CN112069613A - Three-dimensional modeling and motion simulation method for automatic assembly system - Google Patents
Three-dimensional modeling and motion simulation method for automatic assembly system Download PDFInfo
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Abstract
The invention discloses a three-dimensional modeling and motion simulation method of an automatic assembly system, which comprises the steps of introducing geometric body Smart components, enabling the geometric body Smart components to move regularly and orderly, creating an empty Smart component named as a disc tool, creating a mechanical device in the disc tool, setting a smart component of the suction cup in the disc tool, and detecting whether to contact with the object, a smart component of a pneumatic clamp is set in a disc tool, two actions are added to the extent that the pneumatic clamp component is a sucker clamp, a smart component named as a camera is newly built, when a small object block moves above the camera, creating four working data of a system, a pneumatic clamp and the like, then determining the central points of all objects, the invention has the characteristics of strong practicability and capability of simulating an assembly system to test the feasibility of a real object in real life.
Description
Technical Field
The invention relates to the technical field of three-dimensional modeling and motion simulation methods of automatic assembly systems, in particular to a three-dimensional modeling and motion simulation method of an automatic assembly system.
Background
Due to the increasing labor cost, more and more companies are beginning to build a robot automation line industrial chain, and industrial robots belong to a new industry, and are favored by enterprises due to the advantages of high safety, high efficiency, low rejection rate, improvement of the overall image of the enterprises and the like. From the 50 s of the last century, robots begin to be integrated into the human society, gradually play more and more important roles in the work and life of human beings, and also gradually affect the current life situation of people, particularly under the conditions of complexity and need of much labor force, in the later 70 s, people invent a programmable function of the robots, which greatly accelerates the development of the robots, enables the robots to be connected with a series of components such as sensors, cameras and conveyor belts, enables the robots to achieve the effects of flexibility and rigidity, and enables the robots to complete more complex actions through original devices, so that the development of the industrial robots is greatly advanced, and the industrial robots relate to a series of subjects such as mathematics, computers, electronic designs, animation designs and the like, all have high research values, therefore, the design practicability is strong, and the automatic assembly system can simulate the assembly system to test the feasibility in real life Dimensional modeling and motion simulation methods are necessary.
Disclosure of Invention
The invention aims to provide a three-dimensional modeling and motion simulation method of an automatic assembly system, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a three-dimensional modeling and motion simulation method for an automatic assembly system comprises the first step of leading in geometric Smart components to make them regularly and orderly move, wherein the Smart components simulate important components of animation, can change the spatial positions and attributes of objects, light rays and mechanical devices of a workstation, can also create signal logic, and covers signals, attributes and sensors, the system mainly comprises four parts, namely an action and a body, wherein signals and attributes mainly control the movement speed of an object, the on-off of simulation, the simulation times and the like, a sensor mainly detects the distance and the position of a real object to prevent the collision of the object, the action mainly controls the commands of one object to another object such as installation, removal, copying, hiding and the like, the body mainly controls the movement track of the object, and finally all components are connected together through an I/O port to form a movement system;
according to the technical scheme, in the second step, an empty smart component is created and named as a disc tool, a mechanical device is created in the disc tool, a combination body of a disc and an end effector is divided into three parts, two sides of a clamp are divided into two parts, the rest parts are divided into one part, a clamping action of the clamp is set, working data are installed on end execution points of the three actuators, and the feedback of a mechanical hand to an object is facilitated;
according to the technical scheme, in the third step, a smart component of the sucker is set in the disc tool, whether the sucker is in contact with an object is detected, a switch is further arranged to control the on-off of the action, the smart component is set, the distance is increased by 0.2mm when the linear sensor is set, and failure caused by over-tight combination is prevented;
according to the technical scheme, the fourth step is that a smart component of the screwdriver is set in the disc tool, a rotating smart command is added to the smart component and acts on the screw head, two signals are set, one signal is used for controlling rotation, and the other signal is used for controlling installation and removal;
according to the technical scheme, in the fifth step, a smart component of the pneumatic clamp is set in the disc tool, and two actions are added to the extent that the component of the pneumatic clamp is a sucker clamp, so that the two components are added, and the two actions are introduced when a mechanical device is created before, so that the pneumatic clamp and the sucker clamp are in a clamping and loosening state;
according to the technical scheme, a smart component named as a camera is newly built, light is simulated by using an inverted cone, when a small object block moves above the camera, the light automatically appears, the position of the small object block is automatically adjusted, and the geometric body and the cone of the camera are led into the smart component;
according to the technical scheme, a smart component named as a screw machine is newly built, a simulation signal and the smart component receiving the simulation signal are built, when a screw is added and taken away, a command of copying a graphic component is automatically operated and built, the command is closed through a built switch, and the screw machine and the screw are led into the component after the design is finished;
according to the technical scheme, in the eighth step, a smart component named as a conveyor belt is newly built, whether the iron block is on the conveyor belt or not is detected through a plane sensor, and then the iron block is reset after the conveyor belt moves to the designated position;
according to the technical scheme, in the ninth step, a controller is newly built, and smart components created in the past are connected through an I/O signal port;
according to the technical scheme, a system is created in the tenth step, four pieces of working data such as a disc and a pneumatic clamp are created, then a coordinate axis is created in a central store at the central point of all objects, and the coordinate axis of the clamp moving relatively at that moment is ensured to be in the same direction;
according to the above technical solution, in the eleventh step, a module1 is created and programmed to control the movement of the clamp. The programmed main program is transferred to an xp program through an is command to control a small object block clamp to be placed on an iron block, wherein in the xp program, lines 102 and 104 control visual identification of a camera, lines 28 to 48 control a glass cover to be moved to the position above the iron block from a placement table through a sucker clamp, positioning is carried out through data carried by a manipulator, the glass cover is stably covered above the iron block, and the iron block and the glass cover are overlapped. The main program is converted to a zz program through is, the program controls screws to be installed on holes around an iron block through a screwdriver from a screw machine, a glass cover and the iron block are fixed together, a program CaIibData of a conveyor belt is compiled, starting states of 6 steps are saved through the program and are used as starting points, the 6 steps are named as 001, 002, 003, 004, 005 and 006 respectively, the states need to be cancelled every time the states are saved, then parameters of a smart component are adjusted, repeated debugging is carried out, and attention is paid to that if a clamp is not clamped, the problems can be solved by adjusting a linear sensor of the component and restarting a work station, and animation is finally completed
According to the technical scheme, in the twelfth step, a motion track is generated through the robot buttons in the path and the target point, and the motion track represents the working process of the automatic assembly system;
according to the technical scheme, the thirteenth step is that each signal of each component in the workstation can be analyzed in a signal analyzer in simulation, the angular speed, the characteristic speed and the movement range of each shaft of the manipulator are included, the on-off state of each smart component I/O signal, all contact stress of each component and the like are included, the movement range of each shaft and the on-off state of each smart component I/O port are analyzed, the on-off state of each smart component I/O port can be known more visually through the on-off state of the smart component I/O signal port, electric energy of each component can be distributed more reasonably, and the on-off state of components can be controlled more efficiently and more energy can be saved by programming programs to control the on-off state of the components electronically.
Compared with the prior art, the invention has the following beneficial effects: the assembly system can be simulated to check the feasibility of the real object in real life, and the invention,
(1) the smart component is an important part in the simulation process, and the smart component network can be designed by simulating the sensors required by the manipulator in the real process, so that the manipulator can make the most appropriate selection under different conditions. Through compiling and designing a PLC control program, the assembly processes such as recognizing, grabbing, screwing and the like can be realized. In order to ensure that the mechanical arm runs out an efficient, accurate and stable motion track in a movable range, a signal analyzer is used for analyzing the simulation influence of the terminal acceleration of the robot on the mechanical arm through a robot actuator. Further improving and perfecting the application design of the robot automatic assembly system, and further reducing the faults encountered by the robot in the automatic assembly;
(2) the layout of the workstation is optimized again by using ABB robot simulation software, smart event and I/O signal design is carried out on the workstation, and a series of simulation programming is carried out on the manipulator track, so that the influence of robot acceleration sudden change on the operation of the tail end of the robot needs to be considered, the continuity of the robot in a joint space angular acceleration curve needs to be ensured, and the ultimate requirement of obtaining an efficient, smooth, accurate and reliable operation track is met. Further improving and perfecting the application design of the robot automatic assembly system, and further reducing the faults encountered by the robot in the automatic assembly;
drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic view of the present invention showing the variation of the rotation angle of a shaft;
FIG. 3 is a schematic diagram of the biaxial rotation angle variation of the present invention;
FIG. 4 is a schematic view of the three-axis rotational angle variation of the present invention;
FIG. 5 is a schematic view of the four-axis rotational angle variation of the present invention;
FIG. 6 is a schematic diagram of five-axis rotational angle changes of the present invention;
FIG. 7 is a schematic illustration of a six-axis rotational angle variation of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides the following technical solutions: a three-dimensional modeling and motion simulation method for an automatic assembly system comprises a first step, a three-dimensional modeling and motion simulation method for the automatic assembly system comprises the steps of introducing geometric Smart components to enable the geometric Smart components to do regular and orderly motion, wherein the Smart components simulate important components of animation, can change the spatial positions and attributes of objects, light and mechanical devices of a workstation, can also create signal logic, and covers four parts of signals and attributes, sensors, actions and bodies, the signals and the attributes mainly control the motion speed of the objects, the on-off of simulation, the simulation times and the like, the sensors mainly detect the distance and the positions of real objects to prevent the collision of the objects, the actions mainly control the commands of one object to the other object, the bodies mainly control the motion tracks of the objects, and finally the components are connected together through I/O ports, forming a motion system;
secondly, creating an empty smart component named as a disc tool, creating a mechanical device in the disc tool, dividing a combination of a disc and an end effector into three parts, dividing two sides of a clamp into two parts, dividing the rest into one part, setting a clamping action of the clamp, and installing working data on end execution points of the three actuators to facilitate the feedback of a manipulator to an object;
thirdly, a smart component of the sucker is set in the disc tool, whether the sucker is in contact with an object is detected, a switch is arranged to control the on-off of the action, the smart component is set, the distance is increased by 0.2mm when the linear sensor is set, and failure caused by over-tight combination is prevented;
setting a smart component of the screwdriver in the disc tool, adding a rotating smart instruction into the smart component, acting on a screw head, setting two signals, namely a control rotation command and a control installation and removal command, and paying attention to the fact that a command for binding a screwdriver geometric body with the smart component is led into the smart component of the screwdriver, so that smooth operation of rotation can be guaranteed;
fifthly, setting a smart component of a pneumatic clamp in the disc tool, adding two actions to the extent that the component of the pneumatic clamp is a sucker clamp, so that the two components are added, and leading in the two actions of the mechanical device created by us before, so that the pneumatic clamp and the sucker clamp are in a clamping and loosening state;
sixthly, building a smart component named as a camera, simulating light by using an inverted cone, automatically generating the light when the small object moves above the camera, automatically adjusting the position of the small object, and guiding the geometric body and the cone of the camera into the smart component;
step seven, a smart component named as a screw machine is newly built, a command of copying a graphic component is automatically operated and built after screws are added and taken away by building a simulation signal and the smart component receiving the simulation signal, the smart component is closed by building a switch, and the screw machine and the screws are led into the component after the design is finished;
step eight, building a smart component named as a conveyor belt, detecting whether the iron block is on the conveyor belt through a plane sensor, and then resetting the iron block after the conveyor belt moves to a designated position;
step nine, a controller is newly built, and the previously built smart components are connected by using an I/O signal port;
step ten, a system is created, four working data such as a disc and a pneumatic clamp are created, then a coordinate axis is created in a central store at the central point of all objects, and the coordinate axis of the clamp moving relatively at that moment is ensured to be in the same direction;
the eleventh step, module1, is programmed to control the movement of the clamp. The programmed main program is transferred to an xp program through an is command to control a small object block clamp to be placed on an iron block, wherein in the xp program, lines 102 and 104 control visual identification of a camera, lines 28 to 48 control a glass cover to be moved to the position above the iron block from a placement table through a sucker clamp, positioning is carried out through data carried by a manipulator, the glass cover is stably covered above the iron block, and the iron block and the glass cover are overlapped. The main program is converted to a zz program through is, the program controls screws to be installed on holes around an iron block through a screwdriver from a screw machine, a glass cover and the iron block are fixed together, a program CaIibData of a conveyor belt is compiled, starting states of 6 steps are saved through the program and are used as starting points, the 6 steps are named as 001, 002, 003, 004, 005 and 006 respectively, the states need to be cancelled every time the states are saved, then parameters of a smart component are adjusted, repeated debugging is carried out, and attention is paid to that if a clamp is not clamped, the problems can be solved by adjusting a linear sensor of the component and restarting a work station, and animation is finally completed
A twelfth step of generating a movement trajectory by the robot buttons in the path and the target point, the trajectory representing a workflow of the automatic assembling system;
and step thirteen, each signal of each component in the workstation can be analyzed in a signal analyzer in the simulation, the angular speed, the characteristic speed and the motion range of each shaft of the manipulator, the on-off of each smart component I/O signal, the contact stress of each component and the like are included, the motion range of each shaft and the on-off of each smart component I/O port are analyzed in this chapter, the on-off of each I/O signal port can be used for knowing the on-off condition of each component more intuitively, the electric energy of each component is distributed more reasonably, and the on-off of components is controlled by programming electronics, so that the workstation is more efficient and energy-saving.
Example (b):
a. installing the iron blocks on the operating platform from the iron frame through a pneumatic clamp, and fixing the iron blocks by using a push rod;
b. moving the small object blocks from the object placing table to the position above the camera through the sucker clamp, transmitting the shot pictures to an upper computer through a visual transmission system of the camera, matching through a database, adjusting parts to correct positions through position data fed back by the upper computer, and sequentially placing the parts on the iron blocks;
c. the glass cover is moved to the position above the iron block from the object placing table through the sucker clamp, and is stably covered above the iron block through the positioning of data carried by the manipulator, so that the iron block and the glass cover are overlapped;
d. mounting screws on holes around the iron block from a screw machine through a screwdriver so as to fix the glass cover and the iron block together;
e. and releasing the push rod, putting the iron blocks onto the conveying belt through the pneumatic clamp, clamping the iron blocks by the pneumatic clamp when waiting for the iron blocks to move to the other end, and putting the iron blocks onto the conveying belt on the left side.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The three-dimensional modeling and motion simulation method of the automatic assembly system is characterized by comprising the following steps of: firstly, geometric Smart components are introduced to make them move in regular and orderly motion.
2. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 1, characterized in that: in the second step, an empty smart assembly, named disk tool, is created, and the mechanical device is created inside the disk tool.
3. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 2, characterized in that: and thirdly, setting a smart component of the sucker in the disc tool, and detecting whether to contact with the object.
4. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 3, characterized in that: and fourthly, setting a smart component of the screwdriver in the disc tool, and adding a rotating smart command into the smart component.
5. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 4, wherein: and fifthly, setting a smart component of the pneumatic clamp in the disc tool, wherein the smart component of the pneumatic clamp is added with two actions to the extent that the pneumatic clamp component is a sucker clamp.
6. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 5, wherein: and sixthly, building a smart component named as a camera, and simulating light by using an inverted cone, wherein the light automatically appears when the small object blocks move to the upper part of the camera.
7. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 6, wherein: and step seven, newly building a smart component named as a screw machine, and establishing a simulation signal and receiving the smart component of the simulation signal.
8. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 7, wherein: and eighthly, building a smart component named as a conveyor belt, detecting whether the iron block is on the conveyor belt or not through a plane sensor, and then enabling the iron block to reset after the conveyor belt moves to the designated position.
9. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 8, wherein: and step nine, newly building a controller, and connecting the previously built smart components by using the I/O signal port.
10. The three-dimensional modeling and motion simulation method of the automatic assembly system according to claim 9, wherein: and tenth, creating a system, creating four working data such as a disc and a pneumatic clamp, establishing a module1 after determining central points of all objects, establishing coordinate axes in a central store and ensuring that the coordinate axes of the clamp relatively moving at that moment are in the same direction, programming to control the motion of the clamp, transferring the programmed main program to an xp program through an is command to control small object blocks to be clamped and placed on an iron block, generating motion tracks through a path and a manipulator button in the target point, and analyzing signals of each part in the workstation in a signal analyzer in simulation, wherein the signals comprise angular speed, characteristic speed of each axis of the manipulator.
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| CN102866638A (en) * | 2012-10-22 | 2013-01-09 | 天津商业大学 | Double-turntable five-axis numerical control machine tool virtual assembling and numerical control machining simulation method |
| CN110456659A (en) * | 2019-07-24 | 2019-11-15 | 广州番禺职业技术学院 | A kind of emulation design method based on industrial robot loading and unloading work station |
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Application publication date: 20201211 |