CN112091967A

CN112091967A - Off-line programming batch correction method for welding robot track

Info

Publication number: CN112091967A
Application number: CN202010731056.XA
Authority: CN
Inventors: 高永光; 肖鹏; 刘万存; 冯东旭; 袁亮文
Original assignee: Dalian Nuclear Power And Petrochemical Co Ltd; China First Heavy Industries Co Ltd
Current assignee: Dalian Nuclear Power And Petrochemical Co Ltd; China First Heavy Industries Co Ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2020-12-18
Anticipated expiration: 2040-07-27
Also published as: CN112091967B

Abstract

The invention discloses a welding robot track offline programming batch correction method, which comprises the following steps: the method comprises the steps of firstly, designing and generating a reference track for robot welding, backing up a program file, secondly, manually correcting the reference track on a workpiece on line, and storing the corrected program file, thirdly, comparing the program files of the first step and the second step by adopting a correction program module for the robot welding track, calculating the correction quantity of each program step, storing the correction quantity as a correction file, and fourthly, calling the correction file to perform batch correction on all tracks when the robot welding track is programmed off line. By adopting the method, the welding robot track can be corrected in batch by off-line programming only by one-time operation on the actual workpiece, the correction efficiency of the multilayer multi-path welding track can be greatly improved, and the on-site debugging time of the welding robot track is reduced.

Description

Off-line programming batch correction method for welding robot track

Technical Field

The invention relates to the technical field of robot welding, in particular to a welding robot track off-line programming batch correction method.

Background

Currently, when a welding robot is used for off-line programming of a welding track, due to various complex reasons, a certain deviation exists between an actual running track and a programming track, as shown in fig. 1. Some welding conditions are sensitive to welding track deviation, and the deviation can cause poor weld bead overlapping and affect the welding quality. To solve the problem, the traditional processing method directly carries out manual online correction on the welding track by taking a workpiece as a reference. The defects that firstly, each path needs to be manually corrected during multi-layer and multi-path welding, and the programming efficiency is extremely low; and secondly, after off-line programming is carried out again each time, the track needs to be corrected again.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an off-line programming batch correction method for the track of a welding robot.

The technical scheme adopted by the invention is a welding robot track offline programming batch correction method, which comprises the following steps:

firstly, designing and generating a reference track for robot welding, backing up a program file,

secondly, manually correcting the reference track on the workpiece on line, storing the corrected program file,

thirdly, comparing the program files of the first step and the second step by adopting a correction program module of the welding track of the robot, calculating the correction amount of each program step point, storing the correction amount as a correction file,

and fourthly, calling a correction file to perform batch correction on all the tracks when the welding tracks of the robot are programmed off line.

Furthermore, the program module for correcting the welding track of the robot in the third step comprises a main program module, wherein the main program module comprises a file reading subprogram module, a comparison and search subprogram module and a calculation and generation subprogram module.

Further, the file reading subprogram module comprises the following steps: and opening an original file program file and a modified file program according to the paths of the track files before and after modification input by the program interface, reading corresponding data of each step point, closing the program file, and caching the data of each step point of the program file in an array A and an array B according to the step point format.

Further, the comparison and search subprogram module comprises the following steps: firstly, executing a step 3.1, respectively reading first row data from the arrays A and B, comparing the data in the arrays A and B by the first row, entering a step 3.2, judging whether the data are the same, if so, entering a step 3.4, storing blank spaces in the arrays C and D, if not, entering a step 3.3, respectively storing the row data in the arrays C and D, entering a step 3.6, judging whether the row is the last row of the arrays A and B, and if not, entering a step 3.5, comparing the next row; if yes, entering step 3.7, reading first row data of the arrays C and D, separating the compared arrays C and D row by row, entering step 3.8, judging whether the row head character of the row of data is XYZ, if yes, entering step 3.9, separating the X, Y and Z coordinates of the step point before and after correction from the row, and respectively storing the X, Y and Z coordinates in the arrays E and F; if not, skipping, entering step 3.10, judging whether the line is the last line, if yes, entering step 3.12, ending, if not, entering step 3.11, starting the next line, returning to step 3.7, reading the data of the next line arrays C and D, and separating the next line.

The invention has the beneficial effects that: in the traditional processing method, a welding track is directly subjected to manual online teaching correction by taking a workpiece as a reference. And manual teaching correction is adopted, manual correction is needed for each welding pass when multilayer and multi-pass welding is carried out, the efficiency is low, and the robot operation time is long. By adopting the method, the welding robot track can be corrected in batch by off-line programming only by one-time operation on the actual workpiece, the correction efficiency of the multilayer multi-path welding track can be greatly improved, and the on-site debugging time of the welding robot track is reduced.

Drawings

FIG. 1 is a schematic diagram of the deviation of the robot trajectory according to the present invention.

FIG. 2 is a flowchart of a main process of the present invention.

FIG. 3 is a flowchart of the comparison search procedure of the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings, and provides a batch correction method for an offline programming track of a welding robot, which comprises the following specific steps:

firstly, a reference track is generated through design on an off-line programming system, → backup of a program file (original program file) → manual on-line correction of the reference track on a workpiece → storage of a corrected program file (corrected program file) → comparison of the program file before correction and the corrected program file through a specially designed computer program, calculation of a correction amount at each program step → storage as a correction file → calling of the correction file to perform batch correction on all tracks when off-line programming is performed again.

The main program of the invention mainly comprises a reading file subprogram, a comparison searching subprogram and a calculation generating subprogram. The flow chart is shown in the attached figure 2,

reading a file subprogram: reading the program files before and after the modification,

the read file subprogram firstly opens the files (original program file and modified program file) according to the paths of the track file before and after modification input by the program interface, then reads the corresponding data of each step point, and finally closes the program file, and the data of each step point of the program file is cached in the array A and the array B according to the step point format.

Comparing and searching the subprogram; the flow chart is shown in a figure 3,

the comparison and search subroutine firstly executes step 3.1, reads the first row of data from the arrays A and B respectively, the first row starts to compare the data in the arrays A and B, step 3.2 is entered, whether the data are the same or not is judged, if yes, step 3.4 is entered, a blank is stored in the arrays C and D, if not, step 3.3 is entered, the row of data is stored in the arrays C and D respectively, step 3.6 is entered, whether the row is the last row of the arrays A and B is judged, if not, step 3.5 is entered, and then the next row is compared; if yes, entering step 3.7, reading first row data of the arrays C and D, separating the compared arrays C and D row by row, entering step 3.8, judging whether the row head character of the row of data is XYZ, if yes, entering step 3.9, separating the X, Y and Z coordinates of the step point before and after correction from the row, and respectively storing the X, Y and Z coordinates in the arrays E and F; if not, skipping, entering step 3.10, judging whether the line is the last line, if yes, entering step 3.12, ending, if not, entering step 3.11, starting the next line, returning to step 3.7, reading the data of the next line arrays C and D, and separating the next line.

Calculating and generating a subprogram;

subtracting the x, y and z coordinates stored in the arrays E and F line by line to obtain a track correction quantity, then adding characters to modify the track correction quantity into a format required by a track correction table, and finally generating a file corresponding to the file name under a corresponding directory according to information selected by a program interface to obtain a modified file.

Claims

1. The welding robot track off-line programming batch correction method is characterized by comprising the following steps: the method comprises the following steps:

2. The welding robot trajectory offline programming batch correction method according to claim 1, characterized in that: and the third step of the program module for correcting the welding track of the robot comprises a main program module, wherein the main program module comprises a file reading subprogram module, a comparison and search subprogram module and a calculation and generation subprogram module.

3. The welding robot trajectory offline programming batch correction method according to claim 2, characterized in that: the file reading subprogram module comprises the following steps: and opening an original file program file and a modified file program according to the paths of the track files before and after modification input by the program interface, reading corresponding data of each step point, closing the program file, and caching the data of each step point of the program file in an array A and an array B according to the step point format.

4. The welding robot trajectory offline programming batch correction method according to claim 2, characterized in that: the comparison and search subprogram module comprises the following steps: firstly, executing a step 3.1, respectively reading first row data from the arrays A and B, comparing the data in the arrays A and B by the first row, entering a step 3.2, judging whether the data are the same, if so, entering a step 3.4, storing blank spaces in the arrays C and D, if not, entering a step 3.3, respectively storing the row data in the arrays C and D, entering a step 3.6, judging whether the row is the last row of the arrays A and B, and if not, entering a step 3.5, comparing the next row; if yes, entering step 3.7, reading first row data of the arrays C and D, separating the compared arrays C and D row by row, entering step 3.8, judging whether the row head character of the row of data is XYZ, if yes, entering step 3.9, separating the X, Y and Z coordinates of the step point before and after correction from the row, and respectively storing the X, Y and Z coordinates in the arrays E and F; if not, skipping, entering step 3.10, judging whether the line is the last line, if yes, entering step 3.12, ending, if not, entering step 3.11, starting the next line, returning to step 3.7, reading the data of the next line arrays C and D, and separating the next line.