CN110370298A - A kind of welding robot track automatic planning - Google Patents
A kind of welding robot track automatic planning Download PDFInfo
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- CN110370298A CN110370298A CN201910680746.4A CN201910680746A CN110370298A CN 110370298 A CN110370298 A CN 110370298A CN 201910680746 A CN201910680746 A CN 201910680746A CN 110370298 A CN110370298 A CN 110370298A
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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
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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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
The invention discloses a kind of welding robot track automatic plannings, are related to welding robot off-line programing and trajectory planning field, the described method comprises the following steps: step 1, the location information for extracting weld seam；Step 2 defines user coordinates, records the initial attitude of the welding robot；The inclination angle theta of step 3, the input weld seam, obtains the posture information of the welding robot；Step 4 assists inverse method with dichotomy, seeks the maximum top rake posture of the welding robot；Step 5, the job file for generating the welding robot.The present invention gives workpiece threedimensional model, it is only necessary to which the trajectory planning in welding process can be completed in the soldering angle for inputting setting, instead of cumbersome teaching process, improves production efficiency；It is directed to a large amount of calculating process, it is only necessary to obtain by writing calculation procedure, change relevant parameter, if different robots change mechanical arm size in algorithm, similar Welding Problems can be solved.
Description
Technical field
The present invention relates to welding robot off-line programing and trajectory planning field more particularly to a kind of welding robot tracks
Automatic planning.
Background technique
Industrial robot is current application maturation and successful robot technology the most.For different tasks and control
Target processed needs operator to carry out teaching programming using teaching box and obtains control task.With modern manufacturing industry development and it is more
Sample, on-line teaching be often difficult to meet multi items, small lot automated production requirement.It is very multiple for operation workpiece
It is miscellaneous, there are hundreds and thousands of a taught points to need to carry out artificial teaching, or a series of workpiece discrepant for size shapes and add
The identical operation of work process carries out a large amount of repeated teachings and greatly reduces working efficiency；Irregular curve path is processed,
It is cumbersome with teaching programming realization, or even teaching can not be used to program and realized.
Robot off-line programming technology overcomes the disadvantages of teaching programming cycle length, low efficiency, complicated track are difficult to realize.
Off-line programing is the industrial robot working environment set up using computer graphics, is accompanied by intelligence, efficient optimization algorithm
Related data, and then automatic code generating are collected and handled, 3-D graphic animation simulation is recycled, chooses reasonable movement side
Programming language is finally reached robot controller by case, completes relevant work.Off-line programing be divided into again off-line teaching programming and from
Line automated programming.Off-line teaching programming mainly reappears the mode of on-line teaching on the computer systems, programs in complex curve
When low efficiency, also need a large amount of repetitive operations；Off-line programing personnel need to be grasped off-line programming software application method and
The instruction and points for attention of robotic programming, need systematic learning；Needs are programmed in Computer Simulation three-dimensional space
Constantly switching user perspective ensures that robot end moves to designated position, therefore completes to operate when trajectory planning relatively complicated.
For normal work to do such as specific welding, a sprayings, the track usually welded be it is known, pass through welding workpiece
CAD diagram paper it is available, can by analyze cad file structure, computer read CAD model quickly identify machining coordinate
Point is combined a series of processing stands, to obtain complete machining locus.
For welding workpiece, having similar structure, still there are many specifications for size.If completing robot welding, need
Teaching is carried out respectively to the part of every kind of different size, teaching work repeats and heavy workload, can not be adaptive according to workpiece size
The change robot trajectory answered, thus greatly reduces production efficiency.
In the existing technology for reading machining information based on threedimensional model, the coordinate information of processing can only be got, is difficult
Robot pose is connected, so the technology is widely studied in numerical control processing field, but in welding field this
Kind of method especially for the welding of fillet weld, gives fillet welding inclination angle theta using less, and when top rake α is 90 °, in robot
During welding, since the limitation of manipulator motion range will appear inaccessible point, teaching adjustment top rake α is needed to make machine
Device people covers path of welding, and the in general bigger welding effect of top rake is better, but is difficult to determine in robot during teaching
Maximum top rake up in the case where, to influence welding quality.
Therefore, those skilled in the art is dedicated to developing a kind of welding robot track automatic planning, in solution
State problems of the prior art.
Summary of the invention
The present invention is based on the coordinates that the CAD model of given workpiece extracts weld seam, welding inclination angle theta are given, according to CAD model
The feature of middle fillet weld model, is calculated the motion profile of robot, allow robot with determining attitude orientation to plus
Station is set to be welded.It can be with adjust automatically top rake angle the technical problem to be solved by the present invention is to design one kind
Method, robot maximize top rake in the case where reachable, to make robot smoothly complete welding track and guarantee weldering
Quality is connect, the case where target point can not be reached due to the limitation of manipulator motion range in the welding process is prevented.
To achieve the above object, the present invention provides a kind of welding robot track automatic planning, the method packets
Include following steps:
Step 1, the location information for extracting weld seam；
Step 2 defines user coordinates, records the initial attitude of the welding robot；
The inclination angle theta of step 3, the input weld seam, obtains the posture information of the welding robot；
Step 4 assists inverse method with dichotomy, seeks the maximum top rake posture of the welding robot；
Step 5, the job file for generating the welding robot.
Further, the step 1 is based on STEP file, comprising:
Step 1.1 reads the STEP file line by line；
Step 1.2, access CLOSED_SHELL set, record ADVANCED_FACE in the CLOSED_SHELL set
The quantity N of attribute；
Step 1.3 judges whether the N is equal to 5；If the N is equal to 5, enter next step；
Step 1.4 reads the ADVANCED_FACE attribute one by one, successively indexes EDGE_LOOP, record
The quantity M of ORIENTED_EDGE attribute；
Step 1.5 judges whether the M is equal to 3；If the M is equal to 3, enter next step；
Step 1.6 successively indexes CARTESIAN_POINT according to topological structure, records two end faces of the weld seam
The extreme coordinates of middle each edge；
Step 1.7, duplicate removal record the triangle point coordinate of described two end faces of the weld seam, judge the two of the weld seam
Hold right-angled apices O1、O2, unitization vector O2O1, remember into vector c, in which: the O1For starting point, the O2For terminal, it is described to
Measure the direction vector that c is fillet weld vertical plane and horizontal plane intersection；
Step 1.8, right angle edge-vector is calculated according to triangle point coordinate, and simultaneously unit turns to vector a, vector b, wherein described
Vector a is fillet weld vertical plane vector, perpendicular to the vector c；The vector b is fillet weld horizontal plane vector, perpendicular to institute
State vector c.
Further, in the step 1.3, if the N is not equal to 5, the step 1.1 is returned to.
Further, in the step 1.5, if the M is not equal to 3, the step 1.4 is returned to.
Further, the step 2 includes:
Step 2.1, three points of teaching determine user coordinate system on part, in the user coordinate system and CAD model
Part coordinate system is overlapped, and records the initial attitude (Rx of the welding robot under the user coordinate systemt,Ryt,Rzt)；
Step 2.2, basis (- sin (Ryt),cos(Ryt)sin(Rxt),cos(Rxt)cos(Ryt)) find out the bonding machine
The initial attitude of device people, and vector t is reversely denoted as based on tool coordinates system z-axis vector direction0, the vector t0For the welding
The vector of the initial attitude of robot:
t0=(sin (Ryt),-cos(Ryt)sin(Rxt),-cos(Rxt)cos(Ryt))；
Step 2.3, note vector a0It (0,0,1) is transition vector, the vector t0To the vector a0The first spin matrix
It is found out by Rodrigo's rotation formula；According to vector t described in the first spin matrix reverse0To the vector a0Around x-axis, y
The angle that axis, z-axis rotate, is denoted as (△ Rxt,△Ryt,△Rzt)。
Further, the step 3 includes:
Step 3.1 seeks the vector a by Rodrigo's rotation formula0To the second spin matrix of vector p；
Step 3.2, the vector a according to the second spin matrix reverse0To the vector p around the x-axis, the y
The angle that axis, the z-axis rotate, is denoted as (△ Rxp,△Ryp,△Rzp)；
Step 3.3, the posture for obtaining the welding robot are as follows: (Rxt+△Rxt+△Rxp,Ryt+△Ryt+△Ryp,
Rzt+△Rzt+△Rzp)；
Wherein, the inclination angle theta of the weld seam is the angle of the vector p and the vector b；The vector p is the welding
The attitude vectors of robot；When welding carries out, the tool coordinates system z-axis of the vector p and the welding robot are reversed.
Further, the step 4 includes:
Step 4.1, the model for establishing the welding robot；
Step 4.2, the both ends right-angled apices O by the weld seam1、O2Coordinate O1(xo1,yo1,zo1)、 O2(xo1,
yo1,zo1) and the posture information of the welding robot substitute into the Inverse Model of the welding robot respectively
Solution；
If step 4.3, the inverse solution are not present, that asks the vector p and the vector c angle divides vector p equally1:
According to the vector p1Seek the posture (rx of the welding robot1, ry1, rz1), in conjunction with described the two of the weld seam
Hold right-angled apices O1、O2Coordinate, seek the inverse solution respectively；
If step 4.4, the inverse solution are not present, by the vector p1Unit turns to p1', seek the vector p1' with it is described to
Amount c angle divides vector p equally2:
According to the vector p2, seek the posture (rx of the welding robot2, ry2, rz2), in conjunction with described in the weld seam
Both ends right-angled apices O1、O2Coordinate, seek the inverse solution respectively；
If the step 4.5 inverse solution is not present, the vector p is sought1' with the vector p angle divide vector p equally2s:
According to the vector p2s, the posture (rx2s, ry2s, rz2s) of the welding robot is sought, in conjunction with the weld seam
The both ends right-angled apices O1、O2Coordinate, seek the inverse solution respectively；
The process for seeking the inverse solution is tree construction；If the depth of the tree of the tree construction is that m can be found out if m → ∞
In the case where the welding robot is reachable, the maximum top rake posture of the welding robot.
Further, the model in the step 4.1 is DH model.
Further, the top rake that the weld seam of default is initialized in the step 4.3 is 90 °.
Further, the job file of the welding robot in the step 5 is by comment entry, parameter body, instruction body
Three compositions.
Technical effect of the invention is as follows:
1, workpiece threedimensional model is given, it is only necessary to which the track in welding process can be completed in the soldering angle for inputting setting
Planning, instead of cumbersome teaching process, improves production efficiency；
2, it is directed to a large amount of calculating process, it is only necessary to obtain by writing calculation procedure, change relevant parameter, such as
Different robots change mechanical arm size in algorithm, and similar Welding Problems can solve, and operating process is simple.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the flow chart of welding robot track automatic planning of the invention；
Fig. 2 is the welding robot operation schematic diagram of a preferred embodiment of the invention；
Fig. 3 is that the STEP file of a preferred embodiment of the invention extracts information flow chart；
Fig. 4 be a preferred embodiment of the invention SolidWorks software in redefine part coordinate system signal
Figure；
Fig. 5 be a preferred embodiment of the invention SolidWorks software in redefine in part coordinate system P to
Measure schematic diagram；
Fig. 6 is the MA1440 robot simple model of a preferred embodiment of the invention；
Fig. 7 is that the present invention seeks the maximum Attitude Algorithm schematic diagram of top rake；
Fig. 8 is a preferable robot manipulating task file composition figure for implementing benefit of the invention.
Wherein, 1- workpiece, 2- weld seam, 3- fixture, 4- welding robot, 5- tool coordinates system, 6- user coordinate system.
Specific embodiment
Multiple preferred embodiments of the invention are introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
Embodiment one
Welding robot track automatic planning principle disclosed by the invention as shown in Figure 1, solve in vector form
The posture of welding robot assists inverse method with dichotomy, seeks maximum top rake robot pose.
In welding robot operation schematic diagram shown in Fig. 2, including workpiece 1, weld seam 2, fixture 3, welding robot 4,
Tool coordinates system 5 and user coordinate system 6.
Wherein, workpiece 1 is fixed by fixture 3, and the position that welding robot 4 is directed at weld seam 2 is welded.
Method provided by the invention the following steps are included:
Step 1, the location information for extracting weld seam 2；
Step 2 defines user coordinates, records the initial attitude of welding robot 4；
Step 3, the inclination angle theta for inputting weld seam 2 obtain the posture information of welding robot 4；
Step 4 assists inverse method with dichotomy, seeks the maximum top rake posture of welding robot 4；
Step 5, the job file for generating welding robot 4.
Embodiment two
STEP is a kind of for carrying out the universal data format of CAD model data exchange between different designs software.One
The corresponding pentahedron in CAD model of weld seam 2, finds out weld seam beginning and end according to topological relation.
Part coordinate system can be redefined in SolidWorks software, facilitate user coordinate system teaching.
On the basis of example 1, step 1 is based on STEP file, including following sub-step (as shown in Figure 3):
Step 1.1 reads STEP file line by line, judges whether comprising " CLOSED_SHELL " field；
Step 1.2, access CLOSED_SHELL set, record ADVANCED_FACE attribute in CLOSED_SHELL set
Quantity N；
Step 1.3 judges whether N is equal to 5；If N is equal to 5, enter next step；
Step 1.4 reads ADVANCED_FACE attribute one by one, successively indexes EDGE_LOOP, records ORIENTED_
The quantity M of EDGE attribute；
Step 1.5 judges whether M is equal to 3；If M is equal to 3, enter next step；
Step 1.6 successively indexes CARTESIAN_POINT according to topological structure, records every in two end faces of weld seam 2
The extreme coordinates on side；
Step 1.7, duplicate removal record the triangle point coordinate of two end faces of weld seam 2, judge the both ends right-angled apices of weld seam 2
O1、O2, unitization vector O2O1, remember into vector c, in which: O1For starting point, O2For terminal, vector c is fillet weld vertical plane and level
The direction vector of face intersection；
Step 1.8, right angle edge-vector is calculated according to triangle point coordinate, and simultaneously unit turns to vector a, vector b, wherein vector a
For fillet weld vertical plane vector, perpendicular to vector c；Vector b is fillet weld horizontal plane vector, perpendicular to vector c (such as Fig. 4 institute
Show).
Wherein, in step 1.3, if N is not equal to 5, return step 1.1.
Wherein, in step 1.5, if M is not equal to 3, return step 1.4.
Embodiment three
On the basis of example 2, step 2 includes:
Step 2.1, three points of teaching determine user coordinate system 6, user coordinate system 6 and zero in CAD model on part
Part coordinate system is overlapped, and records the initial attitude (Rx of welding robot 4 under user coordinate systemt,Ryt,Rzt)；
Step 2.2, basis (- sin (Ryt),cos(Ryt)sin(Rxt),cos(Rxt)cos(Ryt)) find out welding robot
4 initial attitude, and vector t is reversely denoted as based on tool coordinates system z-axis vector direction0, vector t0For the first of welding robot 4
The vector of beginning posture:
t0=(sin (Ryt),-cos(Ryt)sin(Rxt),-cos(Rxt)cos(Ryt))；
Step 2.3, note vector a0It (0,0,1) is transition vector, vector t0To vector a0The first spin matrix by Rodri
Lattice rotation formula is found out；According to the first spin matrix reverse vector t0To vector a0Around x-axis, y-axis, the angle of z-axis rotation, it is denoted as
(△Rxt,△Ryt,△Rzt)。
Example IV
Rodrigo's rotation formula is asked originally according to vector q in value and value of the vector q in coordinate system 2 in coordinate system 1
What is solved is the spin matrix between two coordinate systems, and reverse rotation angle is to ask coordinate system 1 to coordinate system 2 around x-axis, y-axis, z-axis
Rotation angle.Introduce transition vector a0, vector t0To vector a0Vector t can be regarded as0It is certain around x-axis, y-axis, z-axis rotation
Angle is to vector a0, vector a0Vector a can be regarded as to vector p0It rotates by a certain angle to vector p, twice around x-axis, y-axis, z axis
Rotation angle is added as vector t0To vector p rotating around x-axis, y-axis, the angle of z-axis rotation.
As shown in figure 5,2 inclination angle theta of weld seam is the angle of vector p and vector b, the appearance of welding robot 4 when vector p is welding
State vector, when welding carries out, vector p and 4 tool coordinates system 5z axis of welding robot are reversed.
On the basis of embodiment three, step 3 includes:
Step 3.1 seeks vector a by Rodrigo's rotation formula0To the second spin matrix of vector p；
Step 3.2, according to the second spin matrix reverse vector a0To vector p around x-axis, y-axis, the angle of z-axis rotation, it is denoted as
(△Rxp,△Ryp,△Rzp)；
Step 3.3, the posture for obtaining welding robot 4 are as follows: (Rxt+△Rxt+△Rxp,Ryt+△Ryt+△Ryp, Rzt+
△Rzt+△Rzp), i.e. known vector p can seek 4 posture of welding robot；
Wherein, the inclination angle theta of weld seam 2 is the angle of vector p and vector b；Vector p is the attitude vectors of welding robot 4；Weldering
When tapping into row, vector p and the tool coordinates system z-axis of welding robot 4 are reversed.
Embodiment five
By taking An Chuan Motoman robot MA1440 as an example, simple model is as shown in fig. 6, establish the DH of welding robot 4
Model.
In order to obtain D-H parameter list, it is necessary first to coordinate system is established for each joint of six-joint robot, fixed
Under coordinate system, the transformation relation between connecting rod could be finally obtained, to establish D-H parameter list.
The universal method that algorithm coordinate system determines is as follows:
1) Z axis of mark system, is overlapped with the center of rotation axis in each joint；
2) X-axis of coordinate system is overlapped with the common vertical line along two neighboring Z axis；
3) Y-axis of coordinate system can be determined by the right-hand rule.
When the intersection of two neighboring Z axis, the method for determining coordinate system is as follows:
1) Y-axis of coordinate system is Y-axis along the extended line that first Z axis intersects with next Z axis；
2) X-axis of coordinate system is determined by the right-hand rule.
When two neighboring Z axis is parallel, the method for determining coordinate system is as follows:
1) coordinate system X-axis, two neighboring Z axis is parallel, does the common vertical line of two Z axis, and intersecting at next Z axis is X-axis,
Direction is first Z axis to the direction of next Z axis；
2) coordinate system Y-axis is determined by the right-hand rule.
D-H parameter list, the transformation relation table of actually adjacent each joint coordinates, according to before for each joint institute
D-H parameter list can be obtained according to following four transformation rules in the coordinate system of foundation.
Transformation rule:
1) around ZnAxis rotates θn+1→XnWith Xn+1(direction is consistent) in parallel；
2) along ZnAxis translates dn+1→XnWith Xn+1Collinearly；
3) along XnAxis translates an+1→XnWith Xn+1Origin is overlapped；
4) by ZnAround Xn+1Axis, rotation alphan+1→ZnWith Zn+1Collinearly.
According to the transformation of mechanical arm dimensional parameters and above step, D-H parameter list is as shown in the table:
Wherein, T=T1*T2*T3*T4*T5*T6*T7
T7The transformation matrix of tool coordinates system 5 is arrived for joint 6:
Wherein d7 is the distance that 6 coordinate system of joint is translated to tool coordinates system 5 along z-axis, and a7 is along x-axis translation distance, θ 7
To rotate angle around y-axis, d7=358.2 in this welding robot 4, brings parameter into matrix by 7=- 45 ° of a7=-105.9, θ.
Assuming that the coordinate under user coordinate system 6 of welding robot 4 is (xu,yu,zu), posture is (Rxu,Ryu,Rzu):
Coordinate of the user coordinate system 6 under 4 base coordinate system of welding robot is (xp,yp,zp), rotation angle is (Rxp,
Ryp,Rzp):
T=Tp*Tu
Bring solution into:
T=T1*T2*T3*T4*T5*T6*T7
Wherein unknown number is θ1θ2θ3θ4θ5θ6。
By 2 both ends coordinate O of weld seam1(xo1,yo1,zo1)、O2(xo1,yo1,zo1) and 4 posture of welding robot band respectively
Enter solution of inverting, if illustrating that this posture can not carry out complete solder in this 2 welding process of weld seam without inverse solution.
On the basis of example IV, step 4 includes:
Step 4.1, the model for establishing welding robot 4；
Step 4.2, the both ends right-angled apices O by weld seam 21、O2Coordinate O1(xo1,yo1,zo1)、O2(xo1,yo1,zo1)
And the posture information of welding robot 4 substitutes into the Inverse Model solution of welding robot 4 respectively；
If step 4.3, inverse solution are not present, that asks vector p and vector c angle divides vector p equally1:
According to vector p1Seek the posture (rx of welding robot 41, ry1, rz1), in conjunction with the both ends right-angled apices O of weld seam 21、
O2Coordinate, solution of inverting respectively；
If step 4.4, inverse solution are not present, by vector p1Unit turns to p1', seek vector p1' with vector c angle divide equally to
Measure p2:
According to vector p2, seek the posture (rx of welding robot 42, ry2, rz2), in conjunction with the both ends right-angled apices O of weld seam 21、
O2Coordinate, solution of inverting respectively；
If the inverse solution of step 4.5 is not present, vector p is sought1' with vector p angle divide vector p equally2s:
According to vector p2s, the posture (rx2s, ry2s, rz2s) of welding robot 4 is sought, in conjunction with the both ends right angle top of weld seam 2
Point O1、O2Coordinate, solution of inverting respectively；
Algorithm is as shown in fig. 7, the process for solution of inverting is tree construction；If the depth of the tree of tree construction is that m can if m → ∞
To find out in the case where welding robot 4 is reachable, the maximum top rake posture of welding robot 4.It is during actual operation
Reduction calculation amount only need to give m value, so that the welding robot 4 is reached approximately the maximum posture of top rake.
Wherein, the top rake that the weld seam of default is initialized in step 4.3 is 90 °.
Wherein the job file of the welding robot in step 5 is made of comment entry, parameter body, instruction body three.
Embodiment six
On the basis of embodiment five, robot manipulating task file is generated.
If Fig. 8 shows, MOTOMAN robot manipulating task file (JOB file) is mainly by comment entry, parameter body, instruction body three
Composition.
4 coordinate of welding robot and posture information are stored in parameter body, by the beginning and end coordinate of weld seam 2, and
(program input can be manually entered and write) in the 4 attitude value write parameters body of welding robot finally obtained, such as weld
Stitch 2 starting point coordinate O1For (13.1,215,0), 4 posture of welding robot is (- 160.7218, -13.4877, -19.3470),
Then
P00000=13.1,215,0, -160.7218, -13.4877, -19.3470,
2 terminal point coordinate O of weld seam2For (13.1,38.2,0),
4 posture of welding robot is (- 160.7218, -13.4877, -19.3470),
Then P00001=13.1,38.2,0, -160.7218, -13.4877, -19.3470.
Job file is loaded into welding robot 4, welding robot 4 can be automatically performed welding track.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of welding robot track automatic planning, which is characterized in that the described method comprises the following steps:
Step 1, the location information for extracting weld seam；
Step 2 defines user coordinates, records the initial attitude of the welding robot；
The inclination angle theta of step 3, the input weld seam, obtains the posture information of the welding robot；
Step 4 assists inverse method with dichotomy, seeks the maximum top rake posture of the welding robot；
Step 5, the job file for generating the welding robot.
2. welding robot track as described in claim 1 automatic planning, which is characterized in that the step 1 is based on
STEP file, comprising:
Step 1.1 reads the STEP file line by line；
Step 1.2, access CLOSED_SHELL set, record ADVANCED_FACE attribute in the CLOSED_SHELL set
Quantity N；
Step 1.3 judges whether the N is equal to 5；If the N is equal to 5, enter next step；
Step 1.4 reads the ADVANCED_FACE attribute one by one, successively indexes EDGE_LOOP, records ORIENTED_
The quantity M of EDGE attribute；
Step 1.5 judges whether the M is equal to 3；If the M is equal to 3, enter next step；
Step 1.6 successively indexes CARTESIAN_POINT according to topological structure, records every in two end faces of the weld seam
The extreme coordinates on side；
Step 1.7, duplicate removal record the triangle point coordinate of described two end faces of the weld seam, judge that the both ends of the weld seam are straight
Angular vertex O1、O2, unitization vector O2O1, remember into vector c, in which: the O1For starting point, the O2For terminal, the vector c is
The direction vector of fillet weld vertical plane and horizontal plane intersection；
Step 1.8, right angle edge-vector is calculated according to triangle point coordinate, and simultaneously unit turns to vector a, vector b, wherein the vector a
For fillet weld vertical plane vector, perpendicular to the vector c；The vector b is fillet weld horizontal plane vector, perpendicular to the vector
c。
3. welding robot track as claimed in claim 2 automatic planning, which is characterized in that in the step 1.3,
If the N is not equal to 5, the step 1.1 is returned.
4. welding robot track as claimed in claim 2 automatic planning, which is characterized in that in the step 1.5,
If the M is not equal to 3, the step 1.4 is returned.
5. welding robot track as claimed in claim 2 automatic planning, which is characterized in that the step 2 includes:
Step 2.1, three points of teaching determine user coordinate system, the part in the user coordinate system and CAD model on part
Coordinate system is overlapped, and records the initial attitude (Rx of the welding robot under the user coordinate systemt,Ryt,Rzt)；
Step 2.2, basis (- sin (Ryt),cos(Ryt)sin(Rxt),cos(Rxt)cos(Ryt)) find out the welding robot
Initial attitude, and vector t is reversely denoted as based on tool coordinates system z-axis vector direction0, the vector t0For the welding robot
The vector of the initial attitude of people:
t0=(sin (Ryt),-cos(Ryt)sin(Rxt),-cos(Rxt)cos(Ryt))；
Step 2.3, note vector a0It (0,0,1) is transition vector, the vector t0To the vector a0The first spin matrix by sieve
Delhi lattice rotation formula is found out；According to vector t described in the first spin matrix reverse0To the vector a0Around x-axis, y-axis, z-axis
The angle of rotation is denoted as (△ Rxt,△Ryt,△Rzt)。
6. welding robot track as claimed in claim 5 automatic planning, which is characterized in that the step 3 includes:
Step 3.1 seeks the vector a by Rodrigo's rotation formula0To the second spin matrix of vector p；
Step 3.2, the vector a according to the second spin matrix reverse0To the vector p around the x-axis, the y-axis, institute
The angle for stating z-axis rotation, is denoted as (△ Rxp,△Ryp,△Rzp)；
Step 3.3, the posture for obtaining the welding robot are as follows: (Rxt+△Rxt+△Rxp,Ryt+△Ryt+△Ryp,Rzt+△
Rzt+△Rzp)；
Wherein, the inclination angle theta of the weld seam is the angle of the vector p and the vector b；The vector p is the welding robot
The attitude vectors of people；When welding carries out, the tool coordinates system z-axis of the vector p and the welding robot are reversed.
7. welding robot track as claimed in claim 6 automatic planning, which is characterized in that the step 4 includes:
Step 4.1, the model for establishing the welding robot；
Step 4.2, the both ends right-angled apices O by the weld seam1、O2Coordinate O1(xo1,yo1,zo1)、O2(xo1,yo1,
zo1) and the posture information of the welding robot substitute into the Inverse Model solution of the welding robot respectively；
If step 4.3, the inverse solution are not present, that asks the vector p and the vector c angle divides vector p equally1:
According to the vector p1Seek the posture (rx of the welding robot1, ry1, rz1), the both ends in conjunction with the weld seam are straight
Angular vertex O1、O2Coordinate, seek the inverse solution respectively；
If step 4.4, the inverse solution are not present, by the vector p1Unit turns to p1', seek the vector p1' and the vector c
Angle divides vector p equally2:
According to the vector p2, seek the posture (rx of the welding robot2, ry2, rz2), the both ends in conjunction with the weld seam are straight
Angular vertex O1、O2Coordinate, seek the inverse solution respectively；
If the step 4.5 inverse solution is not present, the vector p is sought1' with the vector p angle divide vector p equally2s:
According to the vector p2s, the posture (rx2s, ry2s, rz2s) of the welding robot is sought, in conjunction with described in the weld seam
Both ends right-angled apices O1、O2Coordinate, seek the inverse solution respectively；
The process for seeking the inverse solution is tree construction；If the depth of the tree of the tree construction is that m can be found out if m → ∞ in institute
Welding robot is stated up in the case where, the maximum top rake posture of the welding robot.
8. welding robot track as claimed in claim 7 automatic planning, which is characterized in that in the step 4.1
The model is DH model.
9. welding robot track as claimed in claim 7 automatic planning, which is characterized in that in the step 4.3 just
The top rake of the weld seam of beginningization default is 90 °.
10. welding robot track as described in claim 1 automatic planning, which is characterized in that the institute in the step 5
The job file for stating welding robot is made of comment entry, parameter body, instruction body three.
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