CN110253585B - Robot welding structured programming method for side wall framework of passenger car - Google Patents
Robot welding structured programming method for side wall framework of passenger car Download PDFInfo
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- CN110253585B CN110253585B CN201910621066.5A CN201910621066A CN110253585B CN 110253585 B CN110253585 B CN 110253585B CN 201910621066 A CN201910621066 A CN 201910621066A CN 110253585 B CN110253585 B CN 110253585B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a robot welding structural programming method for a side wall framework of a passenger car, which comprises the following specific steps of: the method comprises the following steps: and setting the welding program in blocks, and performing step two: programming a subroutine, and step three: forming a welding operation program database, and step four: and forming a personalized program combination file, and step five: and (5) generating a welding program structure. The invention adopts the method of combining the subprograms of the welding operation of the robot, and divides the whole welding procedure of the robot into a plurality of small subprograms, compared with the whole programming, the subprogram has smaller coverage range and small programming span, and is beneficial to field programming and debugging; meanwhile, teaching operation amount of the robot is reduced, loss of the original point of coordinates of the robot due to collision is avoided, equipment downtime and equipment maintenance are reduced, system initialization parameters are solidified, and system operation stability is improved.
Description
Technical Field
The invention relates to the field of design and production of passenger cars, in particular to a robot welding structured programming method for a side wall framework of a passenger car.
Background
In industrial robot application, most of the industrial robots belong to welding robots, and according to incomplete statistics, more than half of industrial robots in service all over the world are applied to the field of welding processing in various forms. The development of welding robots is now roughly divided into three generations: the first generation is a welding robot that reproduces the working mode based on teaching; the second generation is an off-line programming welding robot based on certain sensing information; the third generation is a highly adaptive intelligent robot which is provided with various sensors and can be programmed according to objective environment after receiving operation instructions.
As a typical order-driven production type manufacturing industry, a passenger car is guided by taking personalized requirements of customers as targets during product design, so that the shape, structure, configuration and the like of passenger car products are changed greatly. In order to adapt to the welding production of a changeable structure, the operation program of the robot needs to be correspondingly adapted and adjusted, and a great deal of inadaptation exists in practical application.
Taking the welding programming of a bus framework robot as an example, the first generation welding robot is mainly applied at present, and an integral teaching reproduction programming mode is adopted. The method mainly has the following problems in practical application: 1. the side wall frame of the passenger car belongs to a large member, and the whole programming span is large; 2. the passenger car framework is formed by assembling and welding square steel, the welding seam is short and dense, the operation procedure steps are huge, and the programming and debugging workload is large; 3. the whole programming causes the common program segment to be repeatedly programmed, occupies the internal memory of the robot program and increases the invalid programming workload unnecessarily; 4. the robot position and posture adjustment operation is frequent, the robot is easy to collide due to misoperation, the robot coordinate origin is lost, all the programmed programs can not be reapplied and the welding quality is reduced due to the fact that the precision of the robot is damaged by collision. The above technical problems lead to the unobvious advantages of the robot in the aspects of quality, cost, efficiency and the like in the production of passenger cars, and the transformation power of intelligent equipment such as application robots of passenger car manufacturing enterprises is insufficient.
Disclosure of Invention
The invention discloses a robot welding structured programming method for a side wall framework of a passenger car, which mainly aims to overcome the defects and shortcomings in the prior art.
The technical scheme adopted by the invention is as follows:
a robot welding structured programming method for a side wall framework of a passenger car comprises the following specific steps:
the method comprises the following steps: the welding program is set in a blocking mode, and according to the characteristics of the structure and the program function of the side wall framework of the passenger car, the robot welding program of the side wall framework of the passenger car is divided into seven sub-program blocks which are respectively as follows: the device comprises a control block, a middle section block, a vehicle window block, a luggage bin block, a safety door block, a rear window block and a rear protection block, and the coverage range of each welding operation program block is defined;
step two: and (3) programming a subprogram: designing the side wall framework structure in the coverage range and compiling the subprogram of each robot welding operation according to the coverage range of the subprogram blocks divided in the step one to obtain the robot welding operation subprogram corresponding to each framework structure;
step three: forming a welding operation program database: respectively putting each subprogram obtained by the second step into a robot demonstrator database to form a program database of the welding operation of the robot demonstrator;
step four: forming an individualized program combination file, selecting a framework structure according to the individualized requirements of customers, and sequentially combining welding operation subprograms corresponding to the framework structures to form a program combination file;
step five: and (4) programming a welding program structure, finding a required welding operation subprogram in the robot demonstrator program database formed in the step three according to the program combination file obtained in the step four, and then loading the subprogram into the structure body of the control block program to form a structural operation program for the robot welding of the side wall framework of the passenger car, so as to complete the robot welding structural programming of the side wall framework of the passenger car.
Further, the combination sequence of the sub-procedures of the step four is as follows: a middle segment block subroutine, a vehicle window subroutine, a baggage bin subroutine, a security door subroutine, a back window subroutine, and a back security subroutine.
Further, the fifth step comprises the following specific steps:
1) according to the requirements of the program combination file, finding a required middle segment block subprogram in a robot demonstrator database, and loading the middle segment block subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding program compilation of the middle segment block;
2) after the first subprogram is loaded, looking up a program combination file, finding a required vehicle window subprogram in a robot demonstrator database, and loading the vehicle window subprogram into a control block program structure body for calling in the execution process of the program structure body to finish welding programming of a vehicle window area;
3) after the second subprogram is loaded, looking up the program combination file, finding a needed luggage bin subprogram in a robot demonstrator database, and loading the needed luggage bin subprogram into a tuber control program structure body for calling in the program structure body execution process to complete the welding programming of a luggage bin area;
4) after the third subprogram is loaded, looking up the program combination file, finding a required safety door subprogram in a robot demonstrator database, and loading the required safety door subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding programming of the safety door area;
5) after the fourth subprogram is loaded, looking up the program combination file, finding a needed back window subprogram in a robot demonstrator database, and loading the needed back window subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a back window area;
6) and after the fifth subprogram is loaded, looking up the program combination file, finding a required post-protection subprogram in a robot demonstrator database, and loading the post-protection subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a post-protection area.
Furthermore, the control block subprogram is a robot welding control program, and the middle-segment block, the car window block, the luggage bin block, the safety door block, the rear window block and the rear protection block subprogram are robot welding operation execution programs.
Furthermore, each welding operation execution program block is respectively programmed with seven welding operation subprograms with different schemes.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the invention adopts the method of combining the sub-programs of the welding operation of the robot, and divides the whole welding program of the robot into a plurality of small sub-programs, compared with the whole programming, the coverage range of the sub-programs is smaller, the programming span is small, and the field programming and debugging are facilitated.
2. The invention adopts the method of combining the sub-programs of the welding operation of the robot, improves the borrowing rate of the sub-programs, and reduces the repeated compilation of the common program and the memory occupation of the robot program.
3. The invention adopts the method of combining the welding operation subprograms of the robot, reduces the teaching operation amount of the robot, avoids the loss of the coordinate origin of the robot caused by collision, and reduces the equipment downtime and equipment maintenance.
4. A structured method is adopted, a standard control structure body is provided, system initialization parameters are solidified, and system operation stability is improved.
5. The invention adopts a programming structured method, prescribes the execution sequence of the program and improves the standardization of programming work.
Drawings
FIG. 1 is a schematic view of a side wall frame partition structure of a passenger car.
FIG. 2 is a schematic diagram of a welding structural programming structure of a passenger car side wall framework robot.
FIG. 3 is a schematic view of a welding structured programming flow of the passenger car side wall frame robot of the invention.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the side wall frame of the passenger car can be divided into 6 blocks, such as a middle section area 1, a window area 2, a luggage compartment area 3, an emergency exit area 4, a rear window area 5, a rear protection area 6, and the like.
As shown in fig. 2 and 3, a robot welding structural programming method for a side wall frame of a passenger car comprises the following specific steps:
the method comprises the following steps: the welding program is set in a blocking mode, and according to the characteristics of the structure and the program function of the side wall framework of the passenger car, the robot welding program of the side wall framework of the passenger car is divided into seven sub-program blocks which are respectively as follows: the device comprises a control block, a middle section block, a vehicle window block, a luggage bin block, a safety door block, a rear window block and a rear protection block, and the coverage range of each welding operation program block is defined;
step two: and (3) programming a subprogram: designing the side wall framework structure in the coverage range and compiling the subprogram of each robot welding operation according to the coverage range of the subprogram blocks divided in the step one to obtain the robot welding operation subprogram corresponding to each framework structure;
step three: forming a welding operation program database: respectively putting each subprogram obtained by the second step into a robot demonstrator database to form a program database of the welding operation of the robot demonstrator;
step four: forming an individualized program combination file, selecting a framework structure according to the individualized requirements of customers, and sequentially combining welding operation subprograms corresponding to the framework structures to form a program combination file;
step five: and (4) programming a welding program structure, finding a required welding operation subprogram in the robot demonstrator program database formed in the step three according to the program combination file obtained in the step four, and then loading the subprogram into the structure body of the control block program to form a structural operation program for the robot welding of the side wall framework of the passenger car, so as to complete the robot welding structural programming of the side wall framework of the passenger car.
Further, the combination sequence of the sub-procedures of the step four is as follows: a middle segment block subroutine, a vehicle window subroutine, a baggage bin subroutine, a security door subroutine, a back window subroutine, and a back security subroutine.
Further, as shown in fig. 3, the step five includes the following specific steps:
1) according to the requirements of the program combination file, finding a required middle segment block subprogram in a robot demonstrator database, and loading the middle segment block subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding program compilation of the middle segment block;
2) after the first subprogram is loaded, looking up a program combination file, finding a required vehicle window subprogram in a robot demonstrator database, and loading the vehicle window subprogram into a control block program structure body for calling in the execution process of the program structure body to finish welding programming of a vehicle window area;
3) after the second subprogram is loaded, looking up the program combination file, finding a needed luggage bin subprogram in a robot demonstrator database, and loading the needed luggage bin subprogram into a tuber control program structure body for calling in the program structure body execution process to complete the welding programming of a luggage bin area;
4) after the third subprogram is loaded, looking up the program combination file, finding a required safety door subprogram in a robot demonstrator database, and loading the required safety door subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding programming of the safety door area;
5) after the fourth subprogram is loaded, looking up the program combination file, finding a needed back window subprogram in a robot demonstrator database, and loading the needed back window subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a back window area;
6) and after the fifth subprogram is loaded, looking up the program combination file, finding a required post-protection subprogram in a robot demonstrator database, and loading the post-protection subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a post-protection area.
Furthermore, the control block subprogram is a robot welding control program, and the middle-segment block, the car window block, the luggage bin block, the safety door block, the rear window block and the rear protection block subprogram are robot welding operation execution programs.
Further, as shown in fig. 2, each of the welding operation execution blocks is programmed with seven different welding operation subroutines. By combining the 6 area blocks in total to arrange 42 welding operation subprograms, 117649 types of welding operation program files can be formed.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the invention adopts the method of combining the sub-programs of the welding operation of the robot, and divides the whole welding program of the robot into a plurality of small sub-programs, compared with the whole programming, the coverage range of the sub-programs is smaller, the programming span is small, and the field programming and debugging are facilitated.
2. The invention adopts the method of combining the sub-programs of the welding operation of the robot, improves the borrowing rate of the sub-programs, and reduces the repeated compilation of the common program and the memory occupation of the robot program.
3. The invention adopts the method of combining the welding operation subprograms of the robot, reduces the teaching operation amount of the robot, avoids the loss of the coordinate origin of the robot caused by collision, and reduces the equipment downtime and equipment maintenance. 4. A structured method is adopted, a standard control structure body is provided, system initialization parameters are solidified, and system operation stability is improved.
5. The invention adopts a programming structured method, prescribes the execution sequence of the program and improves the standardization of programming work.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications of the present invention using this concept shall fall within the scope of infringing the present invention.
Claims (5)
1. A robot welding structural programming method for a side wall framework of a passenger car is characterized by comprising the following steps: the programming method comprises the following specific steps:
the method comprises the following steps: the welding program is set in a blocking mode, and according to the characteristics of the structure and the program function of the side wall framework of the passenger car, the robot welding program of the side wall framework of the passenger car is divided into seven sub-program blocks which are respectively as follows: the device comprises a control block, a middle section block, a vehicle window block, a luggage bin block, a safety door block, a rear window block and a rear protection block, and the coverage range of each welding operation program block is defined;
step two: b, programming subprograms, namely designing the side wall framework structure in the coverage range and programming the subprograms of the welding operation of each robot according to the coverage range of the subprogram blocks divided in the step one to obtain the subprograms of the welding operation of the robot corresponding to each framework structure;
step three: forming a welding operation program database, and respectively putting each subprogram obtained by the step two into a robot demonstrator database to form a welding operation program database of the robot demonstrator;
step four: forming an individualized program combination file, selecting a framework structure according to the individualized requirements of customers, and sequentially combining welding operation subprograms corresponding to the framework structures to form a program combination file;
step five: and (4) programming a welding program structure, finding a required welding operation subprogram in the robot demonstrator program database formed in the step three according to the program combination file obtained in the step four, and then loading the subprogram into the structure body of the control block program to form a structural operation program for the robot welding of the side wall framework of the passenger car, so as to complete the robot welding structural programming of the side wall framework of the passenger car.
2. The robot welding structural programming method for the side wall frame of the passenger car according to claim 1, characterized in that: the combination sequence of each subprogram in the step four is as follows: a middle segment block subroutine, a vehicle window subroutine, a baggage bin subroutine, a security door subroutine, a back window subroutine, and a back security subroutine.
3. The robot welding structural programming method for the side wall frame of the passenger car according to claim 2, characterized in that: the fifth step comprises the following specific steps:
1) according to the requirements of the program combination file, finding a required middle segment block subprogram in a robot demonstrator database, and loading the middle segment block subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding program compilation of the middle segment block;
2) after the first subprogram is loaded, looking up a program combination file, finding a required vehicle window subprogram in a robot demonstrator database, and loading the vehicle window subprogram into a control block program structure body for calling in the execution process of the program structure body to finish welding programming of a vehicle window area;
3) after the second subprogram is loaded, looking up the program combination file, finding a needed luggage bin subprogram in a robot demonstrator database, and loading the needed luggage bin subprogram into a tuber control program structure body for calling in the program structure body execution process to complete the welding programming of a luggage bin area;
4) after the third subprogram is loaded, looking up the program combination file, finding a required safety door subprogram in a robot demonstrator database, and loading the required safety door subprogram into a control block program structure body for calling in the execution process of the program structure body to complete the welding programming of the safety door area;
5) after the fourth subprogram is loaded, looking up the program combination file, finding a needed back window subprogram in a robot demonstrator database, and loading the needed back window subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a back window area;
6) and after the fifth subprogram is loaded, looking up the program combination file, finding a required post-protection subprogram in a robot demonstrator database, and loading the post-protection subprogram into a control block program structure body for calling in the program structure body execution process to complete welding programming of a post-protection area.
4. The robot welding structural programming method for the side wall frame of the passenger car according to claim 1, characterized in that: the control block subprogram is a robot welding control program, and the middle section block, the car window block, the luggage bin block, the safety door block, the rear window block and the rear protection block subprogram are robot welding operation execution programs.
5. The robot welding structural programming method for the side wall frame of the passenger car according to claim 4, characterized in that: and each welding operation execution program block is respectively programmed with seven welding operation subprograms with different schemes.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10258633A1 (en) * | 2002-12-16 | 2004-07-08 | Kuka Roboter Gmbh | Method and device for positioning components to be joined |
| FR2907040B1 (en) * | 2006-10-13 | 2009-06-26 | Alstom Transport Sa | METHOD FOR ASSEMBLING A STRUCTURE COMPRISING AN EXTERIOR AND AN INTERIOR CONSISTING OF A PLURALITY OF DOUBLE-SKIN ELEMENTS, SUCH AS A RAILWAY VEHICLE CASE, AND STRUCTURE OBTAINED |
| DE102013212181A1 (en) * | 2013-06-26 | 2014-12-31 | Robert Bosch Gmbh | Welding system and method for exchanging process data of a welding system |
| US20170087717A1 (en) * | 2014-08-05 | 2017-03-30 | Panasonic Intellectual Property Management Co., Ltd. | Offline teaching device |
| CN104475997A (en) * | 2014-11-17 | 2015-04-01 | 长春轨道客车股份有限公司 | Modular manufacturing method for aluminum structure of third-dimensional curved surface cab of motor train unit |
| CN104874962B (en) * | 2015-06-10 | 2017-03-15 | 安徽安凯汽车股份有限公司 | A kind of general side wall frame welding tooling of bus |
| JP6568169B2 (en) * | 2017-09-12 | 2019-08-28 | ファナック株式会社 | Welding robot programming device and welding robot programming method |
| CN108971807B (en) * | 2018-07-27 | 2021-05-04 | 常州伟泰科技股份有限公司 | Intelligent management control method and management system for field welding construction process |
| CN108983723B (en) * | 2018-07-27 | 2021-11-23 | 常州伟泰科技股份有限公司 | Intelligent management control method and management system for field construction process |
| CN109213069B (en) * | 2018-09-04 | 2019-12-03 | 同济大学 | A kind of bending sheet metal components Control During Paint Spraying by Robot paths planning method |
| CN109909650B (en) * | 2019-04-04 | 2021-10-29 | 重庆元创自动化设备有限公司 | White automobile body automatic welding production line control system |
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