CN110315534B - Processing method and system for offline programming of ship welding robot - Google Patents
Processing method and system for offline programming of ship welding robot Download PDFInfo
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- CN110315534B CN110315534B CN201910391187.5A CN201910391187A CN110315534B CN 110315534 B CN110315534 B CN 110315534B CN 201910391187 A CN201910391187 A CN 201910391187A CN 110315534 B CN110315534 B CN 110315534B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A processing method for offline programming of a ship welding robot comprises the following steps: A. extracting workpiece processing information, namely extracting process information of all workpieces from the spf file and finally displaying the process information on a product digifax; B. the robot works to plan a path, completes the calibration of a workpiece coordinate system in an actual working scene and realizes the offset conversion of the coordinate system; providing a recommended path according to the product process requirements, and solidifying the motion track and position of the robot; C. setting parameters of the end effector, providing a processing action planning module of the end effector and modifying corresponding processing parameters in batches; D. generating a control program, intelligently selecting the most appropriate cooperation scheme and generating the control program; carrying out targeted sequencing on the welding seam information; E. and (4) off-line program processing, namely converting the program language generated by off-line programming into a program language which can be recognized in an actual control system. The invention can completely realize the automatic generation of the welding path and effectively improve the efficiency and the quality of programming.
Description
Technical Field
The invention relates to a method for realizing off-line programming of a ship welding robot and a processing system.
Background
At present, the motion input and control mode of the ship robot is teaching and reproducing. In the teaching stage, the expected motion of the robot is previewed in a certain mode, and the positions and postures of some key path points of the robot are stored and memorized; after the teaching is finished, in the reproduction stage, the robot interpolates the memorized path points and moves to each path point in sequence.
With the continuous improvement of labor cost, the application of industrial robots is more and more popular; the application programming of the conventional robot is a manual teaching mode, but in some special occasions, such as severe field environment, high processing precision requirement, laser welding or cutting, spraying, glaze spraying, polishing or other requirements on a space curve path, the manual teaching cannot meet the application requirements. In the shipbuilding industry, no matter the assembly style, the size or the welding position is the same, a lot of preparation work still needs to be done before welding, and the problem of improving the production efficiency is not substantially solved.
Disclosure of Invention
The invention aims to provide a processing method for offline programming of a ship welding robot, which enables the robot to be in a simulation environment established by a real environment and directly generate a robot path through offline programming.
One of the purposes of the invention is to provide a processing system for off-line programming of a ship welding robot, which enables the robot to be in a simulation environment established by a real environment and directly generates a robot path by off-line programming.
The purpose of the invention can be realized by designing a processing method for off-line programming of a ship welding robot, which comprises the following steps:
A. extracting workpiece processing information, accurately extracting process information of all workpieces from a given spf file, wherein the process information comprises process information of positions to be processed and color marks of types, and finally displaying the information on a product digifax by combining the product digifax;
when the workpiece processing information is extracted, firstly, primarily screening keyword information of a required welding seam from a CSV file according to main conditions, wherein the main conditions comprise the naming of a shipyard to the workpiece, the type of the welding seam and the length of the welding seam, finding the position of the corresponding welding seam information in the SPF file through the keyword of the welding seam, secondarily eliminating a curve welding seam and a rib beam intersecting welding seam, and then extracting the welding seam information, wherein the welding seam information comprises the starting and ending information of the welding seam, the length of the welding seam, the size of a welding angle, the type of the welding seam, the number of welding seams, the plate thickness and the starting and ending slow welding length, and further obtaining the process information of all workpieces;
B. the robot work path planning is carried out, the calibration of a workpiece coordinate system in an actual work scene is completed under the support of a robot end effector camera, and the calibration is compared with a workpiece coordinate system in a digital model, so that the coordinate system offset conversion is realized; generating avoidance points by a proper interpolation method, setting a backspacing distance and the number of the avoidance points, providing a recommended path according to the process requirements and corresponding rules of the product, and solidifying the motion track and position of a specific task of the robot;
C. setting parameters of the end effector, providing a processing action planning module of the end effector according to a processing requirement and modifying corresponding processing parameters in batches;
D. generating a control program, and establishing a corresponding mathematical model according to conditions including the position and length of a welding seam and the reachable region of a robot end effector aiming at different actual conditions of the welding seam; then, judging whether the robot is carried to the position by selecting the gantry to complete welding or the robot is carried by the gantry without moving the position of the robot to realize welding operation by changing the posture by an algorithm, and intelligently selecting the most suitable cooperation scheme between the gantry and the robot and generating a control program; finally, aiming at the requirements of different welding processes, the welding seam information is sorted in a targeted manner;
E. and (4) off-line program processing, namely converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in an actual robot control system.
Further, the processing information of the workpieces is extracted, and the process information of all the workpieces is extracted through external model import or through a CAD modeling system or through a parameterized CAD model library.
And further, planning the working path of the robot by externally inputting a path planning parameter library and process parameters.
Further, after the robot path planning is completed, dynamic simulation is performed in a three-dimensional environment, a simulation starting position and a simulation ending position can be set, or simulation of a machining process, three-dimensional space collision interference inspection, simulation of the action of an end effector, simulation of coordinated work between a robot and tooling equipment, simulation of coordinated work between the robot and the end effector can be performed, a proper correction strategy is provided for errors occurring in the simulation, and finally a correct robot running path is generated.
Furthermore, motion simulation modeling is carried out, then three-dimensional motion and simulation are carried out, and whether the simulation meets the requirements or not is judged; if not, correcting the model and the path and returning to the three-dimensional motion and simulation; if yes, the next step is carried out.
Further, in the path planning stage, by means of MATLAB and VB mixed programming, VB is used as a front-end development tool to carry out program development, and meanwhile, more complex mathematical calculation in an application program is completed by means of MATLAB.
Further, generating a welding program, and then generating control codes of each driver and additional axis; and inputting the control codes of the drivers and the additional axis into the robot through the interface of the numerical control system.
The other purpose of the invention can be realized by designing a processing system for offline programming of the ship welding robot, which comprises a product digital-analog information reading module, a welding seam information processing module, a welding system task allocation module, a gantry and double-robot motion planning module, an end effector parameter setting module, a simulation and system program generating module and an offline program processing module;
the product digital-analog information reading module extracts the workpiece processing process information from an external model import, a CAD modeling system and a parameterized CAD model library and screens the process information; sending the screened process information to a welding seam information processing module;
the welding seam information processing module is used for processing the read information, eliminating welding seams which are difficult to weld due to actual influence, obtaining all information of a welding task, and outputting welding data according to rules and according to the welding process requirements corresponding to the workpiece;
the welding system task allocation module receives the information output by the welding seam information processing module and allocates operation tasks to the double robots and the gantry platform according to the operation range and the operation process requirements;
the gantry and double-robot motion planning module is used for receiving gantry and double-robot tasks sent by the welding system task allocation module, completing and calibrating workpiece coordinate system information in an actual working scene, and comparing the workpiece coordinate system information with a workpiece coordinate system in a digital-analog model to realize coordinate system offset conversion; generating avoidance points by a proper interpolation method, setting a backspacing distance and the number of the avoidance points, and generating a running path of the gantry and the double robots according to the process requirements and corresponding rules of products;
the end effector parameter setting module is used for acquiring the robot running path data transmitted by the robot motion planning module and modifying corresponding processing parameters in batches according to processing requirements;
the simulation and system program generation module is used for simulating the operation tasks and generating a program for the cooperative operation of the gantry, the double robots and the end effector;
and the off-line program processing module is used for converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in the actual robot control system and applying the converted program language to the robot control system.
Further, the process information comprises the process information of the position to be processed and the color identification of the type.
The invention can completely realize the automatic generation of the welding path, and the task of the programmer is changed into the simulation detection and the local modification of the welding path, thereby further shortening the time required by the programming, reducing the workload of the programmer and effectively improving the efficiency and the quality of the programming; the operation can be effectively simplified, and the off-line programming work efficiency of the robot is improved.
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FIG. 1 is a schematic flow chart of a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the module relationship according to the preferred embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, a processing method for off-line programming of a ship welding robot includes the following steps:
A. extracting workpiece processing information, accurately extracting process information of all workpieces from a given spf (workpiece welding seam process information) file, wherein the process information comprises process information of positions to be processed and color marks of types, and finally displaying the information on a product digifax by combining the product digifax; the extracted information to be processed can be filtered, sorted and classified, and manual modification is supported.
When the workpiece processing information is extracted, firstly, keyword information of a required welding seam is preliminarily screened from a CSV (workpiece welding seam position information) file according to main conditions, wherein the main conditions comprise the name of a shipyard to the workpiece, the welding seam type and the welding seam length, the position of the corresponding welding seam information in the SPF file is found through the welding seam keyword, then, a curve welding seam and a rib beam intersected welding seam are subjected to secondary elimination, then, the welding seam information is extracted, and the welding seam information comprises the starting and ending information of the welding seam, the welding seam length, the welding angle size, the welding seam type, the welding seam number, the plate thickness and the starting and ending slow welding length, so that the process information of all workpieces is obtained. Corresponding information is extracted from an external model import, a CAD modeling system and a parameterized CAD model library.
And extracting the workpiece processing information, namely primarily screening most useless information in the model data from the CSV file, and then performing further fine screening from the given spf file to extract the process information of all workpieces. The time for directly traversing the spf file for screening is saved, the running efficiency of the program is effectively improved, and meanwhile, the welding accuracy is ensured.
B. The robot works the route planning, finish the calibration of the work piece coordinate system in the actual working scene under the support of end effector camera of the robot, compare with work piece coordinate system in the digital model, realize the offset conversion of the coordinate system; the method comprises the steps of generating avoidance points through a proper interpolation method, setting a backspacing distance and the number of the avoidance points, providing a recommended path according to product process requirements and corresponding rules, solidifying the motion track and the position of a specific task of the robot, and ensuring that the robot is safely away from a product.
The proper interpolation method is to optimize and sum up the number and position rules of interpolation points corresponding to different processes according to the path tracks of the robot in various process tests.
After the robot path planning is completed, dynamic simulation is carried out in a three-dimensional environment, a simulation starting position and a simulation ending position can be set, or machining process simulation, three-dimensional space collision interference inspection, end effector action simulation, coordination work simulation between the robot and tooling equipment and coordination work simulation between the robot and the end effector can be carried out, a proper correction strategy can be provided for errors occurring in the simulation, and finally a correct robot running path is generated.
In the path planning stage, by means of MATLAB and VB mixed programming, VB (visual basic) is used as a front-end development tool to develop the program, and meanwhile, more complex mathematical calculation in an application program is completed by MATLAB (a commercial mathematical software produced by MathWorks company in America), so that the advantages of the MATLAB and the VB are fully exerted.
C. Setting parameters of the end effector, providing a processing action planning module of the end effector according to processing requirements and modifying corresponding processing parameters in batches;
D. generating a control program, and establishing a corresponding mathematical model according to conditions including the position and the length of a welding seam and the reachable region of a robot end effector aiming at different actual conditions of the welding seam; then, judging whether the robot is carried to the position by selecting the gantry to complete welding or the robot is carried by the gantry without moving the position of the robot to realize welding operation by changing the posture by an algorithm, and intelligently selecting the most suitable cooperation scheme between the gantry and the robot and generating a control program; finally, the welding seam information is sorted in a targeted manner according to the requirements of different welding processes, for example, welding from the middle to two sides is sometimes needed to prevent the plate from being heated unevenly and deformed seriously, and the like.
Setting program file options, including product information, operators, dates and the like of the current program; and generating an executable program of the robot control system by the cooperative working program of the robot and the end effector.
E. And (4) off-line program processing, namely converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in an actual robot control system.
The robot task file generated by off-line programming cannot be directly used for robot welding, and the generated file needs to be subjected to post-processing so as to be used for the robot. Post-processing refers to converting the robot motion program language generated by off-line programming into a program language that can be recognized and applied in the actual robot control system. Among the programs generated by the robot, there are many program languages that perform signal interaction with an upper computer (i.e., a robot control cabinet), and the interactive signals are signal programs generated by off-line programming software according to logic rules of the off-line programming software and used for simulation process demonstration. Because of the diversity of the upper computer and the uniqueness of the upper computer program developer, no off-line programming software which can be completely suitable for various conditions is provided to directly complete the seamless connection of signals. Therefore, the generated programming language needs to be post-processed and then applied to the robot control system.
As shown in fig. 2, a processing system for offline programming of a ship welding robot includes a product digital-analog information reading module, a weld information processing module, a welding system task allocation module, a gantry and double-robot motion planning module, an end effector parameter setting module, a simulation and system program generation module, and an offline program processing module.
The product digital-analog information reading module extracts the workpiece processing process information from the external model import, the CAD modeling system and the parameterized CAD model library and screens the process information; and sending the screened process information to a welding seam information processing module.
And the welding seam information processing module is used for processing the read information, eliminating the welding seams which are influenced by reality and difficult to weld, obtaining all information of the welding task, and outputting welding data according to the corresponding welding process requirements of the workpiece and rules.
And the welding system task allocation module is used for receiving the information output by the welding seam information processing module and allocating operation tasks to the double robots and the gantry platform according to the operation range and the operation process requirements.
The gantry and double-robot motion planning module is used for receiving gantry and double-robot tasks sent by the welding system task allocation module, completing and calibrating the information of a workpiece coordinate system in an actual working scene, and comparing the information with the workpiece coordinate system in a digital-analog to realize the offset conversion of the coordinate system; avoidance points are generated by a proper interpolation method, the backspacing distance and the number of the avoidance points can be set, and the running paths of the gantry and the double robots are generated according to the process requirements and corresponding rules of products.
And the end effector parameter setting module is used for acquiring the robot running path data transmitted by the robot motion planning module and modifying corresponding processing parameters in batches according to the processing requirements.
And the simulation and system program generation module is used for performing operation task simulation and generating a program for cooperative operation of the gantry, the double robots and the end effector.
And the off-line program processing module is used for converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in the actual robot control system and applying the converted program language to the robot control system.
The invention mainly makes the robot in the simulation environment established by the real environment, and directly generates the robot path by off-line programming. Offline programming has the advantages of saving robot programming time and reducing the workload of programmers relative to traditional robot teaching programming, but offline programming in the traditional sense still requires skilled programmers to perform. Aiming at the problem, the invention provides a welding path automatic generation technology, and the automatic generation of the welding path can be completely realized under the condition that a relatively perfect path planning rule is formulated by combining data provided by an AM data interface of ship mapping modeling software. The task of the programmer is changed into the simulation detection and local modification of the welding path, so that the time required by programming is further shortened, the workload of the programmer is reduced, and the efficiency and the quality of programming are effectively improved.
The invention can effectively simplify the operation and improve the working efficiency of the robot off-line programming.
Claims (9)
1. A processing method for off-line programming of a ship welding robot is characterized by comprising the following steps:
A. extracting workpiece processing information, accurately extracting process information of all workpieces from a given spf file, wherein the process information comprises process information of positions to be processed and color marks of types, and finally displaying the information on a product digifax by combining the product digifax;
when the workpiece processing information is extracted, firstly, primarily screening keyword information of a required welding seam from a CSV file according to main conditions, wherein the main conditions comprise the naming of a shipyard to the workpiece, the type of the welding seam and the length of the welding seam, finding the position of the corresponding welding seam information in the SPF file through the keyword of the welding seam, secondarily eliminating a curve welding seam and a rib beam intersecting welding seam, and then extracting the welding seam information, wherein the welding seam information comprises the starting and ending information of the welding seam, the length of the welding seam, the size of a welding angle, the type of the welding seam, the number of welding seams, the plate thickness and the starting and ending slow welding length, and further obtaining the process information of all workpieces;
B. the robot works the route planning, finish the calibration of the work piece coordinate system in the actual working scene under the support of end effector camera of the robot, compare with work piece coordinate system in the digital model, realize the offset conversion of the coordinate system; generating avoidance points by a proper interpolation method, setting a backspacing distance and the number of the avoidance points, providing a recommended path according to the process requirements and rules of the product, and solidifying the motion track and position of a specific task of the robot;
C. setting parameters of the end effector, providing a processing action planning module of the end effector according to processing requirements and modifying corresponding processing parameters in batches;
D. generating a control program, namely establishing a corresponding mathematical model according to different conditions of actual welding seams, including the positions and the lengths of the welding seams and the reachable region of a robot end effector, judging whether the robot finishes welding after the robot is brought to the position by selecting the gantry or realizes welding operation by changing postures in the process of bringing the robot by the gantry without moving the position of the robot, and intelligently selecting the most suitable cooperation scheme between the gantry and the robot and generating the control program; finally, aiming at the requirements of different welding processes, the welding seam information is sorted in a targeted manner;
E. and (4) off-line program processing, namely converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in an actual robot control system.
2. The off-line programming processing method of the ship welding robot according to claim 1, characterized in that: and extracting the processing information of the workpiece, namely extracting the process information of all the workpieces through external model import or a CAD modeling system or a parameterized CAD model library.
3. The off-line programming processing method of the ship welding robot according to claim 1, characterized in that: and (4) planning the working path of the robot by externally inputting a path planning parameter library and process parameters.
4. The off-line programming processing method of the ship welding robot according to claim 1, characterized in that: after the robot path planning is completed, dynamic simulation is carried out in a three-dimensional environment, a simulation starting position and a simulation ending position can be set, or machining process simulation, three-dimensional space collision interference inspection, end effector action simulation, coordination work simulation between the robot and tooling equipment, coordination work simulation between the robot and the end effector, a proper correction strategy for errors occurring in simulation are provided, and finally a correct robot running path is generated.
5. The off-line programming processing method of the ship welding robot as claimed in claim 4, wherein: modeling motion simulation, then carrying out three-dimensional motion and simulation, and judging whether the simulation meets the requirements; if not, correcting the model and the path and returning to the three-dimensional motion and simulation; if yes, the next step is carried out.
6. The off-line programming processing method for the ship welding robot according to claim 1, wherein: and in the path planning stage, by means of MATLAB and VB mixed programming, VB is used as a front-end development tool to develop programs, and meanwhile, more complex mathematical calculations in the application program are completed by MATLAB.
7. The off-line programming processing method of the ship welding robot according to claim 1, characterized in that: generating a welding program, and then generating control codes of each driver and additional axis control codes; and inputting the control codes of the drivers and the additional axis into the robot through the interface of the numerical control system.
8. A ship welding robot off-line programmed processing system is characterized in that: the system comprises a product digital-analog information reading module, a welding seam information processing module, a welding system task allocation module, a gantry and double-robot motion planning module, an end effector parameter setting module, a simulation and system program generating module and an off-line program processing module;
the product digital-analog information reading module extracts the workpiece processing process information from an external model import, a CAD modeling system and a parameterized CAD model library and screens the process information; sending the screened process information to a welding seam information processing module;
the welding seam information processing module is used for processing the read information, eliminating the welding seams which are influenced by reality and difficult to weld, obtaining all information of a welding task, and outputting welding data according to the corresponding welding process requirements of the workpiece and rules;
the welding system task allocation module is used for receiving the information output by the welding seam information processing module and allocating operation tasks to the double robots and the gantry platform according to the operation range and the operation process requirements;
the gantry and double-robot motion planning module is used for receiving gantry and double-robot tasks sent by the welding system task allocation module, completing and calibrating the information of a workpiece coordinate system in an actual working scene, and comparing the information with the workpiece coordinate system in a digital-analog to realize the offset conversion of the coordinate system; generating avoidance points by a proper interpolation method, setting a backspacing distance and the number of the avoidance points, and generating a gantry and double-robot running path according to the product process requirements and corresponding rules;
the end effector parameter setting module is used for acquiring the robot running path data transmitted by the robot motion planning module and modifying corresponding processing parameters in batches according to processing requirements;
the simulation and system program generation module is used for simulating the operation tasks and generating a program for the cooperative operation of the gantry, the double robots and the end effector;
and the off-line program processing module is used for converting the robot motion program language generated by off-line programming into a program language which can be identified and applied in the actual robot control system and applying the converted program language to the robot control system.
9. The offline programmed processing system of a marine welding robot according to claim 8, wherein: and the process information comprises the process information of the position to be processed and the color identification of the type.
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