CN112156915A - Spraying robot installation position determining method and device based on joint driving load - Google Patents
Spraying robot installation position determining method and device based on joint driving load Download PDFInfo
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- CN112156915A CN112156915A CN202010989897.0A CN202010989897A CN112156915A CN 112156915 A CN112156915 A CN 112156915A CN 202010989897 A CN202010989897 A CN 202010989897A CN 112156915 A CN112156915 A CN 112156915A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Spray Control Apparatus (AREA)
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Abstract
The invention discloses a spraying robot installation position determining method and device based on joint driving load, wherein the method comprises the following steps: determining the reachable working space of the spraying robot according to the robot kinematic model and the joint motion angle range; establishing a dynamic evaluation index representing the load size of the driving joint according to the dynamic model; determining the task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of sites at equal intervals in the range, and taking the average value of the dynamics evaluation indexes corresponding to the sites as the evaluation index of the whole load level of the representation area; and searching the lowest point of the overall load evaluation index within the reachable working space range, and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion. The method can reduce the fluctuation of the motion precision caused by the violent change of the load and ensure the surface coating quality of the automatic spraying system.
Description
Technical Field
The invention relates to the technical field of industrial robot application, in particular to a spraying robot installation position determining method and device based on joint driving load.
Background
Surface spraying is a key technology in the fields of aerospace and automobile manufacturing, and if the quality of a surface coating is not over-critical, the coating can be aged, corroded and even dropped off after long-term use in a complex environment, so that potential safety hazards are brought. In order to improve the surface spraying quality, an automatic spraying system taking a spraying robot as a core device is widely applied to various large manufacturing fields, the spraying efficiency of the robot is higher and the safety is more guaranteed compared with manual spraying, and meanwhile, the processes of design, optimization, debugging, application and the like of the robot can realize the process and the precision through theoretical research.
In consideration of operation safety and control convenience, when a robot structure design is carried out on a given spraying task or a universal robot is selected, the motion range of the robot end effector must be ensured to completely cover the requirement of a working task and a safety margin is reserved, so that the reachable working space of the spraying robot is always larger than the range of the working space of the task. After the robot design or model selection is completed, the relative mounting spacing of the workpiece and the robot determines the relative position of the range of motion of the robot in its full reachable workspace when actually performing the task. The robot is a complex multi-axis coupling electromechanical system, the load of a driving joint of the robot has obvious time-varying characteristics, and when the pose of an end effector is changed, the pose and the inertia of each branched chain correspondingly change, so that the driving torque required to be provided by a motor changes. At some positions in the working space, the driving load of the robot may be increased significantly, which increases the running cost, and the drastic change of the dynamic behavior brings difficulty to the control precision guarantee, and may even cause the instability of the robot. In engineering practice and existing research, a working space optimization and installation debugging method considering the dynamic load characteristics of the robot does not exist.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method for determining a mounting position of a painting robot based on a joint-driven load, which can reduce fluctuation of motion accuracy due to a drastic change in load and ensure the surface coating quality of an automated painting system.
Another object of the present invention is to provide a painting robot mounting position determining apparatus based on joint driving loads.
In order to achieve the above object, an embodiment of the invention provides a method for determining a mounting position of a painting robot based on joint driving loads, including:
s1, determining the reachable working space of the spraying robot according to the robot kinematics model and the joint movement angle range;
s2, establishing a dynamic evaluation index representing the load of the driving joint according to the dynamic model;
s3, determining a task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of positions in the task working space range at equal intervals, and taking the average value of the dynamics evaluation indexes corresponding to the positions as the evaluation index of the whole load level of the characterization area;
and S4, searching the lowest point of the evaluation index of the whole load level in the reachable working space range, and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
In order to achieve the above object, another embodiment of the present invention provides a painting robot installation position determining apparatus based on joint driving loads, including:
the first determination module is used for determining the reachable working space of the spraying robot according to the robot kinematic model and the joint motion angle range;
the second determination module is used for establishing a dynamic evaluation index for representing the load size of the driving joint according to the dynamic model;
the third determination module is used for determining a task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of sites in the task working space range at equal intervals, and taking the average value of the dynamics evaluation indexes corresponding to the sites as the evaluation index of the whole load level of the representation area;
and the fourth determining module is used for searching the lowest point of the evaluation index of the whole load level in the reachable working space range and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
The spraying robot installation position determining method and device based on the joint driving load have the advantages that: the time-varying characteristic of the driving load of the robot is fully considered, after the robot is designed or the model is selected, the relative installation distance between the robot and a workpiece is adjusted, so that the movement range of the robot is always in a region with a lower load level in a working space when the robot actually executes a task, the movement precision fluctuation caused by severe load change is reduced, and the surface coating quality of an automatic spraying system is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for determining a mounting position of a painting robot based on joint drive loads according to one embodiment of the present invention;
FIG. 2 is a block flow diagram of a method for determining a mounting position of a painting robot based on joint drive loads according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a five-axis series-parallel spraying robot according to one embodiment of the invention;
FIG. 4 is a schematic representation of the reachable workspace of a robot in accordance with one embodiment of the invention;
FIG. 5 is a schematic view of a workpiece to be painted and a task workspace according to one embodiment of the invention;
FIG. 6 is a distribution of regional global load assessment indicators in a workspace, according to one embodiment of the invention;
FIG. 7 is a schematic view of the relative mounting position of the robot and the workpiece according to one embodiment of the present invention;
FIG. 8 is a drive load curve of a typical trajectory after mounting a robot using the mounting locations determined by the present invention versus a control set of drive load curves according to one embodiment of the present invention;
fig. 9 is a schematic structural diagram of a painting robot mounting position determining apparatus based on joint driving loads according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A painting robot installation position determining method and apparatus based on joint driving loads according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, a proposed painting robot installation position determining method based on joint driving loads according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a painting robot installation position determining method based on joint driving loads according to an embodiment of the present invention.
Fig. 2 is a block diagram of a flow chart of a method for determining a mounting position of a painting robot based on a joint driving load according to an embodiment of the present invention.
Referring to fig. 1 and 2, the method for determining the installation position of the painting robot based on the joint driving load includes the steps of:
and step S1, determining the reachable working space of the spraying robot according to the robot kinematic model and the joint motion angle range.
Further, the baseEstablishing a positive kinematic model of the spraying robot by a vector loop method, and solving the motion range of the end effector of the robot according to the given mechanism geometric parameters and the motion angle range of the driving joint, namely the reachable working space S of the robotR。
And step S2, establishing a dynamic evaluation index for representing the load size of the driving joint according to the dynamic model.
Further, a dynamic model of the spraying robot is established based on the virtual work principle and written into a form with components of inertia terms, centrifugal force, Coriolis force terms, gravity terms and the like:
wherein τ ═ τ [ τ ]1 τ2 … τn]TA vector consisting of drive torques of the individual drive joints, q ═ θ1 θ2 … θn]TN is the number of the driving joints of the robot, M (q) is an inertia matrix of the robot,
is the centrifugal force and the Coriolis force term, G (q) is the gravity term
For the angular acceleration values of the individual drive joints,
the angular velocity values of the respective drive joints. For non-lightweight, non-high-speed motion spray robots, the centrifugal and coriolis force terms are generally negligible.
Based on the obtained robot dynamics model, in order to represent the maximum driving load which the robot may have in a certain posture, the load level evaluation index of a certain driving joint is designed as follows:
wherein i is the serial number of the driving joint of the robot, MijIs the ith row and jth column element, G, of the inertia matrixiIs the ith row element of the gravity term,
g is 9.8m/s for the design value of the maximum angular acceleration in all the drive joints2Is the acceleration of gravity.
Specifically, the single joint driving load evaluation index design method introduces a quantity in the form of driving joint angular acceleration, such as the maximum angular acceleration design value of all driving joints
The dimension unification of the inertia part and the gravity part of the index is realized.
And step S3, determining the task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of positions at equal intervals in the task working space range, and taking the average value of the dynamics evaluation indexes corresponding to the positions as the evaluation index of the whole load level of the characterization area.
Further, according to the surface shape and size of the workpiece to be sprayed and the spraying distance requirement d between the robot end effector (nozzle) and the working surfacesAnd considering the motion precision and safety limit of the robot, the minimum motion range which the robot end effector should have when at least meeting the current working requirement is obtained and is the task working space S of the robotT。
Robot task working space S based on obtainedTSelecting a plurality of points at equal intervals uniformly, and combining the evaluation indexes of the load level of the single joint, the evaluation indexes capable of representing the overall load level of the robot in a certain area are provided as follows:
wherein s is the number of selected sites, DLIi(qk) Is an index value of the ith driving joint of the robot at the kth position, qkAnd the vector formed by the driving joint angle corresponding to the k-th position point. q. q.skCan be based on a reference site such as q1And the relative spatial position between the two sites, the overall regional load assessment index can be expressed as a function of the coordinates of the reference site.
Specifically, the robot task work space calculating method needs to ensure that the axis of the spray gun is always vertical to the surface of the workpiece and the distance between the nozzle of the spray gun and the surface of the workpiece is a certain value during the spraying work, so that the spraying distance d is calculated from each point on the surface of the workpiecesThe envelope surface of the terminal point of each vertical line segment is taken as the motion range to be covered by the robot end effector. On the basis, the range can be expanded properly in consideration of the spatial motion error and safety limit of the robot.
Specifically, the method for designing the overall load evaluation index of the region takes a certain position in a task working space as a reference, uniformly selects a plurality of positions at equal intervals, and calculates the average value of the sum of the load evaluation indexes of each driving joint corresponding to each position for representing the overall load level of the region. The coordinates of each position point can be represented by the coordinates of the reference position point and the relative position of the reference position point, so that the proposed overall load evaluation index of the area is a function of the coordinates of the reference position point.
And step S4, searching the lowest point of the evaluation index of the whole load level in the reachable working space range, and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
Further, based on the provided regional overall load evaluation index, the reachable working space S of the regional overall load evaluation index is obtainedRAnd finding the reference position point coordinate q when the index has the minimum value1。
Based on the obtained coordinates of the minimum value of the overall load evaluation index of the area, the relative horizontal distance D and the vertical distance H between the robot mounting point and the workpiece are obtained by combining the data of the spraying distance requirement between the robot end effector (a spray gun port) and the working surface, the placing height between the workpiece and the ground, the relative position between the original point of the robot coordinate system and the mounting point of the robot coordinate system and the like, so that the optimal mounting position of the spraying robot is determined.
As shown in fig. 3, the robot has five drive motors in total to realize the motion of the end effector with five degrees of freedom, the slide block 2 moves on the moving guide rail 1 to drive the rest part of the robot to make translation, the rotary table 3 realizes the rotation of the plane parallel mechanism on the rotary table around a vertical shaft, in the plane parallel mechanism, the rotation of the drive arm 4 and the drive arm 5 realizes the motion of the end effector 7, namely a spray gun, through the conduction of the parallelogram link mechanism, and the rotation of the drive arm 6 realizes the adjustment of the angle of the spray gun through the conduction of the parallelogram link mechanism. The positioning of the robot along the direction of the guide rail can be realized by driving the sliding block 2, and the driving load characteristics of the robot do not change when the robot is at different positions on the guide rail, so that the embodiment can calculate the reachable working space projected to the plane perpendicular to the guide rail.
As shown in fig. 4, the reachable working space of the robot in the projection plane is shown based on the robot structural parameters, and the motion range of each joint is set to be theta for the driving arm 44∈[0,π]The driving arm 5 is
The driving arm 6 is
A dynamic model of the robot is established based on the virtual work principle and is written into a form containing different components, and the analytic expression is as follows:
wherein tau is a vector formed by driving moments of all driving joints, M (q) is an inertia matrix,
the term G (q) is a centrifugal force term and a Coriolis force term, q is an angle value of each driving joint, and an analytic expression of an inertia matrix and the gravity term is further obtained as follows:
wherein, JiJacobian matrix for the ith link, Mi＝diag[mi mi Ii]Is a diagonal matrix, miIs the mass of the ith connecting rod, IiIs the moment of inertia of the ith link. The inertia matrix and the gravity term are both functions of the angle values of the robot driving joints.
In order to represent the driving load level of the robot in a certain pose, the single-joint driving load evaluation indexes are provided as follows:
wherein M isijIs the ith row and jth column element, G, of the inertia matrixiThe element of the ith row of the gravity term, g is 9.8m/s2In order to be the acceleration of the gravity,
the maximum joint angular acceleration of the robot is inquired to be 20rad/s for the designed value of the maximum angular acceleration in all the driving joints2. The single joint drive load evaluation index is a function of the angle value of the drive joint.
Fig. 5 is a schematic view of a workpiece to be painted, which is a part of the empennage of an airplane, and the task work space of the workpiece, which is from the tail of the empennage to the head of the empennage. One set of automatic spraying system comprises two symmetrical installationsThe spraying robot is respectively responsible for two side surfaces of a workpiece, and a moving guide rail of the spraying robot and the axis of the workpiece are both kept in parallel, so that a projection plane capable of reaching a working space is also vertical to the axis of the workpiece. The maximum span of the workpiece in the horizontal direction is lpThe vertical distance from the highest point to the lowest point of the workpiece is h which is 260mmp1400 mm. In the spraying process, the axis of the spray gun is always vertical to the surface of the workpiece, the distance between the nozzle of the spray gun and the surface of the workpiece is a certain value, and the spraying distance is ds250mm, and the edge spraying angle at the maximum section is theta according to the surface shape of the workpiecew15 ° is set. Starting from points on the surface of the workpiece by dsThe envelope surface formed by the end points of the vertical line segments is the motion range at least covered by the robot end effector. Expanded to a rectangle encompassing the range, having a length and width h, respectively, as a task work space required for painting the workpiecer＝1530mm，lr＝140mm。
Based on the single joint drive load evaluation index, 10 sites are uniformly selected in the task working space, such as q in FIG. 51To q10As shown, the regional overall load evaluation indexes were obtained as follows:
wherein, DLIi(qk) Is an index value of the ith driving joint of the robot at the kth position, qkAnd the vector formed by the driving joint angle corresponding to the k-th position point. Let the coordinate of the reference site 1 be q1(xb,yb) And the remaining sites can be based on q1And relative distance from a reference site, e.g. q2(xb+lr,yb) Therefore, the overall load evaluation index of the region is the coordinate q of the reference position point1As a function of (c).
As shown in fig. 6, the distribution of the regional overall load evaluation index in the reachable workspace is shown. Since the task workspace is referenced to its top left vertex in this embodimentThe locus, and therefore the distribution of the index, is located only at the top portion of the total reachable workspace of the robot shown in figure 4. According to the simulation calculation result, the coordinate of the reference position point with the minimum evaluation index q can be obtained1(xb,yb) Length and width determined based on the point are h (1604mm,1205mm)r＝1530mm，lrThe rectangular area of 140mm is the workspace area with the lowest overall load level.
As shown in fig. 7, it is a schematic diagram of the relative installation positions of the robot and the workpiece, where D is the horizontal installation distance defined as the vertical distance between the axis of the moving guide rail of the robot and the central axis of the workpiece, H is the vertical installation distance defined as the vertical distance between the installation plane of the moving guide rail of the robot and the lowest point of the workpiece, and H is the vertical distance between the installation plane of the moving guide rail of the robot and the lowest point of the workpieceoThe vertical distance between the robot coordinate system origin and the installation plane of the moving guide rail is 0.698m, and the robot coordinate system origin and the axis of the moving guide rail are located in the same vertical plane in the embodiment. Given D and H, the relative mounting position of the robot to the workpiece will be uniquely determined. The expressions for obtaining the mounting distance between the robot and the workpiece according to the vector loop method are respectively as follows:
D＝xb+lr+dscosθw
H＝yb-dssinθw-hp-ho
based on the task work space coordinates when the area total load index is minimum, the specific numerical values of the robot mounting position in the present embodiment are found to be D ═ 1.985m and H ═ 0.936 m. Negative values of H indicate that the lowest point where the workpiece is placed is below the robot moving rail mounting plane.
Referring to fig. 8, a joint drive torque curve of a typical motion trajectory is illustrated for the joints of the drive arm 4. The black line (lower line) represents the drive torque curve when using the robot mounting position determined by the present invention, and the red line (upper line) represents the drive torque curve when using the compared mounting position. It can be seen that after the method for determining the installation position of the spraying robot provided by the invention is implemented, the driving load of the robot in actual operation is obviously reduced, and the load change range is correspondingly reduced, so that the optimization lays a foundation for the improvement of the motion precision and the reduction of the precision fluctuation of the robot, and the method has a good implementation effect.
According to the method for determining the installation position of the spraying robot based on the joint driving load, provided by the embodiment of the invention, by fully considering the time-varying characteristic of the driving load of the spraying robot during the operation of a working space, an evaluation index capable of reflecting the maximum load of the driving joint of the robot in a certain posture is extracted from a robot dynamics model, and the evaluation index capable of representing the whole load level of each joint in a region is established by combining with the range of the task working space. And searching an area with integrally lower driving load level based on the distribution of the evaluation indexes in the reachable working space, and further obtaining the relative installation position of the robot and the workpiece. The method has strong operability and high accuracy, effectively reduces the driving load when the robot moves, and simultaneously reduces the movement precision fluctuation caused by the violent change of the load.
Next, a painting robot mounting position determining apparatus based on joint driving loads proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 9 is a schematic structural diagram of a painting robot mounting position determining apparatus based on joint driving loads according to an embodiment of the present invention.
As shown in fig. 9, the joint drive load-based painting robot mounting position determining apparatus 90 includes: a first determining module 901, a second determining module 902, a third determining module 903 and a fourth determining module 904.
The first determining module 901 is configured to determine the reachable working space of the spraying robot according to the robot kinematics model and the joint movement angle range.
And a second determining module 902, configured to establish a dynamic evaluation index representing the magnitude of the load of the driving joint according to the dynamic model.
And a third determining module 903, configured to determine a task working space range of the spraying robot according to the shape and size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly select multiple points at equal intervals in the task working space range, and use an average value of the dynamics evaluation indexes corresponding to the points as an evaluation index of the overall load level of the characterization area.
And a fourth determining module 904, configured to find the lowest point of the evaluation index of the overall load level within the reachable working space range, and determine the relative mounting position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
Further, in an embodiment of the present invention, the first determining module is specifically configured to establish a positive kinematic model of the spray robot based on a vector loop method, calculate a motion range of the robot end effector according to a given mechanism geometric parameter and a motion angle range of the driving joint, and use the motion range as a reachable working space of the spray robot.
Further, in an embodiment of the present invention, the fourth determining module is specifically configured to, within the reachable working space range, obtain distribution of the overall load evaluation index of the area, and find a reference location coordinate when the overall load evaluation index of the area has a minimum value;
and according to the coordinate of the reference point at the minimum value, combining the spraying distance requirement of the robot end effector and the working surface, the placing height of the workpiece and the ground and the relative position of the original point and the mounting point of the robot coordinate system, calculating the relative horizontal distance and the vertical distance between the mounting point and the workpiece of the robot, and determining the mounting position of the robot.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the spraying robot installation position determining device based on the joint driving load, provided by the embodiment of the invention, by fully considering the driving load time-varying characteristic of the spraying robot during the operation of a working space, an evaluation index capable of reflecting the maximum load of the driving joint of the robot in a certain posture is extracted from a robot dynamic model, and the evaluation index capable of representing the whole load level of each joint in a region is established by combining with the range of the task working space. And searching an area with integrally lower driving load level based on the distribution of the evaluation indexes in the reachable working space, and further obtaining the relative installation position of the robot and the workpiece. The robot has the advantages of strong operability and high accuracy, effectively reduces the driving load when the robot moves, and simultaneously reduces the movement precision fluctuation caused by the violent change of the load.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A spraying robot installation position determining method based on joint driving load is characterized by comprising the following steps:
s1, determining the reachable working space of the spraying robot according to the robot kinematics model and the joint movement angle range;
s2, establishing a dynamic evaluation index representing the load of the driving joint according to the dynamic model;
s3, determining a task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of positions in the task working space range at equal intervals, and taking the average value of the dynamics evaluation indexes corresponding to the positions as the evaluation index of the whole load level of the characterization area;
and S4, searching the lowest point of the evaluation index of the whole load level in the reachable working space range, and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
2. The method according to claim 1, wherein the S1 further comprises:
the method comprises the steps of establishing a positive kinematic model of the spraying robot based on a vector loop method, calculating the motion range of a robot end effector according to given mechanism geometric parameters and the motion angle range of a driving joint, and taking the motion range as the reachable working space of the spraying robot.
3. The method according to claim 1, wherein the S2 further comprises:
establishing a kinetic model of the spraying robot based on the virtual work principle, wherein the kinetic model expression of the spraying robot is as follows:
wherein τ ═ τ [ τ ]1 τ2 … τn]TA vector consisting of drive torques of the individual drive joints, q ═ θ1 θ2 … θn]TFor the angle value of each driving joint, n is the number of driving joints of the robot, and M (q) is the robotThe matrix of the inertia of (a) is,
centrifugal and Coriolis force terms, G (q) gravity terms,
for the angular acceleration values of the individual drive joints,
the angular velocity values of the respective drive joints.
4. The method according to claim 3, wherein the S2 further comprises: the dynamic evaluation index of the load of the driving joint is used for representing the maximum driving load which the spraying robot may have in a certain posture, wherein the load level evaluation index of a certain driving joint is as follows:
wherein i is the serial number of the driving joint of the robot, MijIs the ith row and jth column element, G, of the inertia matrixiIs the ith row element of the gravity term,
g is 9.8m/s for the design value of the maximum angular acceleration in all the drive joints2Is the acceleration of gravity.
5. The method according to claim 1, wherein the S3 further comprises:
and determining the minimum motion range which the robot end effector should have when at least meeting the current working requirement according to the surface shape and the size of the workpiece to be sprayed and the spraying distance requirement between the robot end effector and the working surface and considering the motion precision and the safety limit of the robot, wherein the minimum motion range is the task working space range of the robot.
6. The method according to claim 5, wherein the S3 further comprises:
in the task working space range, a plurality of points are uniformly selected at equal intervals, and according to the evaluation index of the load level of the single-drive joint, the evaluation index representing the whole load level of the spraying robot in a certain area is determined, wherein the evaluation index is as follows:
wherein s is the number of selected sites, DLIi(qk) Is an index value of the ith driving joint of the robot at the kth position, qkAnd the vector formed by the driving joint angle corresponding to the k-th position point.
7. The method of claim 1, wherein the S4 further comprises:
in the reachable working space range, the distribution of the regional overall load evaluation indexes is obtained, and the coordinates of the reference position points when the regional overall load evaluation indexes have the minimum value are searched;
and according to the coordinate of the reference point at the minimum value, combining the spraying distance requirement of the robot end effector and the working surface, the placing height of the workpiece and the ground and the relative position of the original point and the mounting point of the robot coordinate system, calculating the relative horizontal distance and the vertical distance between the mounting point and the workpiece of the robot, and determining the mounting position of the robot.
8. A painting robot mounting position determining apparatus based on joint drive load, characterized by comprising:
the first determination module is used for determining the reachable working space of the spraying robot according to the robot kinematic model and the joint motion angle range;
the second determination module is used for establishing a dynamic evaluation index for representing the load size of the driving joint according to the dynamic model;
the third determination module is used for determining a task working space range of the spraying robot according to the shape and the size of the working surface of the workpiece to be sprayed and the distance between the robot end effector and the working surface, uniformly selecting a plurality of sites in the task working space range at equal intervals, and taking the average value of the dynamics evaluation indexes corresponding to the sites as the evaluation index of the whole load level of the representation area;
and the fourth determining module is used for searching the lowest point of the evaluation index of the whole load level in the reachable working space range and determining the relative installation position of the spraying robot and the workpiece to be sprayed through coordinate conversion.
9. The device according to claim 8, wherein the first determination module is specifically configured to establish a positive kinematic model of the painting robot based on a vector loop method, calculate a motion range of the robot end effector according to a given mechanism geometric parameter and a motion angle range of the driving joint, and use the motion range as a reachable working space of the painting robot.
10. The apparatus according to claim 8, wherein the fourth determining module is specifically configured to, within the reachable working space range, find a distribution of the overall regional load evaluation indicators, and find a reference location coordinate when the overall regional load evaluation indicator has a minimum value;
and according to the coordinate of the reference point at the minimum value, combining the spraying distance requirement of the robot end effector and the working surface, the placing height of the workpiece and the ground and the relative position of the original point and the mounting point of the robot coordinate system, calculating the relative horizontal distance and the vertical distance between the mounting point and the workpiece of the robot, and determining the mounting position of the robot.
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