CN110888422A - Two-dimensional tracking robot spraying programming method - Google Patents
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- CN110888422A CN110888422A CN201810951671.4A CN201810951671A CN110888422A CN 110888422 A CN110888422 A CN 110888422A CN 201810951671 A CN201810951671 A CN 201810951671A CN 110888422 A CN110888422 A CN 110888422A
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- 238000005507 spraying Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000007921 spray Substances 0.000 claims abstract description 12
- 238000011065 in-situ storage Methods 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000010422 painting Methods 0.000 claims 4
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- Application Of Or Painting With Fluid Materials (AREA)
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Abstract
The invention relates to a robot in a two-dimensional tracking robot spraying programming method, which not only tracks the real-time moving pulse of a conveying chain, but also simulates and tracks the rotating angle real-time pulse of a workpiece. The problem that the existing robot hardware and software, including off-line programming software, can not directly realize two-dimensional tracking of spraying surfaces to workpieces with complex shapes, and can distribute different spraying angles through rotation to realize no dead angle in spraying is solved; the robot does not need to walk at a strange angle as much as possible, the spraying angle does not need to be frequently changed, the operation time of unit spraying area is greatly reduced, and the operation efficiency is improved; the robot loss is reduced; the arrangement of the workpieces is changed from a plane to a three-dimensional structure, and the space distance between the workpieces can be reduced; the number of hung workpieces is increased by 50%; the linear speed can be reduced under the same productivity condition, and the actual running range tracked by the robot is reduced by 50 percent, so that the spray room space is reduced and the energy consumption is reduced; the horizontal rotary spraying automation is realized.
Description
Technical Field
The invention relates to the field of robot spraying programming, in particular to a robot spraying programming method based on two-dimensional tracking.
Background
Currently, robot spray programming is divided into two from a tracking perspective:
1. fixed point spraying-fixed workpiece, workpiece does not move along with the conveying chain, robot does not need to start synchronous tracking function, and moves according to teaching track, and the moving command mainly comprises MOVJ and MOVL, also called as non-tracking spraying. The workpiece is fixed in position in the mode, the position of the workpiece is mostly manually assisted, and the automation degree is low. The robot stops in the midway with the beat to wait for the workpiece to move, and the problem of low effective utilization rate of the robot is also caused.
2. One-dimensional tracking spraying, namely, the workpiece moves along with a conveying chain. The robot starts a synchronous tracking function, and according to position data fed back by a conveyor chain encoder, the robot automatically calculates and runs according to a teaching track, so that the relative speed is kept, the relative static state is kept, a program must execute a SYSTART command, and the movement command mainly comprises SYMOVJ and SYMOVL.
The two spraying programming modes can not easily spray certain angles and even have spraying interference when facing workpieces with complex shapes, especially workpieces needing to be sprayed in all directions at 360 degrees. In order to take care of the spraying angle, the number and the arrangement position of the workpieces are limited, and even manual paint repair is required when the spraying cannot be carried out. Due to the fact that the number of the single hangers is small, the linear speed needs to be improved under the same productivity condition. The second method is that the robot needs a long space distance when tracking the workpiece, i.e. the robot needs a larger left-right moving range. Therefore, the positioning distance between the robots is increased, so that the spraying room space is directly increased, the energy conservation is not facilitated, and the equipment investment cost is higher. Therefore, on the basis, the spraying programming mode of the robot is improved, and the fact that resources are utilized more fully is particularly important.
Disclosure of Invention
In order to solve the technical problems, the invention provides a two-dimensional tracking robot spraying programming method, which realizes the effect of spraying without dead angles, changes the arrangement of a workpiece from a plane to a solid, reduces the space of a spraying room, reduces the energy consumption, improves the production efficiency and realizes the automation of horizontal rotary spraying.
Technical scheme
The purpose of the invention is realized as follows: a two-dimensional tracking robot spraying programming method comprises the following steps:
(1) calculating the running time of a single beat of the robot: starting from the time when the workpiece reaches the spraying area, the workpiece moves in parallel along with the conveying chain and rotates around the hanging rod, and each section of the conveying chain is utilizedDividing the distance S by the chain speed V to obtain a production beat, rotating the workpiece in situ at a constant angular speed by one circle (360 degrees) with the hanger for a corresponding time T, and calculating the theoretical running time T of the single beat of the robot0；
(2) Planning a spraying track according to the appearance structure of the workpiece to be sprayed, and marking key points on the track: the key points are taken as teaching points, the workpiece is rotated in situ to make track teaching, and the teaching points A required by spraying are marked on the workpiece in sequence1，A2，A3……；
(3) Calculating the average running speed of the TCP during spraying of the robot: firstly, the distance L between every two adjacent points is measured in sequence1，L2，L3… …, calculating the total track length L, and finally obtaining the running average speed v of the robot during TCP spraying;
(4) calculating the theoretical angle α of each teach point on the workpiece on the hanger bariPoint teaching points A1Time is defined as t0=0 (reference zero point), and the theoretical angular attitude α of each teaching point is obtained by multiplying the time difference corresponding to the teaching point by the angular velocity ωi；
(5) Performing preliminary teaching: teaching a first Point A1The angular position of the workpiece being on scale zero (α)i= 0), moving the robot TCP to the point, and recording the pose (position and attitude) of the robot at the point;
teaching a second Point A2The angle of the workpiece is rotated to the scale α2Moving the TCP to the point, and recording the pose of the point;
teaching a third Point A3The angle of the workpiece is rotated to the scale α3Moving the TCP to the point, and recording the pose of the point;
by analogy … …
(6) And (3) correcting the running time: writing a program by using the pose of the TCP in each teaching point obtained in the step (5) and the average speed v calculated in the step (3), synchronously operating the program along with the conveying chain by using a movement command through SYMOVJ and SYMOVL, and recording the actual operating time of all the points; the time is compared with the theoretical time T0Comparing, correcting the operating speed of each teaching point, and repeatedly operating and correcting until the operating time is equal to the theoretical time T0Approaching;
(7) and (3) track correction: actually running a program, and observing whether the track is overlapped with the actually marked teaching point; the actually found misalignment (advance or retard) adjusts the trajectory by correcting the speed;
(8) and (4) checking whether the running time is close to a theoretical value or not, otherwise, repeatedly executing the steps (6) and (7) to ensure that the total time and the track are consistent with the theoretical value, thus obtaining the track of the spraying program and completing the programming link of the two-dimensional tracking of the robot.
According to the two-dimensional tracking robot spraying programming method, the robot needs to go from the operation origin to the first approach point and return to the first approach point for spraying each beat, generally 4 seconds are needed, so that the theoretical running time of a single beat of the robot is T0=T+4。
The two-dimensional tracking robot spraying programming method comprises the following steps of:
wherein:
(ii) a Since the curve and the actual tracking trajectory are slightly longer, usually the actual distance sum is multiplied by a (1.2-1.5) factor δ, the calculation formula of the average speed of the robot running during TCP spraying is:
。
the two-dimensional tracking robot spraying programming method comprises a teaching point A1The calculation formula of the corresponding theoretical angle is as follows:
wherein i =1~ n.
According to the two-dimensional tracking robot spraying programming method, a hanging rod in robot spraying is arranged on a conveying chain through a bearing, so that a hanger can rotate freely; the dial and the pointer are arranged in front of and behind the bearing, and the workpiece can be controlled to rotate to a required angle in real time by rotating the hanging rod, so that the workpiece can rotate in situ to make track teaching conveniently.
The robot spraying programming method of the two-dimensional tracking comprises the steps that the robot automatically calculates and runs according to a pre-programmed spraying program track according to position data fed back by a conveying chain encoder from a workpiece reaching a spraying area, a spray gun (robot TCP) and the workpiece guarantee relative speed and keep 'relatively static', and two-dimensional tracking spraying is achieved; the guaranteed relative speed keeps 'relative static', and particularly guarantees that the component speeds of a robot spray gun TCP and a teaching point on a workpiece are equal along the running direction of a conveying chain.
The robot programming method of two-dimensional tracking can be realized through off-line programming software, and teaching efficiency and accuracy are greatly improved.
Has the advantages that:
due to the adoption of the technical scheme of the invention: the method increases the active 360-degree rotation of the workpiece on the basis of one-dimensional tracking spraying. Besides tracking the real-time moving pulse of the conveying chain, the robot also simulates and tracks the real-time pulse of the rotating angle of the workpiece. The problem that the existing robot hardware and software, including off-line programming software, can not directly realize two-dimensional tracking of spraying surfaces to workpieces with complex shapes, and can distribute different spraying angles through rotation to realize no dead angle in spraying is solved; the robot does not need to walk at a strange angle as much as possible, the spraying angle does not need to be frequently changed, the operation time of unit spraying area is greatly reduced, and the operation efficiency is improved; the robot loss is reduced; the arrangement of the workpieces is changed from a plane to a three-dimensional structure, and the space distance between the workpieces can be reduced; the number of hung workpieces is increased by 50%; the linear speed can be reduced under the same productivity condition, and the actual running range tracked by the robot is reduced by 50 percent, so that the spray room space is reduced and the energy consumption is reduced; the horizontal rotary spraying automation is realized.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a flow chart of a two-dimensional tracked robot spray programming method implementation of the present invention;
FIG. 2 is a diagram of the Play Panel interface of the present invention during off-line processing using MotosimEG software;
the specific implementation mode is as follows:
referring to fig. 1 and 2, a two-dimensional tracking robot spraying programming method includes the following steps:
(1) calculating the running time of a single beat of the robot: starting from the time that the workpiece reaches the spraying area, the workpiece moves in parallel along with the conveying chain and rotates around the hanging rod, the production beat is obtained by dividing each pitch S of the conveying chain by the speed V of the chain, the workpiece rotates for one circle (360 degrees) along with the hanger at a constant angular speed in situ, the corresponding time is T, and the theoretical operation time T of the robot at a single beat is calculated0；
(2) Planning a spraying track according to the appearance structure of the workpiece to be sprayed, and marking key points on the track: the key points are taken as teaching points, the workpiece is rotated in situ to make track teaching, and the teaching points A required by spraying are marked on the workpiece in sequence1，A2，A3……；
(3) Calculating the average running speed of the TCP during spraying of the robot: firstly, the distance L between every two adjacent points is measured in sequence1，L2，L3… …, calculating the total track length L, and finally obtaining the running average speed v of the robot during TCP spraying;
(4) calculating the theoretical angle α of each teach point on the workpiece on the hanger bariPoint teaching points A1Time is defined as t0=0 (reference zero point), and the theoretical angular attitude α of each teaching point is obtained by multiplying the time difference corresponding to the teaching point by the angular velocity ωi；
(5) Performing preliminary teaching: teaching a first Point A1The angular position of the workpiece being on scale zero (α)i= 0), moving the robot TCP to the point, and recording the pose (position and attitude) of the robot at the point;
teaching a second Point A2The angle of the workpiece is rotated to the scale α2Move the robot TCP to the samePoint, recording the pose of the point;
teaching a third Point A3The angle of the workpiece is rotated to the scale α3Moving the TCP to the point, and recording the pose of the point;
by analogy … …
(6) And (3) correcting the running time: writing a program by using the pose of the TCP in each teaching point obtained in the step (5) and the average speed v calculated in the step (3), synchronously operating the program along with the conveying chain by using a movement command through SYMOVJ and SYMOVL, and recording the actual operating time of all the points; the time is compared with the theoretical time T0Comparing, correcting the operating speed of each teaching point, and repeatedly operating and correcting until the operating time is equal to the theoretical time T0Approaching;
(7) and (3) track correction: actually running a program, and observing whether the track is overlapped with the actually marked teaching point; the actually found misalignment (advance or retard) adjusts the trajectory by correcting the speed;
(8) and (4) checking whether the running time is close to a theoretical value or not, otherwise, repeatedly executing the steps (6) and (7) to ensure that the total time and the track are consistent with the theoretical value, thus obtaining the track of the spraying program and completing the programming link of the two-dimensional tracking of the robot.
The robot needs the time from the operation origin to the first approach point and back for spraying each beat, generally 4 seconds, so the theoretical running time of the robot in a single beat is T0=T+4。
Total length of spray trajectory:
wherein:
(ii) a Since the curve and the actual tracking trajectory are slightly longer, usually the actual distance sum is multiplied by a (1.2-1.5) factor δ, the calculation formula of the average speed of the robot running during TCP spraying is:
。
teaching point A in programming method1The calculation formula of the corresponding theoretical angle is as follows:
wherein i =1~ n.
A hanging rod in robot spraying is arranged on a conveying chain through a bearing, so that a hanger can rotate freely; the dial and the pointer are arranged in front of and behind the bearing, and the workpiece can be controlled to rotate to a required angle in real time by rotating the hanging rod, so that the workpiece can rotate in situ to make track teaching conveniently.
Starting from the time that a workpiece reaches a spraying area, according to position data fed back by a conveying chain encoder, the robot automatically calculates and operates according to a pre-programmed spraying program track, a spray gun (robot TCP) and the workpiece guarantee relative speed and keep relatively static, and two-dimensional tracking spraying is achieved; the guaranteed relative speed keeps 'relative static', and particularly guarantees that the component speeds of a robot spray gun TCP and a teaching point on a workpiece are equal along the running direction of a conveying chain.
The robot programming method of two-dimensional tracking can be realized through off-line programming software, and the teaching efficiency and accuracy are greatly improved. The following description will be given by taking the software motosi imeg as an example, but the application is not limited to this software.
The spraying robot is called A, and the auxiliary rotary hanger is called B
Step1, preliminary trajectory planning
The actual track is preliminarily divided into a plurality of parts, and each part corresponds to an initial angle. Such as teach point A1-A10Corresponding to 0 deg.. A. the11-A20Corresponding to 30 deg., etc. A rough trajectory is made.
Step2, program track trial run
Opening the Panel interface to check the Play Panel, and opening the Play Panel interface when the point OK is finished. The interface can record the running time of each teaching point and the interval time of the front and back 2 points as E-CGD1.JBI (4) Tp =0.72(0.080) in figure 2,
wherein: E-CGD1. JBI-program name, (4) -fourthTeaching points A4Tp = 0.72-robot runs from start to time teach point A as per E-CGD1.JBI program trajectory4Total time used (0.080) -from teach Point A to the robot3To A4The time taken. The running speed is adjusted until the total running time is consistent with the theoretical time.
Step3, calculating the corresponding angle and pulse of the teaching point by referring to Step1.1 and Step1.2, and setting a calculation formula by Excel to facilitate subsequent automatic calculation.
Step4, clicking Copy, clicking OK after selecting Excel Option, copying the table into the set Excel table in Step2.3, and automatically calculating the angle and pulse value required by the program by Excel.
Step5, opening a note file in a folder corresponding to the robot B in the software, and taking charge of pulse part content calculated by Step2.4excel in a TXT file corresponding to the program B.
Step6, the procedure A is revised again, and the points of the two procedures of the robot A and the robot B are in one-to-one correspondence, and Step2, Step3, Step4 and Step5 are repeated. And obtaining the trajectory of the spraying program until the trajectory of the program A is matched with the program B to rotate without obvious dislocation and the time is close to the theoretical time of rotation.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the structure of the present invention in any way. Any simple modification and equivalent changes and modifications of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (7)
1. A two-dimensional tracking robot spraying programming method comprises the following steps:
(1) calculating the running time of a single beat of the robot: starting from the time that the workpiece reaches the spraying area, the workpiece moves in parallel along with the conveying chain and rotates around the hanging rod, the production beat is obtained by dividing each pitch S of the conveying chain by the speed V of the chain, the workpiece rotates for one circle (360 degrees) along with the hanger at a constant angular speed in situ, the corresponding time is T, and the theoretical operation time T of the robot at a single beat is calculated0；
(2) Planning a spraying track according to the appearance structure of the workpiece to be sprayed, and marking key points on the track: the key points are taken as teaching points, the workpiece is rotated in situ to make track teaching, and the teaching points A required by spraying are marked on the workpiece in sequence1，A2，A3……；
(3) Calculating the average running speed of the TCP during spraying of the robot: firstly, the distance L between every two adjacent points is measured in sequence1，L2，L3… …, calculating the total track length L, and finally obtaining the running average speed v of the robot during TCP spraying;
(4) calculating the theoretical angle α of each teach point on the workpiece on the hanger bariPoint teaching points A1Time is defined as t0=0 (reference zero point), and the theoretical angular attitude α of each teaching point is obtained by multiplying the time difference corresponding to the teaching point by the angular velocity ωi；
(5) Performing preliminary teaching: teaching a first Point A1The angular position of the workpiece being on scale zero (α)i= 0), moving the robot TCP to the point, and recording the pose (position and attitude) of the robot at the point;
teaching a second Point A2The angle of the workpiece is rotated to the scale α2Moving the TCP to the point, and recording the pose of the point;
teaching a third Point A3The angle of the workpiece is rotated to the scale α3Moving the TCP to the point, and recording the pose of the point;
by analogy … …
(6) And (3) correcting the running time: writing a program by using the pose of the TCP in each teaching point obtained in the step (5) and the average speed v calculated in the step (3), synchronously operating the program along with the conveying chain by using a movement command through SYMOVJ and SYMOVL, and recording the actual operating time of all the points; the time is compared with the theoretical time T0Comparing, correcting the operating speed of each teaching point, and repeatedly operating and correcting until the operating time is equal to the theoretical time T0Approaching;
(7) and (3) track correction: actually running a program, and observing whether the track is overlapped with the actually marked teaching point; the actually found misalignment (advance or retard) adjusts the trajectory by correcting the speed;
(8) and (4) checking whether the running time is close to a theoretical value or not, otherwise, repeatedly executing the steps (6) and (7) to ensure that the total time and the track are consistent with the theoretical value, thus obtaining the track of the spraying program and completing the programming link of the two-dimensional tracking of the robot.
2. The two-dimensional tracked robot painting programming method of claim 1, the robot painting each beat requires time, typically 4 seconds, from the work origin to the first approach point and back for the robot, so the theoretical run time of the robot for a single beat is T0=T+4。
3. The two-dimensional tracked robotic painting programming method of claim 1, a total length of the painting trajectory:
wherein:
(ii) a Since the curve and the actual tracking trajectory are slightly longer, usually the actual distance sum is multiplied by a (1.2-1.5) factor δ, the calculation formula of the average speed of the robot running during TCP spraying is:
。
4. the two-dimensional tracked robot spraying programming method according to claim 1, wherein a teaching point A is adopted in the programming method1The calculation formula of the corresponding theoretical angle is as follows:
wherein i =1~ n.
5. The two-dimensional tracking robot spraying programming method according to claim 1, wherein a hanging rod in robot spraying is mounted on a conveying chain through a bearing, so that a hanger can rotate freely; the dial and the pointer are arranged in front of and behind the bearing, and the workpiece can be controlled to rotate to a required angle in real time by rotating the hanging rod, so that the workpiece can rotate in situ to make track teaching conveniently.
6. The two-dimensional tracking robot spraying programming method according to claim 1, starting from the time when the workpiece reaches the spraying area, the robot automatically calculates and runs according to the pre-programmed spraying program track according to the position data fed back by the conveyor chain encoder, the relative speed of the spray gun (robot TCP) and the workpiece is ensured, and the relative rest is kept, so that the two-dimensional tracking spraying is realized; the guaranteed relative speed keeps 'relative static', and particularly guarantees that the component speeds of a robot spray gun TCP and a teaching point on a workpiece are equal along the running direction of a conveying chain.
7. The robot programming method of two-dimensional tracking according to claim 1 can be realized by off-line programming software, greatly improving teaching efficiency and accuracy.
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| CN112588475A (en) * | 2020-12-04 | 2021-04-02 | 东风汽车股份有限公司 | Design method of automatic spraying and profiling process of new vehicle type |
| CN112894822A (en) * | 2021-02-01 | 2021-06-04 | 配天机器人技术有限公司 | Robot motion trajectory planning method, robot and computer storage medium |
| CN113289812A (en) * | 2021-06-08 | 2021-08-24 | 合肥工业大学 | Suspension type spraying robot for spraying complex surface |
| CN114474044A (en) * | 2021-12-20 | 2022-05-13 | 埃夫特智能装备股份有限公司 | Intelligent spraying method for robot of integrally-mounted chair |
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| CN112894822A (en) * | 2021-02-01 | 2021-06-04 | 配天机器人技术有限公司 | Robot motion trajectory planning method, robot and computer storage medium |
| CN112894822B (en) * | 2021-02-01 | 2023-12-15 | 配天机器人技术有限公司 | Robot motion trail planning method, robot and computer storage medium |
| CN113289812A (en) * | 2021-06-08 | 2021-08-24 | 合肥工业大学 | Suspension type spraying robot for spraying complex surface |
| CN114474044A (en) * | 2021-12-20 | 2022-05-13 | 埃夫特智能装备股份有限公司 | Intelligent spraying method for robot of integrally-mounted chair |
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