CN111702380A - A welding robot welding process control method - Google Patents

A welding robot welding process control method Download PDF

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CN111702380A
CN111702380A CN202010421533.2A CN202010421533A CN111702380A CN 111702380 A CN111702380 A CN 111702380A CN 202010421533 A CN202010421533 A CN 202010421533A CN 111702380 A CN111702380 A CN 111702380A
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welding
curve
point
robot
coordinates
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李良腾
章青
孟翔飞
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Tianjin University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本发明公开了一种焊接机器人焊接过程控制方法,本方法通过SolidWorks三维软件二次开发技术,遍历出工件上所需焊接的所有焊缝,根据遍历出的焊缝数据确立机器人焊接焊缝上各点时末端的位置与姿态后并进行机器人逆解运算得到机器人焊接焊缝上各点时的各关节转角数据,将这些关节转角数据作为机器人控制指令的参数来生成控制机器人工作的焊接程序。本方法进行焊接机器人离线编程时,机器人焊接具有多条焊缝的工件,焊接程序全部自动生成,无需对各焊缝逐一操作,高效便捷。The invention discloses a welding process control method of a welding robot. The method uses the SolidWorks three-dimensional software secondary development technology to traverse all the welding seams to be welded on the workpiece, and establishes each welding seam on the robot welding seam according to the traversed welding seam data. After the position and posture of the end of the point, the inverse solution operation of the robot is performed to obtain the joint angle data of each point on the robot welding seam, and these joint angle data are used as the parameters of the robot control command to generate the welding program to control the work of the robot. When the method is used for offline programming of the welding robot, the robot welds a workpiece with multiple welding seams, and all the welding programs are automatically generated, and there is no need to operate each welding seam one by one, which is efficient and convenient.

Description

一种焊接机器人焊接过程控制方法A welding robot welding process control method

技术领域technical field

本发明涉及焊接机器人离线编程方法,尤其涉及一种焊接机器人焊接过程控制方法。The invention relates to an offline programming method for a welding robot, in particular to a welding process control method for a welding robot.

背景技术Background technique

焊接机器人的离线编程的办法,是使机器人焊接程序的编制、焊缝轨迹坐标位置的获取、以及程序的调试均在一台计算机上独立完成,不需要机器人本身的参与。离线编程软件以文本方式为主,编程员需要熟悉机器人的所有指令系统和语法,还要知道如何确定焊缝轨迹的空间位置坐标,因此,编程工作并不轻松省时。随着计算机三维图形技术的发展,如今的机器人离线编程系统多数可在三维图形环境下运行,获取焊缝轨迹的坐标位置通常可以采用“虚拟示教”的办法,用鼠标轻松点击三维虚拟环境中工件的焊接部位即可获得该点的空间坐标,然后自动生成机器人程序并下载到机器人控制系统。从而大大提高了机器人的编程效率。然而机器人在焊接时,对于一个复杂工件的焊接,工件上不止一个焊缝,使用传统离线编程方法需要手动点击每一条焊缝,费时费力。The method of offline programming of welding robot is to make the preparation of robot welding program, the acquisition of the coordinate position of the welding seam track, and the debugging of the program to be completed independently on a computer, without the participation of the robot itself. The offline programming software is mainly in text mode. The programmer needs to be familiar with all the command system and syntax of the robot, and also know how to determine the spatial position coordinates of the welding seam trajectory. Therefore, the programming work is not easy and time-saving. With the development of computer 3D graphics technology, most of today's robot offline programming systems can run in a 3D graphics environment. To obtain the coordinate position of the weld track, the "virtual teaching" method can usually be used, and the mouse can easily click in the 3D virtual environment. The spatial coordinates of the point can be obtained from the welding part of the workpiece, and then the robot program is automatically generated and downloaded to the robot control system. This greatly improves the programming efficiency of the robot. However, when the robot is welding, for the welding of a complex workpiece, there is more than one weld on the workpiece. Using the traditional offline programming method requires manual clicking on each weld, which is time-consuming and labor-intensive.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于克服已有技术的缺点,提供一种高效可靠、结果可视的焊接机器人焊接过程控制方法。The purpose of the present invention is to overcome the shortcomings of the prior art, and to provide a welding process control method for a welding robot with high efficiency, reliability and visual results.

为了达到上述目的,本发明采用的技术方案是:In order to achieve the above object, the technical scheme adopted in the present invention is:

一种焊接机器人焊接过程控制方法,包括以下步骤:A welding process control method for a welding robot, comprising the following steps:

步骤一、使用SolidWorks三维软件打开需要焊接的工件的三维模型并在工件的三维模型上添加需要焊接的焊缝,在SolidWorks三维软件里新建装配体模型并把焊接机器人和需要焊接的工件的三维模型导入该装配体模型中,根据实际使用情况在装配体模型中调整好机器人相对于工件的位置;Step 1. Use SolidWorks 3D software to open the 3D model of the workpiece to be welded and add the weld to be welded on the 3D model of the workpiece, create a new assembly model in the SolidWorks 3D software and put the welding robot and the 3D model of the workpiece to be welded Import the assembly model, and adjust the position of the robot relative to the workpiece in the assembly model according to the actual usage;

步骤二、使用C#编程语言对SolidWorks进行二次开发,具体过程如下:Step 2. Use the C# programming language to carry out secondary development of SolidWorks. The specific process is as follows:

遍历装配体模型里工件上的所有焊缝,得到该焊缝的焊缝曲线;读取工件上所有焊缝的数据,每条焊缝的数据包括焊缝曲线的起点坐标和终点坐标、位于焊缝曲线的起点和终点之间的任意一点的坐标,焊缝曲线长度S、焊缝的类型以及相交形成焊缝曲线的两个相交面的单位法向量;Traverse all welds on the workpiece in the assembly model to obtain the weld curve of the weld; read the data of all welds on the workpiece, the data of each weld includes the start and end coordinates of the weld curve, the location of the weld The coordinates of any point between the start and end points of the seam curve, the length of the seam curve S, the type of the seam, and the unit normal vector of the two intersecting surfaces that intersect to form the seam curve;

步骤三、计算焊缝曲线上所有离散点的三维坐标,具体步骤为:Step 3: Calculate the three-dimensional coordinates of all discrete points on the weld curve. The specific steps are:

第一步,将焊缝曲线离散成多个点,并使在焊缝曲线上每相邻两个离散点的之间的焊缝曲线长度都为L,离散点个数N=焊缝曲线长度S/L;The first step is to discretize the weld curve into multiple points, and make the length of the weld curve between every two adjacent discrete points on the weld curve to be L, and the number of discrete points N = the length of the weld curve S/L;

第二步,若焊缝曲线的类型为直线,使用焊缝曲线的起点坐标和终点坐标列出该焊缝曲线的空间参数方程为(X,Y,Z)=(x(t),y(t),z(t)),其中0≤t≤1,(X,Y,Z)表示曲线上任意一点的坐标,t为该参数方程的自变量,x(t),y(t),z(t)分别是三个以t为自变量的坐标函数,X=x(t),Y=y(t),Z=z(t),根据t计算出该直线上点的坐标(X,Y,Z);In the second step, if the type of the weld curve is straight line, use the start and end coordinates of the weld curve to list the spatial parameter equation of the weld curve as (X,Y,Z)=(x(t),y( t), z(t)), where 0≤t≤1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parametric equation, x(t), y(t), z(t) are three coordinate functions with t as the independent variable, X=x(t), Y=y(t), Z=z(t), and the coordinates of the point on the line are calculated according to t (X ,Y,Z);

如果焊缝曲线的类型为圆弧,使用焊缝曲线的起点坐标、终点坐标、位于焊缝曲线起点和终点之间的任意一点的坐标列出该焊缝曲线的空间参数方程为(X,Y,Z)=(x(t),y(t),z(t)),其中0≤t≤1,(X,Y,Z)表示曲线上任意一点的坐标,t为该参数方程的自变量,x(t),y(t),z(t)分别是三个以t为自变量的坐标函数,X=x(t),Y=y(t),Z=z(t),根据t计算出该圆弧线上点的坐标(X,Y,Z),同时计算出该圆弧的圆心坐标为(Xc,Yc,Zc);If the type of the weld curve is arc, use the start point coordinates, end point coordinates, and coordinates of any point between the start point and end point of the weld curve to list the spatial parameter equation of the weld curve as (X, Y , Z)=(x(t), y(t), z(t)), where 0≤t≤1, (X, Y, Z) represents the coordinates of any point on the curve, t is the self-definition of the parametric equation Variables, x(t), y(t), z(t) are three coordinate functions with t as the independent variable, X=x(t), Y=y(t), Z=z(t), Calculate the coordinates (X, Y, Z) of the point on the arc according to t, and calculate the coordinates of the center of the arc as (Xc, Yc, Zc);

第三步,求第n个离散点的三维坐标时使该焊缝曲线的空间参数方程的自变量t=n/N,再把t代入该焊缝曲线的空间参数方程计算出该离散点的三维坐标(Xn,Yn,Zn),并计算所有离散点的三维坐标,1≤n≤N;The third step is to make the independent variable t=n/N of the spatial parameter equation of the weld curve when finding the three-dimensional coordinates of the nth discrete point, and then substitute t into the spatial parameter equation of the weld curve to calculate the discrete point’s Three-dimensional coordinates (Xn, Yn, Zn), and calculate the three-dimensional coordinates of all discrete points, 1≤n≤N;

步骤四、如果焊缝曲线的类型为直线,直线焊缝是由两个平面相交而成,两个相交面记为A面和B面,则直线焊缝上的每个离散点焊接时焊枪的轴向方向为A面和B面的单位法向量之和;Step 4. If the type of the weld curve is straight line, the straight line weld is formed by the intersection of two planes, and the two intersecting surfaces are recorded as A and B, then the welding torch of each discrete point on the straight weld is welded. The axial direction is the sum of the unit normal vectors of the A and B surfaces;

如果焊缝曲线的类型为圆弧,圆弧焊缝是由平面与圆柱面相交而成,圆弧焊缝的焊缝曲线是在该圆柱面上,圆柱面上每个离散点的法向量等于该离散点的坐标(Xn,Yn,Zn)减去该圆弧的圆心坐标(Xc,Yc,Zc),再将圆柱面在该离散点的法向量进行单位化得到圆柱面在该离散点的单位法向量,则圆弧焊缝上的每个离散点焊接时焊枪的轴向方向为相交的平面的单位法向量与圆柱面在该点的单位法向量之和;If the type of the weld curve is arc, the arc weld is formed by the intersection of the plane and the cylindrical surface, the weld curve of the arc weld is on the cylindrical surface, and the normal vector of each discrete point on the cylindrical surface is equal to The coordinates of the discrete point (Xn, Yn, Zn) are subtracted from the coordinates of the center of the arc (Xc, Yc, Zc), and then the normal vector of the cylindrical surface at the discrete point is normalized to obtain the cylindrical surface at the discrete point. unit normal vector, the axial direction of the welding torch during welding of each discrete point on the arc weld is the sum of the unit normal vector of the intersecting plane and the unit normal vector of the cylindrical surface at this point;

步骤五、采用步骤四方法计算出焊缝曲线上所有离散点焊接时焊枪的轴向方向,并将这个轴向方向作为焊接时焊枪的姿态;Step 5. Use the method of step 4 to calculate the axial direction of the welding torch during welding of all discrete points on the weld curve, and use this axial direction as the attitude of the welding torch during welding;

步骤六、在MATLAB软件中的机器人工具箱模块里输入焊缝上离散点的三维坐标和此时焊枪的姿态进行机器人的逆解运算,计算出机器人焊接该点时各个关节的转角,再使用此方法计算出该焊缝上剩下的离散点焊接时的机器人各个关节的转角,最后记录该焊缝每个点焊接时机器人各关节的转角数据;Step 6. Enter the three-dimensional coordinates of the discrete points on the welding seam and the attitude of the welding torch in the robot toolbox module in the MATLAB software to perform the inverse solution operation of the robot, and calculate the rotation angle of each joint when the robot welds the point, and then use this The method calculates the rotation angle of each joint of the robot during the welding of the remaining discrete points on the weld, and finally records the rotation angle data of each joint of the robot when each point of the weld is welded;

步骤七、重复步骤三-六进行下一条焊缝曲线的运算,直到计算出每条焊缝曲线的所有离散点进行焊接时机器人各个关节的转角数据;Step 7. Repeat steps 3-6 to perform the operation of the next weld curve, until all discrete points of each weld curve are calculated and the data of the rotation angles of each joint of the robot when welding is performed;

步骤八、将步骤七得到的机器人焊接某个离散点时的机器人各个关节的转角数据作为关节运动指令的参数生成一个控制机器人运动到该点的关节运动指令,按照这些离散点计算出来的顺序生成所有离散点的关节运动指令,全部关节运动指令生成焊接机器人焊接各焊缝时的机器人程序。Step 8. Use the rotation angle data of each joint of the robot when the robot welds a discrete point obtained in step 7 as the parameter of the joint motion instruction to generate a joint motion instruction that controls the robot to move to this point, and generate according to the order calculated by these discrete points. The joint motion instructions of all discrete points, and all the joint motion instructions generate the robot program when the welding robot welds each weld.

与现有技术相比,本发明具有以下有益效果:Compared with the prior art, the present invention has the following beneficial effects:

本发明方法通过三维软件二次开发技术,可以遍历工件上所需焊接的所有焊缝并自动生成每条焊缝的焊接程序,用于解决焊接机器人中所涉及的离线编程问题,是一种操作简单、高效可靠、结果可视的方法。The method of the invention can traverse all the welding seams required to be welded on the workpiece and automatically generate the welding program of each welding seam through the three-dimensional software secondary development technology, which is used to solve the offline programming problem involved in the welding robot. Simple, efficient and reliable method with visual results.

具体实施方式Detailed ways

下面结合具体实施例对本发明进行详细描述。The present invention will be described in detail below with reference to specific embodiments.

本发明的一种焊接机器人焊接过程控制方法,包括以下步骤:A welding process control method for a welding robot of the present invention includes the following steps:

步骤一、使用SolidWorks三维软件打开需要焊接的工件的三维模型并在工件的三维模型上添加需要焊接的焊缝。在SolidWorks三维软件里新建装配体模型并把焊接机器人和需要焊接的工件的三维模型导入该装配体模型中,根据实际使用情况在装配体模型中调整好机器人相对于工件的位置。Step 1. Use SolidWorks 3D software to open the 3D model of the workpiece to be welded and add the weld to be welded on the 3D model of the workpiece. Create a new assembly model in SolidWorks 3D software and import the 3D model of the welding robot and the workpiece to be welded into the assembly model, and adjust the position of the robot relative to the workpiece in the assembly model according to the actual usage.

步骤二、使用C#编程语言对SolidWorks进行二次开发,具体过程如下:Step 2. Use the C# programming language to carry out secondary development of SolidWorks. The specific process is as follows:

遍历装配体模型里工件上的所有焊缝,得到该焊缝的焊缝曲线。读取工件上所有焊缝的数据,每条焊缝的数据包括焊缝曲线的起点坐标和终点坐标、位于焊缝曲线的起点和终点之间的任意一点的坐标,焊缝曲线长度S、焊缝的类型以及相交形成焊缝曲线的两个相交面的单位法向量。Traverse all welds on the workpiece in the assembly model to obtain the weld curve of the weld. Read the data of all welds on the workpiece. The data of each weld includes the start and end coordinates of the weld curve, the coordinates of any point between the start and end points of the weld curve, the length of the weld curve S, the The type of seam and the unit normal vector of the two intersecting faces that intersect to form the weld curve.

步骤三、计算焊缝曲线上所有离散点的三维坐标,具体步骤为:Step 3: Calculate the three-dimensional coordinates of all discrete points on the weld curve. The specific steps are:

第一步,将焊缝曲线离散成多个点,并使在焊缝曲线上每相邻两个离散点的之间的焊缝曲线长度都为L,离散点个数N=焊缝曲线长度S/L。The first step is to discretize the weld curve into multiple points, and make the length of the weld curve between every two adjacent discrete points on the weld curve to be L, and the number of discrete points N = the length of the weld curve S/L.

第二步,焊缝曲线分为两种,一种是直线,一种是圆弧,两点确立一条直线,三个不共线的点确立一个圆。In the second step, the weld curve is divided into two types, one is a straight line, the other is an arc, two points establish a straight line, and three non-collinear points establish a circle.

若焊缝曲线的类型为直线,使用焊缝曲线的起点坐标和终点坐标列出该焊缝曲线的空间参数方程为(X,Y,Z)=(x(t),y(t),z(t)),其中0≤t≤1,(X,Y,Z)表示曲线上任意一点的坐标,t为该参数方程的自变量,x(t),y(t),z(t)分别是三个以t为自变量的坐标函数,X=x(t),Y=y(t),Z=z(t),根据t便可算出该直线上点的坐标(X,Y,Z);If the type of weld curve is straight line, use the start and end coordinates of the weld curve to list the spatial parameter equation of the weld curve as (X,Y,Z)=(x(t),y(t),z (t)), where 0≤t≤1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parametric equation, x(t), y(t), z(t) They are three coordinate functions with t as the independent variable, X=x(t), Y=y(t), Z=z(t). According to t, the coordinates of the point on the line can be calculated (X, Y, Z);

如果焊缝曲线的类型为圆弧,使用焊缝曲线的起点坐标、终点坐标、位于焊缝曲线起点和终点之间的任意一点的坐标列出该焊缝曲线的空间参数方程为(X,Y,Z)=(x(t),y(t),z(t)),其中0≤t≤1,(X,Y,Z)表示曲线上任意一点的坐标,t为该参数方程的自变量,x(t),y(t),z(t)分别是三个以t为自变量的坐标函数,X=x(t),Y=y(t),Z=z(t),根据t便可算出该圆弧线上点的坐标(X,Y,Z)。同时计算出该圆弧的圆心坐标为(Xc,Yc,Zc)。If the type of the weld curve is arc, use the start point coordinates, end point coordinates, and coordinates of any point between the start point and end point of the weld curve to list the spatial parameter equation of the weld curve as (X, Y , Z)=(x(t), y(t), z(t)), where 0≤t≤1, (X,Y,Z) represents the coordinates of any point on the curve, t is the self-definition of the parametric equation Variables, x(t), y(t), z(t) are three coordinate functions with t as the independent variable, X=x(t), Y=y(t), Z=z(t), According to t, the coordinates (X, Y, Z) of the point on the arc can be calculated. At the same time, the center coordinates of the arc are calculated as (X c , Yc, Zc).

第三步,求第n(1≤n≤N)个离散点的三维坐标时使该焊缝曲线的空间参数方程的自变量t=n/N,再把t代入该焊缝曲线的空间参数方程计算出该离散点的三维坐标(Xn,Yn,Zn),并计算所有离散点的三维坐标。The third step is to make the independent variable t=n/N of the spatial parameter equation of the weld curve when finding the three-dimensional coordinates of the nth (1≤n≤N) discrete point, and then substitute t into the spatial parameter of the weld curve The equation calculates the three-dimensional coordinates (Xn, Yn, Zn) of the discrete point, and calculates the three-dimensional coordinates of all discrete points.

步骤四、将相交形成该焊缝曲线的两个相交面记为A面和B面,焊枪在焊接该焊缝上某个离散点时,在A面上过该离散点做第一条直线并使这条直线垂直于B面,并在B面上过该离散点做第二条直线并使这条直线垂直于A面,这两条直线相交于该离散点,焊枪在焊接该离散点时位于第一条直线和第二条直线的交角的角平分线上可以保证焊枪不与工件发生干涉,所以焊枪的轴向方向应该与上述角平分线的方向相同,用向量的方式来表示方向,角平分线的向量等于上述两条直线的单位向量之和,在A面上并垂直于B面的直线就是B面在该离散点的法向量,在B面上并垂直于A面的直线就是A面在该离散点的的法向量,上述角平分线的向量为相交形成该焊缝的两个相交面在该离散点的单位法向量之和,所以焊枪的轴向方向为相交形成该焊缝的两个相交面在该离散点的单位法向量之和。Step 4. Record the two intersecting surfaces that intersect to form the weld curve as surface A and surface B. When the welding torch welds a discrete point on the weld, draw a first straight line through the discrete point on the A surface and draw a straight line. Make this line perpendicular to face B, and make a second straight line through the discrete point on face B and make this straight line perpendicular to face A. These two straight lines intersect at the discrete point. When the welding torch is welding the discrete point The angle bisector of the intersection of the first line and the second line can ensure that the welding torch does not interfere with the workpiece, so the axial direction of the welding torch should be the same as the direction of the above-mentioned angle bisector, and the direction is represented by a vector. The vector of the angle bisector is equal to the sum of the unit vectors of the above two straight lines. The straight line on face A and perpendicular to face B is the normal vector of face B at the discrete point, and the straight line on face B and perpendicular to face A is The normal vector of surface A at the discrete point, the vector of the above-mentioned angle bisector is the sum of the unit normal vectors of the two intersecting surfaces that intersect to form the weld at the discrete point, so the axial direction of the welding torch is the intersection to form the weld The sum of the unit normal vectors of the two intersecting faces of the seam at this discrete point.

如果焊缝曲线的类型为直线,直线焊缝是由两个平面相交而成,平面的单位法向量在面上各点保持不变,则直线焊缝上的每个离散点焊接时焊枪的轴向方向为A面和B面的单位法向量之和。If the type of weld curve is straight, the straight weld is formed by the intersection of two planes, and the unit normal vector of the plane remains unchanged at each point on the face, then the axis of the welding torch when welding each discrete point on the straight weld The direction is the sum of the unit normal vectors of the A and B faces.

如果焊缝曲线的类型为圆弧,圆弧焊缝是由平面与圆柱面相交而成,圆弧焊缝的焊缝曲线是在该圆柱面上,所以圆弧焊缝的焊缝曲线上的离散点也在该圆柱面上。圆柱面上不同点的法向量是不同的需单独计算,圆柱面上每个离散点的法向量等于该离散点的坐标(Xn,Yn,Zn)减去该圆弧的圆心坐标(Xc,Yc,Zc),再将圆柱面在该离散点的法向量进行单位化得到圆柱面在该离散点的单位法向量,则圆弧焊缝上的每个离散点焊接时焊枪的轴向方向为相交的平面的单位法向量与圆柱面在该点的单位法向量之和。If the type of the weld curve is arc, the arc weld is formed by the intersection of the plane and the cylindrical surface, and the weld curve of the arc weld is on the cylindrical surface, so the arc weld curve on the arc weld is formed. Discrete points are also on the cylindrical surface. The normal vectors of different points on the cylindrical surface are different and need to be calculated separately. The normal vector of each discrete point on the cylindrical surface is equal to the coordinates of the discrete point (Xn, Yn, Zn) minus the coordinates of the center of the arc (Xc, Yc ,Zc), and then unit the normal vector of the cylindrical surface at the discrete point to obtain the unit normal vector of the cylindrical surface at the discrete point, then the axial direction of the welding torch when welding each discrete point on the arc weld is the intersection The sum of the unit normal of the plane and the unit normal of the cylinder at that point.

步骤五、采用步骤四方法计算出焊缝曲线上所有离散点焊接时焊枪的轴向方向,并将这个轴向方向作为焊接时焊枪的姿态。Step 5: Use the method of step 4 to calculate the axial direction of the welding torch during welding of all discrete points on the weld curve, and use this axial direction as the attitude of the welding torch during welding.

步骤六、在MATLAB软件中的机器人工具箱模块里输入焊缝上离散点的三维坐标和此时焊枪的姿态进行机器人的逆解运算,计算出机器人焊接该点时各个关节的转角,再使用此方法计算出该焊缝上剩下的离散点焊接时的机器人各个关节的转角,最后记录该焊缝每个点焊接时机器人各关节的转角数据。Step 6. Enter the three-dimensional coordinates of the discrete points on the welding seam and the attitude of the welding torch in the robot toolbox module in the MATLAB software to perform the inverse solution operation of the robot, and calculate the rotation angle of each joint when the robot welds the point, and then use this The method calculates the rotation angle of each joint of the robot during the welding of the remaining discrete points on the weld, and finally records the rotation angle data of each joint of the robot when each point of the weld is welded.

步骤七、重复步骤三-六进行下一条焊缝曲线的运算,直到计算出每条焊缝曲线的所有离散点进行焊接时机器人各个关节的转角数据。Step 7: Repeat steps 3-6 to perform the calculation of the next weld curve, until all discrete points of each weld curve are calculated and the rotation angle data of each joint of the robot when welding is performed.

步骤八、工业机器人程序中具有关节运动指令来控制机器人运动,关节运动指令的参数是机器人各关节的转角数据,每一条关节运动指令都会使机器人的各关节的转角从当前的转角转动到指令中的转角。将步骤七得到的机器人焊接某个离散点时的机器人各个关节的转角数据作为关节运动指令的参数生成一个控制机器人运动到该点的关节运动指令,按照这些离散点计算出来的顺序生成所有离散点的关节运动指令,全部关节运动指令生成焊接机器人焊接各焊缝时的机器人程序。Step 8. There are joint motion instructions in the industrial robot program to control the motion of the robot. The parameters of the joint motion instructions are the rotation angle data of each joint of the robot. Each joint motion instruction will make the rotation angle of each joint of the robot rotate from the current rotation angle to the instruction. corner. Use the rotation angle data of each joint of the robot when the robot welds a discrete point obtained in step 7 as the parameter of the joint motion instruction to generate a joint motion instruction to control the robot to move to this point, and generate all discrete points in the order calculated by these discrete points. All the joint motion instructions generate the robot program when the welding robot welds each weld.

Claims (1)

1. A welding process control method of a welding robot is characterized by comprising the following steps:
step one, opening a three-dimensional model of a workpiece to be welded by using SolidWorks three-dimensional software, adding a welding seam to be welded on the three-dimensional model of the workpiece, newly building an assembly body model in the SolidWorks three-dimensional software, introducing a welding robot and the three-dimensional model of the workpiece to be welded into the assembly body model, and adjusting the position of the robot relative to the workpiece in the assembly body model according to the actual use condition;
step two, carrying out secondary development on the SolidWorks by using a C # programming language, wherein the specific process is as follows:
traversing all welding seams on the workpiece in the assembling body model to obtain a welding seam curve of the welding seams; reading data of all welding seams on a workpiece, wherein the data of each welding seam comprises coordinates of a starting point and an end point of a welding seam curve, coordinates of any point between the starting point and the end point of the welding seam curve, the length S of the welding seam curve, the type of the welding seam and a unit normal vector of two intersecting surfaces intersecting to form the welding seam curve;
step three, calculating three-dimensional coordinates of all discrete points on the welding seam curve, and specifically comprising the following steps:
the method comprises the following steps that firstly, a weld curve is discretized into a plurality of points, the length of the weld curve between every two adjacent discretized points on the weld curve is L, and the number N of the discretized points is equal to the length S/L of the weld curve;
secondly, if the type of the welding seam curve is a straight line, using the coordinates of the starting point and the coordinates of the ending point of the welding seam curve to list the space parameter equation of the welding seam curve as (X, Y, Z) < X (t), Y (t), Z (t)), wherein t is more than or equal to 0 and less than or equal to 1, (X, Y, Z) represents the coordinates of any point on the curve, t is the independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as the independent variable respectively, X ═ X (t), Y ═ Y (t), Z ═ Z (t), and calculating the coordinates (X, Y, Z) of the point on the straight line according to t;
if the type of the welding seam curve is an arc, using coordinates of a starting point, coordinates of an end point and coordinates of any point between the starting point and the end point of the welding seam curve to list spatial parameter equations (X, Y, Z) < X (t), Y (t), Z (t)), wherein 0 < t < 1, (X, Y, Z) represents coordinates of any point on the curve, t is an independent variable of the parameter equation, X (t), Y (t), Z (t) are three coordinate functions with t as an independent variable, respectively, X < X > (t), Y < Y (t), and Z < t), calculating coordinates (X, Y, Z) of the point on the arc line according to t, and calculating coordinates (Xc, Yc, Zc) of the center of the arc;
thirdly, when the three-dimensional coordinate of the nth discrete point is obtained, enabling the independent variable t of the space parameter equation of the welding line curve to be N/N, substituting t into the space parameter equation of the welding line curve to calculate the three-dimensional coordinate (Xn, Yn and Zn) of the discrete point, and calculating the three-dimensional coordinate of all the discrete points, wherein N is more than or equal to 1 and less than or equal to N;
if the type of the welding seam curve is a straight line, the straight line welding seam is formed by intersecting two planes, and the two intersecting surfaces are marked as an A surface and a B surface, the axial direction of the welding gun is the sum of unit normal vectors of the A surface and the B surface when each discrete point on the straight line welding seam is welded;
if the type of the welding line curve is an arc, the arc welding line is formed by intersecting a plane and a cylindrical surface, the welding line curve of the arc welding line is on the cylindrical surface, the normal vector of each discrete point on the cylindrical surface is equal to the coordinate (Xn, Yn, Zn) of the discrete point minus the center coordinate (Xc, Yc, Zc) of the arc, and then the normal vector of the cylindrical surface at the discrete point is unitized to obtain the unit normal vector of the cylindrical surface at the discrete point, so that the axial direction of the welding gun during welding of each discrete point on the arc welding line is the sum of the unit normal vector of the intersected plane and the unit normal vector of the cylindrical surface at the point;
step five, calculating the axial direction of the welding gun during welding of all discrete points on the welding seam curve by adopting a four-way method, and taking the axial direction as the posture of the welding gun during welding;
inputting the three-dimensional coordinates of discrete points on the welding seam and the posture of the welding gun at the moment into a robot tool box module in MATLAB software to perform inverse solution operation of the robot, calculating the rotating angle of each joint when the robot welds the points, calculating the rotating angle of each joint of the robot when the remaining discrete points on the welding seam are welded by using the method, and finally recording the rotating angle data of each joint of the robot when each point on the welding seam is welded;
step seven, repeating the step three-six to calculate the next welding line curve until the corner data of each joint of the robot when all discrete points of each welding line curve are welded are calculated;
and step eight, using the corner data of each joint of the robot obtained in the step seven when the robot welds a certain discrete point as the parameters of the joint movement command to generate a joint movement command for controlling the robot to move to the point, generating the joint movement commands of all the discrete points according to the sequence calculated by the discrete points, and generating a robot program when the welding robot welds each welding line by all the joint movement commands.
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