CN110202662B - Automatic nailing method for liquefied natural gas carrier heat insulation wooden box - Google Patents
Automatic nailing method for liquefied natural gas carrier heat insulation wooden box Download PDFInfo
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- CN110202662B CN110202662B CN201910452514.3A CN201910452514A CN110202662B CN 110202662 B CN110202662 B CN 110202662B CN 201910452514 A CN201910452514 A CN 201910452514A CN 110202662 B CN110202662 B CN 110202662B
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- coordinate
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
- B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
- B27M3/0013—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles
- B27M3/0073—Manufacture or reconditioning of specific semi-finished or finished articles of composite or compound articles characterised by nailing, stapling or screwing connections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
- B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
- B27M3/34—Manufacture or reconditioning of specific semi-finished or finished articles of cases, trunks, or boxes, of wood or equivalent material which cannot satisfactorily be bent without softening ; Manufacture of cleats therefor
Abstract
The invention relates to an automatic nailing method for a liquefied natural gas carrier heat insulation wooden box, which comprises the following steps: 1) defining a plurality of user coordinate systems according to the nailing operation position; 2) defining a coordinate origin and a coordinate system of each surface of the insulating box; 3) taking the numerical value of the nail distance as the coordinate offset corresponding to the coordinate system of the robot user; 4) defining a working initial point of the robot moving on the nailing surface of each insulation box; 5) setting a nail distance coordinate offset register in a robot controller; 6) setting a nail distance coordinate compensation register in a robot controller; 7) the nailing gun is arranged on a shaft of the nailing robot, the insulating box fixing tray moves to a nailing position of the robot, the movement is stopped, and the nailing robot automatically runs according to an automatic nailing track adjusting method until the nailing of all working faces is completed. Compared with the prior art, the invention has the advantages of clear logic, simple and convenient control, multi-mode adjustment strategy, high nailing quality and the like.
Description
Technical Field
The invention relates to a robot nailing control method, in particular to an automatic nailing method for a liquefied natural gas carrier heat insulation wooden box.
Background
Cryogenic maintenance systems for Liquefied Natural Gas (LNG) carriers are used in a-163 degree environment, and the insulated box is an effective thermal insulation, while also bearing the weight and shock of the LNG. Especially for the membrane type LNG ship, the insulating case that uses is in large quantity, and the kind is many, and the size quality and the position precision of nail all have very high requirement, wait to design automatic production system to realize that the insulating case is high-efficient, high-quality to make urgently.
The insulation box for the thin film type LNG ship storage tank comprises a standard box and a plurality of nonstandard box types, wherein the standard box is regular in shape, and automatic nailing by a robot is convenient to realize. Therefore, a method for automatically adjusting the nailing trajectory is needed, which can meet the requirements of nailing process flows of different boxes.
Every nailing position on the liquefied natural gas carrier heat insulation wooden case is a motion track point of the robot, and the motion track of the robot at present mostly adopts a field teaching method, which is very tedious. Moreover, after the box type is replaced, the teaching needs to be carried out again, the workload is huge, and the efficiency is very low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic nailing method for a heat insulation wooden box of a liquefied natural gas carrier.
The purpose of the invention can be realized by the following technical scheme:
an automatic nailing method for a liquefied natural gas carrier heat insulation wooden box comprises the following steps:
1) establishing a user coordinate system in a nailing robot controller, defining a plurality of user coordinate systems including a plane coordinate system and four vertical face coordinate systems according to different nailing operation positions of a standard insulating box;
2) defining a coordinate origin and a coordinate system of each surface of the insulation box according to a drawing of a standard insulation box;
3) according to the coordinate origin of each surface of the insulating box and the distance between the coordinate system and the nails, taking the numerical value of the nail distance as the coordinate offset corresponding to the coordinate system of the robot user;
4) defining a work starting point of the robot moving on the nailing surface of each insulation box, wherein the work starting point is superposed with a coordinate origin defined in a standard insulation box drawing;
5) setting a nail distance coordinate offset register in a robot controller for storing the coordinate offset of each nail distance, wherein the nail distance coordinate offset register comprises a surface coordinate offset register, a column coordinate offset register and a point coordinate offset register;
6) in order to compensate the robot repetitive motion deviation, the servo nail gun repetitive motion deviation and the insulating box plate strip assembling deviation, a nail distance coordinate compensation register is arranged in a robot controller and comprises a surface coordinate compensation register, a column coordinate compensation register and a point coordinate compensation register, and the value of the compensation register is set according to the actual deviation;
7) the nailing gun is installed on a shaft of the nailing robot, the insulation box is assembled on the insulation box fixing tray, the insulation box fixing tray moves to a nailing position of the robot and is locked by the positioning pin, the robot stops moving, the nailing robot automatically moves according to an automatic nailing track adjusting method until nailing of all working faces is completed, the positioning pin is loosened, and the insulation box fixing tray flows to the next station along with a logistics line.
In the step 7), the automatic nailing trajectory adjusting method comprises the following steps:
71) the nailing robot moves to the starting point of the working surface, and the nailing gun is set to be vertical to the insulating box board to be nailed;
72) reading a pulse value of a current robot axis, converting the pulse value into x, y and z coordinate values under a corresponding user coordinate system by using a conversion command, reading data of a nail distance coordinate offset register and a nail distance coordinate compensation register by the nailing robot, superposing the current x, y and z coordinates to obtain new x, y and z coordinates, and taking the coordinates as coordinates of the nailing robot moving to a next target point;
73) the robot executes the movement command and runs to the next target point;
74) when the nail reaches a designated position, nailing by a nail gun;
75) after the nailing is finished, the nailing gun sends out a nailing finishing signal;
76) and repeating the steps 72) to 75) until all the nails are driven, and finishing the movement of the robot.
In the step 7), in the current working plane coordinate system,
the working surface initial point coordinate is the sum of the initial teaching point, the surface coordinate offset register value and the surface coordinate compensation register value;
the operation column initial point coordinate is the sum of the operation surface initial point coordinate, the column coordinate offset register value and the column coordinate compensation register value;
the operating point coordinate is the sum of the operating column starting point coordinate, the point coordinate offset register value and the point coordinate compensation register value.
In the step 7), the automatic nailing track adjusting method adopts a multi-mode adjusting mode.
The multi-mode adjusting mode comprises a surface adjusting mode, a column adjusting mode and a point adjusting mode.
The multi-mode adjusting mode specifically comprises the following steps:
surface adjustment mode: the coordinates of all the operation points on the current operation surface can be adjusted at one time by adjusting the values of the surface coordinate offset register and the surface coordinate compensation register, and the adjustment value is determined by the values of the surface coordinate offset register and the surface coordinate compensation register;
column adjustment mode: the coordinates of all the operation points on the current operation column can be adjusted at one time by adjusting the values of the column coordinate offset register and the column coordinate compensation register, and the adjustment value is determined by the values of the column coordinate offset register and the column coordinate compensation register;
point adjustment mode: the current operating point coordinate can be adjusted by adjusting the values of the point coordinate offset register and the point coordinate compensation register, and the adjustment value is determined by the values of the point coordinate offset register and the point coordinate compensation register.
Compared with the prior art, the invention has the following advantages:
firstly, a deviation register is adopted, standard data on a processing drawing is recorded into a robot controller at one time, and the position compensation quantity of each operation point is recorded by combining a compensation register, so that the logic is clear, and the control is simple and convenient.
And secondly, a multi-mode adjustment strategy is adopted, adjustment requirements under different conditions can be flexibly met, batch processing can be achieved, and accurate adjustment can be performed on a single operation point.
And setting five coordinate systems (a plane coordinate system and four vertical coordinate systems), so that the robot can be ensured to accurately perform position deviation in any operation posture, and the nailing quality is ensured.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a flow chart of the method of the present invention.
FIG. 3 is a schematic diagram of the operation of a standard insulated box
FIG. 4 is a schematic diagram of automatic adjustment of coordinate points in a working plane
The notation in the figure is:
1. nailing robot, 2, nail rifle, 3, insulation box fixed tray, 4, insulation box, 5, logistics line.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 4, the invention provides an automatic nailing method for a heat insulation wooden box of a liquefied natural gas carrier, which specifically comprises the following steps:
1. establishing a user coordinate system in a robot controller; different user coordinate systems (including a plane coordinate system and four vertical surface coordinate systems) are respectively defined according to different nailing operation positions of the standard insulating box, as shown in fig. 3, the standard insulating box is generally a cuboid, a specific operation surface comprises a top surface and a side surface, and nailing operation is completed on the nailing operation surface. Each operation surface is respectively positioned at different spatial positions, and a user coordinate system is respectively defined to improve the position precision of the robot motion.
2. Defining a coordinate origin and a coordinate system of each surface of the insulation box in a drawing of a standard insulation box;
3. converting the numerical value of the nail distance into a coordinate offset corresponding to a robot user coordinate system according to a standard insulating box drawing and a defined coordinate system and the distance between nails;
4. a robot motion program is defined, and an operation starting point of each surface is taught and is coincided with a coordinate origin defined in a standard insulating box drawing;
5. defining a nail distance coordinate offset register in a robot controller, and storing the offset of each nail distance coordinate; the defined nail pitch coordinate offset register is a surface coordinate offset register, a column coordinate offset register and a point coordinate offset register;
6. in order to compensate the robot repetitive motion deviation, the servo nail gun repetitive motion deviation, the insulating box plate strip assembling deviation and the like, a nail distance coordinate compensation register is defined in a robot controller; the defined nail pitch coordinate compensation register is a plane coordinate compensation register, a column coordinate compensation register and a point coordinate compensation register. The value of the compensation register can be manually input and set according to the actual deviation;
7. the nail gun is mounted on the sixth axis of the robot. And (4) assembling the insulation box on the insulation box fixing tray, moving the insulation box fixing tray to a nailing position of the robot, locking by a positioning pin, and stopping moving. The robot automatically runs according to the automatic nailing track adjusting method until nailing of all working faces is completed, the positioning pins are loosened, and the insulation box fixing tray flows to the next station along with the logistics line.
The nail track automatic adjusting method comprises the following steps:
1. the robot firstly moves to the starting point of the working surface, and the nailing gun is set to be vertical to the insulating box board to be nailed;
2. reading a pulse value of a current robot axis, and converting the pulse value into corresponding x, y and z coordinates in a corresponding user coordinate system by using a conversion command; the robot reads the data of the nail distance coordinate offset register and the nail distance coordinate compensation register, and current x, y and z coordinates are superposed to obtain new x, y and z coordinates which are coordinates of the robot moving to a next target point;
3. the robot executes the movement command and runs to the next target point;
4. when the nail reaches a designated position, nailing by a nail gun;
5. after the nailing is finished, the nailing gun sends out a nailing finishing signal;
6. and (5) repeating the steps 2-5 until all nails are nailed, and finishing the movement of the robot.
In addition, after the coordinate origin defined in the drawing of the insulation box is changed, the corresponding nail distance coordinate offset amount is changed, and the value of the coordinate offset register needs to be reset.
Example (b):
the concrete flow of the invention in the actual nailing operation is as follows:
1) respectively designing 1 plane user coordinate system and 4 vertical face user coordinate systems according to different nailing operation positions of a standard insulating box;
2) in order to compensate the robot repetitive motion deviation, the servo nail gun repetitive motion deviation, the insulating box assembly deviation and the like, a nail distance coordinate compensation register is defined in a robot controller; the defined nail pitch coordinate compensation register is a surface coordinate compensation register, a column coordinate compensation register and a point coordinate compensation register; the value of the compensation register can be manually entered and set based on the actual offset.
3) The coordinate algorithm of the nailing working point is as follows (in the current working surface coordinate system):
the initial point coordinate of the operation surface is the initial teaching point, the surface coordinate offset register and the surface coordinate compensation register
The work column initial point coordinate is the work plane initial point coordinate + the column coordinate offset register + the column coordinate compensation register
The coordinates of the operation point are the coordinates of the starting point of the operation column, the offset register of the point coordinates and the compensation register of the point coordinates
4) And (3) multi-mode adjustment strategy: surface adjustment mode: the coordinates of all the operation points on the current operation surface can be adjusted at one time by adjusting the values of the surface coordinate offset register and the surface coordinate compensation register, and the adjusted values are determined by the surface coordinate offset register and the surface coordinate compensation register; column adjustment mode: the coordinates of all the operation points on the current operation column can be adjusted at one time by adjusting the values of the column coordinate offset register and the column coordinate compensation register, and the adjustment value is determined by the column coordinate offset register and the column coordinate compensation register; point adjustment mode: the current operating point coordinate can be adjusted by adjusting the values of the point coordinate offset register and the point coordinate compensation register, and the adjustment value is determined by the point coordinate offset register and the point coordinate compensation register.
Claims (6)
1. An automatic nailing method for a liquefied natural gas carrier heat insulation wooden box is characterized by comprising the following steps:
1) establishing a user coordinate system in a nailing robot controller, defining a plurality of user coordinate systems including a plane coordinate system and four vertical face coordinate systems according to different nailing operation positions of a standard insulating box;
2) defining a coordinate origin and a coordinate system of each surface of the insulation box according to a drawing of a standard insulation box;
3) according to the coordinate origin of each surface of the insulating box and the distance between the coordinate system and the nails, taking the numerical value of the nail distance as the coordinate offset corresponding to the coordinate system of the robot user;
4) defining a work starting point of the robot moving on the nailing surface of each insulation box, wherein the work starting point is superposed with a coordinate origin defined in a standard insulation box drawing;
5) setting a nail distance coordinate offset register in a robot controller for storing the coordinate offset of each nail distance, wherein the nail distance coordinate offset register comprises a surface coordinate offset register, a column coordinate offset register and a point coordinate offset register;
6) in order to compensate the robot repetitive motion deviation, the servo nail gun repetitive motion deviation and the insulating box plate strip assembling deviation, a nail distance coordinate compensation register is arranged in a robot controller and comprises a surface coordinate compensation register, a column coordinate compensation register and a point coordinate compensation register, and the value of the compensation register is set according to the actual deviation;
7) the nailing gun is installed on a shaft of the nailing robot, the insulation box is assembled on the insulation box fixing tray, the insulation box fixing tray moves to a nailing position of the robot and is locked by the positioning pin, the robot stops moving, the nailing robot automatically moves according to an automatic nailing track adjusting method until nailing of all working faces is completed, the positioning pin is loosened, and the insulation box fixing tray flows to the next station along with a logistics line.
2. The automatic nailing method for the insulation wooden box of the liquefied natural gas carrier as claimed in claim 1, wherein in the step 7), the automatic nailing track adjusting method comprises the following steps:
71) the nailing robot moves to the starting point of the working surface, and the nailing gun is set to be vertical to the insulating box board to be nailed;
72) reading a pulse value of a current robot axis, converting the pulse value into x, y and z coordinate values under a corresponding user coordinate system by using a conversion command, reading data of a nail distance coordinate offset register and a nail distance coordinate compensation register by the nailing robot, superposing the current x, y and z coordinates to obtain new x, y and z coordinates, and taking the coordinates as coordinates of the nailing robot moving to a next target point;
73) the robot executes the movement command and runs to the next target point;
74) when the nail reaches a designated position, nailing by a nail gun;
75) after the nailing is finished, the nailing gun sends out a nailing finishing signal;
76) and repeating the steps 72) to 75) until all the nails are driven, and finishing the movement of the robot.
3. The automatic nailing method for the insulation wooden box of the liquefied natural gas carrier as claimed in claim 2, wherein in the step 7), in the current working plane coordinate system,
the working surface initial point coordinate is the sum of the initial teaching point, the surface coordinate offset register value and the surface coordinate compensation register value;
the operation column initial point coordinate is the sum of the operation surface initial point coordinate, the column coordinate offset register value and the column coordinate compensation register value;
the operating point coordinate is the sum of the operating column starting point coordinate, the point coordinate offset register value and the point coordinate compensation register value.
4. The automatic nailing method for the liquefied natural gas carrier heat insulation wooden box according to claim 2, wherein in the step 7), the automatic nailing track adjusting method adopts a multi-mode adjusting mode.
5. The automatic nailing method for the insulation wooden box of the liquefied natural gas carrier as claimed in claim 4, wherein the multi-mode adjustment modes comprise a surface adjustment mode, a column adjustment mode and a point adjustment mode.
6. The automatic nailing method for the liquefied natural gas carrier heat insulation wooden box according to claim 5, wherein the multi-mode adjustment mode is specifically as follows:
surface adjustment mode: the coordinates of all the operation points on the current operation surface can be adjusted at one time by adjusting the values of the surface coordinate offset register and the surface coordinate compensation register, and the adjustment value is determined by the values of the surface coordinate offset register and the surface coordinate compensation register;
column adjustment mode: the coordinates of all the operation points on the current operation column can be adjusted at one time by adjusting the values of the column coordinate offset register and the column coordinate compensation register, and the adjustment value is determined by the values of the column coordinate offset register and the column coordinate compensation register;
point adjustment mode: the current operating point coordinate can be adjusted by adjusting the values of the point coordinate offset register and the point coordinate compensation register, and the adjustment value is determined by the values of the point coordinate offset register and the point coordinate compensation register.
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| CN201910452514.3A CN110202662B (en) | 2019-05-28 | 2019-05-28 | Automatic nailing method for liquefied natural gas carrier heat insulation wooden box |
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| CN201910452514.3A CN110202662B (en) | 2019-05-28 | 2019-05-28 | Automatic nailing method for liquefied natural gas carrier heat insulation wooden box |
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| CN110202662B true CN110202662B (en) | 2020-06-02 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319753A (en) * | 2008-05-09 | 2008-12-10 | 沪东中华造船(集团)有限公司 | Production method and assembly line of insulation box for liquid natural gas carrier |
| CN106271685A (en) * | 2016-10-13 | 2017-01-04 | 洛阳理工学院 | A kind of Small-sized C NC Digit Control Machine Tool with net instrument function |
| CN106541484A (en) * | 2015-09-21 | 2017-03-29 | 苏州科维新型包装有限公司 | A kind of assembly method of the assembly equipment and wooden case of wooden case |
| CN106925997A (en) * | 2015-12-29 | 2017-07-07 | 上海发那科机器人有限公司 | A kind of automatic drill milling system and method, brill milling production line |
| CN107368036A (en) * | 2017-09-07 | 2017-11-21 | 南京昱晟机器人科技有限公司 | A kind of robot end's position compensation method |
| CN108000522A (en) * | 2017-12-21 | 2018-05-08 | 金翰阳科技（大连）股份有限公司 | One kind is based on single robot to error-detecting compensation method after workpiece variation |
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2019
- 2019-05-28 CN CN201910452514.3A patent/CN110202662B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319753A (en) * | 2008-05-09 | 2008-12-10 | 沪东中华造船(集团)有限公司 | Production method and assembly line of insulation box for liquid natural gas carrier |
| CN106541484A (en) * | 2015-09-21 | 2017-03-29 | 苏州科维新型包装有限公司 | A kind of assembly method of the assembly equipment and wooden case of wooden case |
| CN106925997A (en) * | 2015-12-29 | 2017-07-07 | 上海发那科机器人有限公司 | A kind of automatic drill milling system and method, brill milling production line |
| CN106271685A (en) * | 2016-10-13 | 2017-01-04 | 洛阳理工学院 | A kind of Small-sized C NC Digit Control Machine Tool with net instrument function |
| CN107368036A (en) * | 2017-09-07 | 2017-11-21 | 南京昱晟机器人科技有限公司 | A kind of robot end's position compensation method |
| CN108000522A (en) * | 2017-12-21 | 2018-05-08 | 金翰阳科技（大连）股份有限公司 | One kind is based on single robot to error-detecting compensation method after workpiece variation |
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