaching track is collected, the editor includes: to delete extra tracing point and/or carry out smothing filtering to track.
8. a kind of equipment of robot interference detection characterized by comprising
At least one processor；And the memory being connect at least one described processor communication；
Wherein, the processor is by calling the computer program stored in the memory, for executing such as claim 3 or
A kind of 4 described in any item robot interference detection methods.
9. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer can
It executes instruction, the computer executable instructions are for making computer execute such as the described in any item methods of claim 3 or 4.
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| CN201910274414.6A CN110053045A (en) | 2019-04-08 | 2019-04-08 | Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus |
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| CN201910274414.6A CN110053045A (en) | 2019-04-08 | 2019-04-08 | Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus |
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| CN201910274414.6A Pending CN110053045A (en) | 2019-04-08 | 2019-04-08 | Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus |
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