CN111191327A - Parametric automatic modeling system of five-joint welding robot - Google Patents
Parametric automatic modeling system of five-joint welding robot Download PDFInfo
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- CN111191327A CN111191327A CN201911261609.3A CN201911261609A CN111191327A CN 111191327 A CN111191327 A CN 111191327A CN 201911261609 A CN201911261609 A CN 201911261609A CN 111191327 A CN111191327 A CN 111191327A
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Abstract
The invention discloses a five-joint welding robot parametric automatic modeling system, which comprises an interface menu development module, a robot basic model library, a parameter input model and a regeneration model, wherein the parameter input model comprises dialog box design and parameter setting, the parameter setting comprises parameter names, types and initial values, and the robot basic model library comprises joint parametric modeling and assembly component parametric modeling; the joint parametric modeling comprises three-dimensional models of all joints, joint parameter setting and relation setting, wherein each three-dimensional model of each joint comprises a base, a connecting rod 1, a connecting rod 2, a connecting rod 3, a connecting rod 4 and a connecting rod 5, and the assembly component parametric modeling comprises an assembly component three-dimensional model and assembly component parameter setting; the interface menu comprises a system main menu, each joint menu and an assembly component menu, the dialog boxes comprise each joint dialog box and an assembly component dialog box, and the parameterized automatic modeling system can bring practical economic benefits to enterprises.
Description
Technical Field
The invention relates to the field of computer three-dimensional modeling, in particular to a five-joint welding robot parametric automatic modeling system.
Background
In recent years, in order to meet the diversified demands of the market and the rapid research and development demands of production enterprises, on the premise that computer three-dimensional modeling software is rapidly developed, related research on a robot digitalized modeling system is gradually developed. A Pro/E-based parameterization technology and a secondary development technology of Wutao develop a CAD system for medical robot structural design, and the CAD system is combined with ADAMS to perform kinematic simulation analysis on the robot (Wutao. medical robot structural design and CAD system development [ D ]. Nanjing: Nanjing university of SoundRad mechanics and theoretical specialty, 2005.06); wangchuncheng et al developed a reconfigurable parallel robot modular CAD system in combination with VB and Solidworks (52 Wangchuncheng, Zhao Yanzhi, Zhao Tie stone. reconfigurable modular parallel robot CAD system based on Solidworks was developed [ J ] mechanical design and manufacture, 2008.05,5: 74-76).
The academic research on the robot numeralization modeling system is relatively less in foreign countries, and mainly for a plurality of robot production enterprises, the robot production enterprises develop various robot design systems according to the development of the robot technology.
Since Creo is an upgraded version of Pro/Engineer, the application time is short, so that the application system development is performed rarely by using a Creo secondary development technology, and the system development for industrial robots is more few.
In summary, the research on the relevant systems of the robot in China can be promoted to a certain extent by applying the Creo secondary development technology to carry out the parameterized automatic modeling and the research and development of the kinematics analysis system on the industrial robot body, so that the serialized production design of the robot is more automatic and intelligent.
Disclosure of Invention
In view of the above, the present invention provides a parameterized automatic modeling system for a five-joint welding robot.
The invention provides a five-joint welding robot parametric automatic modeling system which comprises an interface menu development module, a robot basic model library, a parameter input model and a regeneration model, wherein the parameter input model comprises dialog box design and parameter setting, the parameter setting comprises parameter names, types and initial values, and the robot basic model library comprises joint parametric modeling and assembly component parametric modeling; the joint parametric modeling comprises three-dimensional models of all joints, joint parameter setting and relation setting, and a parent-child relation is introduced between the parameters and the joint models through the relation setting so as to correlate the parameters with the sizes of the models; the three-dimensional models of the joints comprise a base, a connecting rod 1, a connecting rod 2, a connecting rod 3, a connecting rod 4 and a connecting rod 5, and the parameterized modeling of the assembly components comprises three-dimensional models of the assembly components and parameter setting of the assembly components; the interface menu comprises a system main menu, each joint menu and an assembly component menu, the dialog boxes comprise each joint dialog box and an assembly component dialog box, and the robot basic model library and the assembly component parameterized model are parameterized models established in Creo 3.0; the parameter input model is realized in a UI dialog interface displayed by calling a function through C + + in VS 2012, thereby realizing the regeneration of the three-dimensional model.
Further, the five-joint welding robot parameterized automatic modeling system realizes functions of joint parameterized automatic modeling and assembly component parameterized automatic modeling.
Further, the interface menu development step comprises menu design, resource file writing, program code writing, registration compiling and Creo registration running.
Furthermore, each joint dialog box comprises a reference dimension picture, a parameter setting button and a model regeneration and exit button of each joint, and the parameterized automatic three-dimensional modeling function of each joint of the welding robot is realized through the dialog box.
Further, the assembly component dialog box comprises a modification button for modifying the size of each joint and a PushButton menu button for opening the dialog box of each joint, and the three-dimensional model of each joint is regenerated according to the modified size of each joint.
Further, the regeneration model comprises a parametric regeneration of the joint model and a parametric regeneration of the fitting component model.
Furthermore, the method for parametric regeneration of the joint model comprises the steps of firstly obtaining design parameters of the original joint three-dimensional model, and deriving a new joint three-dimensional model by modifying the design parameters and updating the design parameters into the original three-dimensional model.
Further, the parameterized regeneration of the assembly component model is to regenerate and obtain the corresponding assembly component model by changing the parameter sizes of the joints in the component and setting the relevant parameters to be associated with the main parameters in the relationship setting of the connecting rod model under the condition that the constraint relationship among the joints is not changed.
Further, the assembly component parametric modeling is to store various parameters used in the design process in a database, so that the system and the designer can conveniently call the parameters, and the assembly mode comprises top-down and bottom-up.
Furthermore, each joint of the five-joint welding robot comprises a sliding pair and four rotating pairs, the sliding pair is connected in an assembly constraint mode through a sliding block, and the rotating pair is connected in an assembly constraint mode through a pin.
The technical scheme provided by the invention has the beneficial effects that: (1) through the design of menus and UI dialogs in the system, the parameterized modeling process of the joint model and the assembly component model is simpler, more convenient and more efficient; (2) the parameterized automatic modeling system can realize the rapid modeling function of each connecting rod and assembly component of the robot, can help enterprises to save most time of three-dimensional modeling in the process of serial research, development and production, effectively improves the design and production efficiency of the robot, and brings practical economic benefits to the enterprises; (3) the method plays a role in helping the development of a computer aided design system of an industrial robot in the future and has a certain reference value.
Drawings
FIG. 1 is a model composition diagram of a parameterized automatic modeling system of a five-joint welding robot according to the invention;
FIG. 2 is a three-dimensional model diagram of the base and connecting rods of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 3 is a diagram of the parameter settings of the joints of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 4 is a diagram of the base relationship setting of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 5 is a model diagram of an assembly component of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 6 is a programming diagram of the assembly components of the parameterized automatic modeling system of the five-joint welding robot of the present invention;
FIG. 7 is a flowchart of the menu design development of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 8 is a menu interface diagram of the parameterized automatic modeling system of the five-joint welding robot parameterized automatic modeling system of the invention;
FIG. 9 is a flowchart of the design and development of the dialog box of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 10 is a dialogue block diagram of each link of the parameterized automatic modeling system of the five-joint welding robot of the invention;
FIG. 11 is a block diagram of the assembly components of the parameterized automatic modeling system of the five-joint welding robot of the present invention;
FIG. 12 is a diagram of a link model regeneration process of the parameterized automatic modeling system of the five-joint welding robot according to the invention;
FIG. 13 is a diagram of an implementation of the parametric automatic modeling of the base of the parametric automatic modeling system of the five-joint welding robot of the invention;
FIG. 14 is a block diagram of the assembly components of the parameterized automatic modeling system for a five-joint welding robot of the present invention;
FIG. 15 is an implementation diagram of the parameterized modeling of the assembly component model of the parameterized automatic modeling system of the five-joint welding robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a parameterized automatic modeling system for a five-joint welding robot.
The invention provides a five-joint welding robot parameterized automatic modeling system which realizes the functions of parameterized automatic modeling of joints and parameterized automatic modeling of assembly components and comprises an interface menu development, a robot basic model library, a parameter input model and a regeneration model, wherein the parameter input model comprises dialog box design and parameter setting.
The parameter setting comprises parameter names, types and initial values, and the robot basic model library comprises joint parametric modeling and assembly component parametric modeling; the robot basic model library and the assembly component parametric modeling are parametric models which are established in Creo3.0; the parameter input model is realized in a UI dialog interface displayed by calling a function through C + + in VS 2012, thereby realizing the regeneration of the three-dimensional model.
The joint parametric modeling comprises three-dimensional models of joints, joint parameter setting and relationship setting, each three-dimensional model of joints comprises a base, a connecting rod 1, a connecting rod 2, a connecting rod 3, a connecting rod 4 and a connecting rod 5, as shown in fig. 2, wherein fig. 2(a) is the base, fig. 2(b) is the connecting rod 1, fig. 2(c) is the connecting rod 2, fig. 2(d) is the connecting rod 3, fig. 2(e) is the connecting rod 4, and fig. 2(f) is the connecting rod 5. Parameters are important elements in parametric modeling to provide additional information, which is stored with the model to indicate the model properties. Meanwhile, parameters need to be matched with relationship setting to create a parameterized model, and the shape and the size of the three-dimensional model of each joint can be changed by changing parameter values. When parameter setting is performed, contents to be added including parameter names, types, and initial values are edited in the parameter window, as shown in fig. 3. Since the robot requires more parameters for the six joint models, the parameter identification of each joint is set to be distinguished from 0 to 5 in the assembly order.
The relation is another important element of parametric design, a 'father-son' relation is introduced between the parameter and the joint model through relation setting, so that the parameter is related to the model size, and due to the specific relevance between the sizes of all joint parts of the robot, the shape and the size of the whole joint can be changed integrally and reasonably by editing a mathematical relational expression of the size and the parameter after only part size values are changed, so that the model conforming to the structure is regenerated. The parameterized modeling steps for the other links of the welding robot are the same as for the base, as shown in fig. 4, which sets the content for the relationships of the base of the robot.
The parameterized assembly of Creo is to store various parameters used in the design process in a database, so that the system and a designer can conveniently call the parameters, wherein the parameterized assembly of Creo comprises two assembly modes of top-down assembly and bottom-up assembly.
In order to facilitate a simple robot movement analysis in Creo, an assembly constraint with a connection interface is selected when assembling the welding robot. Because each joint of the robot comprises a sliding pair and four revolute pairs, the assembly constraint mode of the sliding pair is connected by adopting a sliding block, the revolute pairs are connected by adopting a pin, and the parameterized regeneration of the assembly body of the welding robot can be realized only by establishing an original assembly model and determining the constraint mode of each connecting rod and joint. The assembled welding robot assembly is shown in fig. 5.
When parameter setting of the assembly component is carried out, in order to facilitate writing of a program later, the parameter names of the assembly component and the parameter names of the joint parts are set to be the same. The constraint relation between the component parameters and the component model sizes is finished through program setting. All declared parameters are INPUT between INPUT and END INPUT of the component program, and in order to establish a connection between the component parameters and the PART parameters, the INPUT is also required before each ADD PART of the component program: END EXECUTE "as shown in fig. 6.
The interface menu comprises a system main menu, each joint menu and an assembly component menu, and the parameterized automatic modeling system requires that a target menu capable of realizing the system function is added in a Creo system interface. The system is composed of a system main menu, each joint menu and an assembly component menu button, and a corresponding dialog box can be opened when each menu button is selected by clicking, so that parameter setting and model regeneration of each joint and an assembly body of the welding robot are completed. The design and development flow of the system menu is shown in fig. 7, the interface menu development steps include menu design, resource file compiling, program code compiling, registration compiling and Creo registration running, and the menu function required by the system can be realized by completing the operation according to the corresponding steps.
According to a menu design development process, firstly compiling a menu information resource file and storing the menu information resource file in a text folder; the menu of the automatic modeling system for robot parameter counting designed by the invention can be registered and loaded in the Creo system interface through the 'auxiliary application program' tool of Creo, as shown in FIG. 8.
The dialog box in the parameterized automatic modeling system requires the operation functions of modifying main parameters of each connecting rod and the robot assembly body and regenerating the model, so the dialog box needs to have the contents of titles, reference pictures, written descriptions, input boxes, buttons and the like, and the specific UI dialog box design and development process is shown in FIG. 9.
The dialog boxes include a dialog box for each joint, which contains a reference dimension picture, a parameter setting and model regeneration and exit button for each joint, and an assembly component dialog box, through which a parameterized automatic three-dimensional modeling function for each joint of the welding robot can be realized, as shown in fig. 10, fig. 10(a) is a base dialog box, fig. 10(b) is a link 1 dialog box, fig. 10(c) is a link 2 dialog box, fig. 10(d) is a link 3 dialog box, fig. 10(e) is a link 4 dialog box, and fig. 10(f) is a link 5 dialog box. The assembly component dialog box can realize the modification of the important size of each joint part in the robot assembly body, and can regenerate the three-dimensional model of the assembly body according to the modified size. It is therefore necessary to add PushButton menu buttons within the dialog box that can open the dialog box for each joint part, as shown in fig. 11 (a). Clicking the corresponding button of each joint part on the right side can open each joint dialog box in the robot assembly body model. For example, clicking the base button opens a base main parameter setting dialog box as shown in fig. 11 (b).
A model regeneration module: the parametric regeneration of the model is based on Creo parametric design, and on the premise of keeping the form and position constraints of each joint model, the geometric information of the three-dimensional model is obtained, parameters can be modified, and a new model is regenerated.
The process of parametric regeneration of the link model is shown in fig. 12, and the design parameters of the original three-dimensional model are obtained, and the original data are modified and updated into the original model, so that a new three-dimensional model is derived.
The parameterized reconstruction of the assembly component model is to reconstruct and obtain a corresponding assembly component model by changing the parameter sizes of the components in the assembly under the condition that the constraint relation among the components is not changed, and the reconstruction process of the assembly component model is similar to the reconstruction process of the joint model. Through program codes, each connecting rod model in the assembly model can be called, and the model regeneration function of the whole assembly component can be realized after the main parameter size of each connecting rod is modified.
The parameterized automatic modeling process of the connecting rod model is described by taking a base as an example. Click the [ base ] button in the lower menu of [ joint model ] in fig. 13(a), and open its design dialog. Inputting design modification parameters into the dialog box, as shown in fig. 13(a), clicking the [ regenerate ] button to obtain a new three-dimensional model of the link part as shown in fig. 13(b), and automatically closing the parameter setting dialog box.
Opening a dialog box of 'welding robot assembly component', clicking the corresponding button of each joint part on the right side, and then opening a dialog box for setting parameters of each connecting rod in the assembly component model, as shown in fig. 14; when the [ base ] button is clicked, a base main parameter setting dialog box can be opened, and after the input main parameters are modified in the "base" dialog box, the [ regeneration ] button is clicked, so that a new assembly component model shown in fig. 15 is generated.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The five-joint welding robot parameterization automatic modeling system is characterized by comprising an interface menu development module, a robot basic model library, a parameter input model and a regeneration model, wherein the parameter input model comprises dialog box design and parameter setting, the parameter setting comprises parameter names, types and initial values, and the robot basic model library comprises joint parameterization modeling and assembly parameterization modeling; the joint parametric modeling comprises three-dimensional models of all joints, joint parameter setting and relation setting, and a parent-child relation is introduced between the parameters and the joint models through the relation setting so as to correlate the parameters with the sizes of the models; the three-dimensional models of the joints comprise a base, a connecting rod 1, a connecting rod 2, a connecting rod 3, a connecting rod 4 and a connecting rod 5, and the parameterized modeling of the assembly components comprises three-dimensional models of the assembly components and parameter setting of the assembly components; the interface menu comprises a system main menu, each joint menu and an assembly component menu, the dialog boxes comprise each joint dialog box and an assembly component dialog box, and the robot basic model library and the assembly component parameterized model are parameterized models established in Creo 3.0; the parameter input model is realized in a UI dialog interface displayed by calling a function through C + + in VS 2012, thereby realizing the regeneration of the three-dimensional model.
2. The parametric automated modeling system for five-joint welding robot of claim 1, wherein the parametric automated modeling system for five-joint welding robot implements functions including parametric automated modeling of joints and parametric automated modeling of assembly components.
3. The parameterized and automated modeling system for five-joint welding robots according to claim 1, wherein the interface menu development steps include menu design, resource file writing, program code writing, registration compilation, and Creo registration runs.
4. The parameterized automatic modeling system of the five-joint welding robot according to claim 1, wherein each joint dialog box comprises a reference dimension picture, a parameter setting and model regeneration and exit button of each joint, and the parameterized automatic three-dimensional modeling function of each joint of the welding robot is realized through the dialog box.
5. The parameterized automated modeling system for a penta-articular welding robot of claim 1, wherein the setup component dialog boxes include a modify button for each joint dimension and a PushButton menu button for opening each joint dialog box to enable regeneration of the three-dimensional model of each joint based on modifying each joint dimension.
6. The parametric automatic modeling system of a penta-articular welding robot of claim 1, wherein the regeneration model comprises a parametric regeneration of a joint model and a parametric regeneration of an assembly component model.
7. The parameterized automatic modeling system for the five-joint welding robot according to claim 6, wherein the parameterized regeneration method for the joint model is to obtain design parameters of an original three-dimensional joint model, modify the design parameters and update the design parameters into the original three-dimensional model, so as to derive a new three-dimensional joint model.
8. The parameterized automatic modeling system for the penta-articular welding robot according to claim 6, wherein the parameterized regeneration of the fitting component model is to regenerate the corresponding fitting component model by changing the parameter sizes of the joints in the component under the condition that the constraint relationship among the joints is not changed, and the relevant parameters are set to be associated with the main parameters in the relationship setting of the connecting rod model.
9. The parametric automatic modeling system for five-joint welding robot as claimed in claim 1, wherein the parametric modeling of the assembly components is to store various parameters used in the design process in a database for easy recall by the system and the designer, and the assembly modes include top-down and bottom-up.
10. The parameterized and automatic modeling system for the five-joint welding robot according to claim 1, wherein each joint of the five-joint welding robot comprises a sliding pair and four rotating pairs, the sliding pair is assembled in a constrained manner by adopting a sliding block connection, and the rotating pair is assembled in a constrained manner by adopting a pin connection.
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Application publication date: 20200522 |