CN113560394A - Binding method for robot, computer-readable storage medium, and computer device - Google Patents
Binding method for robot, computer-readable storage medium, and computer device Download PDFInfo
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- CN113560394A CN113560394A CN202110782998.5A CN202110782998A CN113560394A CN 113560394 A CN113560394 A CN 113560394A CN 202110782998 A CN202110782998 A CN 202110782998A CN 113560394 A CN113560394 A CN 113560394A
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- 230000027455 binding Effects 0.000 title claims abstract description 157
- 238000000034 method Methods 0.000 title claims abstract description 125
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 67
- 238000005096 rolling process Methods 0.000 claims abstract description 38
- 238000009957 hemming Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 7
- 230000036544 posture Effects 0.000 description 14
- 101100206195 Arabidopsis thaliana TCP2 gene Proteins 0.000 description 10
- 101000666730 Homo sapiens T-complex protein 1 subunit alpha Proteins 0.000 description 10
- 101100536570 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) CCT2 gene Proteins 0.000 description 10
- 102100038410 T-complex protein 1 subunit alpha Human genes 0.000 description 10
- 238000009966 trimming Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000012356 Product development Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 101710117064 Trimethylamine corrinoid protein 1 Proteins 0.000 description 2
- 101710117056 Trimethylamine corrinoid protein 2 Proteins 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 238000012942 design verification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
- B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/12—Edge-curling
- B21D19/14—Reinforcing edges, e.g. armouring same
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Abstract
The invention discloses a binding method for a robot, a computer-readable storage medium and a computer device, the binding method for the robot comprising: the robot comprises a binding head, the binding head is provided with a binding support which is rotatable around a rotating point, the binding support is provided with a first roller and a second roller which are coaxially arranged, the outer diameters of the first roller and the second roller are different, and the binding method comprises the following steps: a wrapping process of a workpiece is obtained; determining the first roller or the second roller as a working wheel according to the edge covering process, and adjusting the angle of the working wheel; and acquiring a wrapping track according to the wrapping process, and controlling the working wheel to roll the workpiece according to the wrapping track. The edge rolling method for the robot can control the robot to adjust the angle of the edge rolling head according to the process requirement so as to adapt to different edge rolling process angles, so that the robot can complete the edge rolling process of different procedures only through slight posture change, and the robot has better flexibility and adaptability.
Description
Technical Field
The present invention relates to the field of vehicle manufacturing technologies, and in particular, to a binding method for a robot, a computer-readable storage medium, and a computer device.
Background
In the related art, rollers used for robot edge rolling are fixed relative to six axes of the robot, a plurality of rollers are arranged on an edge rolling tool according to the edge rolling process requirement, a TCP (tool coordinate system) is arranged corresponding to each roller, different TCPs (Transmission control protocol) are switched according to the process requirement during edge rolling, and different rollers are used for completing the set edge rolling task. When the robot border, divide into three preface borders more, the turn-ups of the certain angle of work piece is accomplished to every preface, but along with product structure diversification, the product molding is complicated various, the turn-ups angle of work piece planking stamping workpiece is some regions and has been close to 160, the work piece angle of borduring is too big, three preface borders can't be realized, consequently the robot border is increased to four preface borders and even five preface borders by three preface borders, if accomplish many preface borders with a border wheel, but such mode of setting, lead to its robot gesture change greatly, the quality after the peer robot gesture will cause the influence to the work piece border.
Especially, the robot gesture is not good will make work piece border quality optimization become more difficult, therefore robot gesture change control is better at 45 within range borders, lead to corresponding big angle to bordure and need set up 3 border wheels at least, treat in addition that the work piece appearance design of borduring has multiple molding structure and need can realize with the gyro wheel of minor diameter, and the diameter size of gyro wheel influences greatly to border quality optimization, so the gyro wheel diameter is difficult too little, but product structure causes the gyro wheel that the diameter is big can not realize special construction's borduring, so general border head need set up the gyro wheel of two kinds of diameters at least. Therefore, the front end of the edge rolling head occupies a large space, and the process requirement is difficult to be finished in a place with a narrow product space (such as edge wrapping at the inner side of a car door frame and edge wrapping at a back door tail lamp).
In addition, many car enterprises are the mixed line production mode, and the border work of multiple product is accomplished to a robot, and under this condition, a border head can not satisfy the mixed line production demand of wide-angle bordure work piece for the adaptability of robot is very poor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a binding method for a robot, which is beneficial to meeting the mixed line production requirement of a large-angle binding workpiece, reducing the binding debugging difficulty of the robot and shortening the simulation and online debugging period.
According to the binding method for the robot of the embodiment of the invention, the robot comprises a binding head, the binding head is provided with a binding support which can rotate around a rotating point, the binding support is provided with a first roller and a second roller which are coaxially arranged, the outer diameters of the first roller and the second roller are different, and the binding method comprises the following steps: a wrapping process of a workpiece is obtained; determining the first roller or the second roller as a working wheel according to the edge covering process, and adjusting the angle of the working wheel; and acquiring a wrapping track according to the wrapping procedure, and controlling the working wheel to roll the workpiece according to the wrapping track.
According to the edge rolling method for the robot, disclosed by the embodiment of the invention, the angle of the edge rolling head can be controlled to be adjusted by the robot according to the process requirements so as to adapt to different edge rolling process angles, the robot can complete edge rolling processes of different procedures only through slight posture change, the optimal robot posture is achieved in the edge rolling process, the product development period is conveniently shortened, and the robot has better flexibility and adaptability.
According to the binding method for the robot in some embodiments of the present invention, the adjusting the angle of the working wheel comprises: determining a process edge rolling angle according to the edge covering process; rotating the edge rolling support from an initial position to a target angle around the rotating point according to the process edge rolling angle; wherein the initial position is a position where the axis of the binding bracket is perpendicular to the axis of six axes of the robot.
According to the binding method for a robot according to some embodiments of the present invention, controlling the working wheel to bind the workpiece according to the binding track includes: acquiring a theoretical contact point according to the wrapping track; acquiring an actual coordinate point of a rolling point of the working wheel according to the target angle and the coordinate origin of the working wheel at the initial position; and controlling the actual coordinate point to coincide with the theoretical contact point so as to roll the workpiece.
According to some embodiments of the present invention, the acquiring an actual coordinate point of the binding point of the working wheel includes: establishing a tool coordinate system and determining coordinate dots of the tool coordinate system; and acquiring the actual coordinate point of the edge rolling point according to the target angle, the length of a connecting line between the coordinate round point and the rotating point, an included angle between the connecting line between the coordinate round point and the rotating point and the axis line of the six axes of the robot, and the coordinate of the coordinate round point.
According to the binding method for a robot according to some embodiments of the present invention, the acquiring the actual coordinate point of the binding point includes: obtaining a coordinate dot TCP1 of the edge rolling point of the first roller, wherein the calculation formula is as follows: y3 ═ Y0-L1 × sin (α + θ), Z3 ═ Z0+ L1 × cos (α + θ); wherein α is an included angle between a connecting line between a coordinate dot of the TCP1 and the rotation point and a six-axis line of the robot, θ is a target angle of the first roller, L1 is a length of a connecting line between a coordinate dot of the TCP1 and the rotation point, Y0 is a Y-direction base coordinate value of the rotation point, Y3 is a Y-direction base coordinate value of the coordinate dot of the TCP1, Z0 is a Z-direction base coordinate value of the rotation point, and Z3 is a Z-direction base coordinate value of the coordinate dot of the TCP 1.
According to the binding method for a robot according to some embodiments of the present invention, the acquiring the actual coordinate point of the binding point further includes: obtaining a coordinate dot TCP2 of the rolling point of the second roller, and calculating a formula: y4 ═ Y0+ L2 ═ sin (β - θ 2), Z4 ═ Z0+ L2 ═ cos (β - θ 2); wherein β is an included angle between a connecting line between a coordinate dot of the TCP2 and the rotation point and the six-axis line of the robot, θ 2 is a target angle of the second roller, L2 is a length of a connecting line between a coordinate dot of the TCP2 and the rotation point, Y0 is a Y-direction base coordinate value of the rotation point, Y4 is a Y-direction base coordinate value of the coordinate dot of the TCP2, Z0 is a Z-direction base coordinate value of the rotation point, and Z4 is a Z-direction base coordinate value of the coordinate dot of the TCP 2.
A binding method for a robot according to some embodiments of the present invention, further comprising: establishing a basic coordinate system before establishing a tool coordinate system; the base coordinate system is a central point of an assembly surface of the flange of the shell of the edge rolling head and the six-axis connection of the robot, and the base coordinate system is coincided with the tool coordinate system.
According to the binding method for a robot according to some embodiments of the present invention, the acquiring a binding track according to the binding process includes: acquiring and analyzing the outer contour structure of the edge-covering workpiece; and determining the edge covering track of the working wheel to the edge covering workpiece according to the outer contour structure.
The invention also provides a computer readable storage medium.
According to the computer readable storage medium of the embodiment of the present invention, a binding program for a robot is stored thereon, and when executed by a processor, the binding program realizes the binding method for a robot as described in any one of the above embodiments.
The invention also provides computer equipment.
The computer device according to the embodiment of the invention comprises a memory, a processor and a binding program for the robot, wherein the binding program is stored in the memory and can run on the processor, and when the processor executes the binding program, the binding method for the robot is realized according to any one of the embodiments.
The advantages of the computer-readable storage medium and the computer device are the same as the advantages of the above-mentioned binding method for a robot over the prior art, and are not described herein again.
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 above 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 schematic diagram of a robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of a binding method for a robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a robot body according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a hemming head of a robot according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a binding stand of a robot according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a binding head of a robot according to an embodiment of the present invention (the binding head is in an initial position);
FIG. 7 is a side view of a stitching head of a robot (with the stitching head in an initial position) in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural view of a binding head of a robot according to an embodiment of the present invention (the binding head is rotated from an initial position to a target angle);
fig. 9 is an angle diagram of a binding head of a robot (the binding head is rotated from an initial position to a target angle) according to an embodiment of the present invention.
Reference numerals:
the robot 100 is provided with a robot arm which,
a base 1, a robot body 2, six shafts 21, a binding clamp 3, a binding head 4, a shell flange 41, a hinge shaft 42, a binding bracket 43, a first roller 44, a second roller 45,
coordinate dots O of the tool coordinate system.
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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The following describes a binding method for a robot 100 according to an embodiment of the present invention with reference to fig. 1 to 9, in which a binding bracket 43 is provided on a binding head 4, and the binding bracket 43 is rotatable around a rotation point, so that the angles of the first roller 44 and the second roller 45 are adjustable, so that the first roller 44 and the second roller 45 can adapt to different binding process angles, and thus, only by adjusting the binding bracket 43 to change the angles of the first roller 44 and the second roller 45, the robot 100 can complete binding processes of different processes with only a slight posture change, and the binding process has an optimal posture of the robot 100, so that a product development cycle is shortened, and the robot 100 has better flexibility and adaptability.
According to the binding method for the robot 100 of the embodiment of the present invention, the robot 100 is a power device for binding a workpiece, and the robot 100 includes: base 1, robot body 2, binding head 4 and control module, and robot 100 can cooperate with binding anchor clamps 3 for carry out the binding operation to the work piece.
As shown in fig. 1, the base 1 may be configured as a disc-shaped structure, which is convenient for increasing the contact area between the base 1 and the lower supporting structure (such as a workbench), and enhancing the stability of the base 1, and the base 1 is supported below the robot body 2, i.e. the lower end of the robot body 2 is fixedly connected with the upper end of the base 1, so as to fix the robot body 2 through the base 1, so that the robot body 2 is convenient for preventing the robot body 2 from shaking when the workpiece is rolled, and enhancing the stability of the robot body 2.
As shown in fig. 1, the binding jig 3 is used for fixing a workpiece, that is, when binding the workpiece, the workpiece may be fixed on the worktable by the binding jig 3, so as to prevent the workpiece from moving or shifting when binding the workpiece, ensure the stability of the workpiece, and facilitate the robot 100 to bind the workpiece quickly.
As shown in fig. 1, one end of the binding head 4 departing from the robot body 2 can directly contact with the workpiece, thereby completing the binding action on the workpiece, and the binding head 4 is connected with the upper end of the robot 100, one end of the binding head 4 far away from the robot body 2 is provided with a binding support 43 rotatable around a rotation point, the rotation point can be constructed as a hinge shaft 42, namely, the binding support 43 can rotate relative to the hinge shaft 42, thereby enabling the binding support 43 to rotate around the rotation point according to the flanging angle requirements of different processes, and locking when the working position is rotated, thereby ensuring that the binding support 43 can stably work for different flanging angles, and enhancing the flexibility and adaptability of the binding head 4.
As shown in fig. 5, the binding bracket 43 is provided with a first roller 44 and a second roller 45 which are coaxially arranged, and the first roller 44 and the second roller 45 have different outer diameters. That is to say, first gyro wheel 44 and second gyro wheel 45 coaxial setting, and first gyro wheel 44 and second gyro wheel 45 distribute in the both sides of piping support 43, and the external diameter size of first gyro wheel 44 and second gyro wheel 45 is different, and the external diameter size of first gyro wheel 44 can be greater than the external diameter size of second gyro wheel 45 promptly, or the external diameter size of second gyro wheel 45 is greater than the external diameter size of first gyro wheel 44 to be convenient for satisfy the mixed line production demand of different angle piping work piece through two gyro wheels that the external diameter size is different.
Therefore, the position of the trimming support 43 can be flexibly adjusted according to the characteristics of the workpiece and different technological requirements, and then the positions of the first roller 44 and the second roller 45 are adjusted, so that when the workpiece has different technological requirements, the position of the whole robot 100 does not need to be adjusted, trimming of the workpiece can be realized only by adjusting the positions of the first roller 44 and the second roller 45, the robot 100 can complete trimming processes of different procedures only through slight posture change, the optimal posture of the robot 100 in the trimming process is ensured, the product development period is conveniently shortened, and the robot 100 has better flexibility and adaptability.
The control module is used for executing a binding control system, the binding control system can set a binding track according to the characteristics of the workpiece and the process requirements, and then a system control program is compiled according to the time sequence requirements of the binding control system, so that the workpiece binding is completed according to the set binding control program in the actual binding process, the automatic setting of the robot 100 is realized, and the production efficiency is improved.
As shown in fig. 2, the binding method includes:
s1: and obtaining the edge covering process of the workpiece.
That is to say, the binding track can be set by the binding control system according to the characteristics of the workpiece and different process requirements, and then the system control program is compiled according to the time sequence requirement of the binding system, so that the binding procedure is set, and further, in the actual binding process, the binding control system controls the robot 100 to operate according to the binding procedure, so that the binding of the workpiece is completed according to the set binding procedure, the automatic setting of the robot 100 is realized, and the production efficiency is improved.
S2: and determining the first roller 44 or the second roller 45 as a working wheel according to the edge covering process, and adjusting the angle of the working wheel.
It can be understood that different workpieces have different process requirements and thus have different hemming processes, the robot 100 may determine that the workpiece needs to be hemmed through the first roller 44 or the second roller 45 according to the hemming process, that is, when the workpiece needs to be hemmed through the first roller 44, the first roller 44 is a working wheel, and the angle of the first roller 44 is changed by rotating the hemming bracket 43 to meet the hemming requirements of the workpiece, or when the workpiece needs to be hemmed through the second roller 45, the second roller 45 is a working wheel, and the angle of the second roller 45 is changed by rotating the hemming bracket 43 to meet the hemming requirements of the workpiece, so that the first roller 44 and the second roller 45 can adapt to different hemming process angles by changing the angles of the first roller 44 and the second roller 45, the robot 100 can finish the hemming processes of different processes through slight posture changes, allowing the robot 100 to have greater flexibility and adaptability.
S3: and acquiring a wrapping track according to the wrapping process, and controlling the working wheel to roll the workpiece according to the wrapping track.
That is to say, there is the orbit of borduring that has set for in the process of borduring, and robot 100 is according to the process of borduring confirm the working wheel and adjust the angle that the working wheel is located, steerable working wheel is along the orbit of borduring that sets for to the work piece is bordured, thereby accurately carries out the turn-ups to the work piece, is convenient for realize robot 100's automatic setting, does benefit to and improves production efficiency.
According to the trimming method for the robot 100 provided by the embodiment of the invention, the robot 100 can be controlled to adjust the angle of the trimming head 4 according to the process requirements so as to adapt to different trimming process angles, the robot 100 can complete the trimming process of different procedures only through slight attitude change, the optimal attitude of the robot 100 is ensured in the trimming process, the product development period is conveniently shortened, and the robot 100 has better flexibility and adaptability.
In some embodiments, adjusting the angle at which the work wheel is positioned comprises: determining a process binding angle according to the binding procedure, namely determining the process binding angle required by the workpiece according to the binding procedure, and then rotating the binding support 43 from an initial position to a target angle around a rotating point according to the process binding angle, wherein the initial position is a position at which the axis of the binding support 43 is perpendicular to the axis of the six-axis 21 of the robot 100, and the target angle is an angle required by the binding support 43 to bind the workpiece.
That is to say, when the angle that the working wheel was located is adjusted, according to the required technology border angle of work piece, rotatory border support 43 to the target angle, and then drive first gyro wheel 44 or second gyro wheel 45 and work piece contact by border support 43 to satisfy the technology border angle of different work pieces, make robot 100 can only adapt to different border technology angles through rotatory border support 43, be convenient for robot 100 can accomplish the border process of different processes only through the little attitude change, make robot 100 have better adaptability.
Further, the step of controlling the working wheel to roll the workpiece according to the edge wrapping track comprises the following steps: the method comprises the steps of obtaining a theoretical contact point according to a wrapping track, obtaining an actual coordinate point of a rolling point of a working wheel according to a target angle and a coordinate origin of the working wheel at an initial position, namely obtaining the theoretical contact point between the working wheel and a workpiece according to the set wrapping track, then after the rolling support 43 rotates to the target angle, namely after the rolling support 43 drives the working wheel to rotate to the target angle, determining the current actual coordinate point of the rolling point of the rotating working wheel according to the coordinate origin of the working wheel at the initial position and the target angle, and then controlling the actual coordinate point to coincide with the theoretical contact point to roll the workpiece.
Acquiring an actual coordinate point of a rolling point of the work wheel includes: establishing a tool coordinate system and determining a coordinate dot O of the tool coordinate system, wherein the tool coordinate system is arranged on each of the first roller 44 and the second roller 45, before an actual coordinate point of a rolling point of the working wheel is obtained, the working wheel is determined to be the first roller 44 or the second roller 45 according to a wrapping track, then the coordinate dot of the working wheel is determined, and the actual coordinate point of the rolling point is obtained according to a target angle, the length of a connecting line between the coordinate dot and a rotation point, an included angle between the connecting line between the coordinate dot and the rotation point and an axial line of six shafts 21 of the robot 100 and the coordinate of the coordinate dot. That is, after the working wheel is determined, the current coordinate position of the edge rolling point of the working wheel is determined according to the target angle, the distance from the rotation point to the coordinate dot, and the angle between the rotation point and the axis line of the six-axis 21 of the robot 100.
Specifically, when the first wheel 44 is a work wheel, as shown in fig. 6 and 7, acquiring the actual coordinate point of the roll point includes: obtaining a coordinate dot TCP1 of the edge rolling point of the first roller 44, and dividing a tool coordinate system taking TCP1 as the coordinate dot into X1Axis, Y1Axis and Z1Shaft: x1The axis extending in a direction tangential to the circumference of the first roller 44, Y1The axis is parallel to the axis of the first roller 44 and extends toward the direction close to the first roller 44, Z1The axes are respectively connected with X1Axis and Y1The axis is vertical and extends along the radius direction of the first roller 44, and the actual coordinate point calculation formula of the rolling point of the first roller 44 is: y3 ═ Y0-L1 × sin (α + θ), Z3 ═ Z0+ L1 × cos (α + θ).
As shown in fig. 8 and 9, α is an included angle between a connection line between a coordinate dot of TCP1 and a rotation point and an axis line of six axis 21 of robot 100, θ is a target angle of first roller 44, L1 is a length of the connection line between the coordinate dot of TCP1 and the rotation point, Y0 is a Y-direction base coordinate value of the rotation point, Y3 is a Y-direction base coordinate value of the coordinate dot of TCP1, Z0 is a Z-direction base coordinate value of the rotation point, and Z3 is a Z-direction base coordinate value of the coordinate dot of TCP 1.
Further, when the second roller 45 is a working wheel, as shown in fig. 6 and 7, acquiring the actual coordinate point of the border point further includes: coordinate dots TCP2 of the border points of the second roller 45 are obtained, and the tool coordinate system taking TCP2 as the coordinate dots is divided into X2Axis, Y2Axis and Z2Shaft: x2The axis extending in a direction tangential to the circumference of the second roller 45, Y2The axis is parallel to the axis of the second roller 45 and extends toward the direction close to the second roller 45, Z2The axes are respectively connected with X2Axis and Y2The shaft is vertical and extends along the radius direction of the second roller 45, and the calculation formula is: y4 ═ Y0+ L2 ═ sin (β - θ 2), Z4 ═ Z0+ L2 ═ cos (β - θ 2).
As shown in fig. 8 and 9, β is an included angle between a connection line between a coordinate dot of TCP2 and a rotation point and an axis line of six axis 21 of robot 100, θ 2 is a target angle of second roller 45, L2 is a length of the connection line between the coordinate dot of TCP2 and the rotation point, Y0 is a Y-direction base coordinate value of the rotation point, Y4 is a Y-direction base coordinate value of the coordinate dot of TCP2, Z0 is a Z-direction base coordinate value of the rotation point, and Z4 is a Z-direction base coordinate value of the coordinate dot of TCP 2.
In addition, X is1Axis and X2The axes extending in the same direction, Y1Axis and Y2The axes extending in opposite directions, Z1Axis and Z2The axes extend in the same direction, where TCP1 (from) is the tool coordinate system of the first roller 44 at the initial position and TCP2 (from) is the tool coordinate system of the second roller 45 at the initial position.
Therefore, through the calculation, the angle of the binding head 4 can be adjusted according to the technological requirements by controlling the robot 100 to adapt to different binding technological angles, so that the robot 100 can complete binding processes of different procedures only through slight posture changes, the optimal posture of the robot 100 is ensured in the binding process, and the robot 100 has better flexibility and adaptability.
In some embodiments, as shown in fig. 6-9, the binding method for the robot 100 further comprises: before the tool coordinate system is established, a basic coordinate system is established, and the basic coordinate system is divided into an X axis, a Y axis and a Z axis, wherein the origin of coordinates of the basic coordinate system is the central point of the assembly plane where the shell flange 41 of the binding head 4 is connected with the six axes 21 of the robot 100, and the basic coordinate system coincides with the tool coordinate system. The basic coordinate system is used for determining the current position of the hemming head 4 and the basic coordinate system coincides with the tool coordinate system for determining the current position of the work wheel, it being understood that the basic coordinate system is used for determining the actual position of the hemming head 4, the work wheel is first determined to be the first wheel 44 or the second wheel 45 when the workpiece is hemmed, and after the work wheel is determined, the basic coordinate system coincides with the tool coordinate system of the work wheel, such as the X-axis and the X-axis when the work wheel is the first wheel 441The axes extend in the same direction, Y-axis and Y1The axes extend in the same direction, Z-axis and Z1The extending directions of the shafts are the same, so that the binding head 4 is accurately controlled to bind the workpiece, or when the working wheel is the second roller 45, the X-axis is the same as the X-axisX2The axes extend in the same direction, Y-axis and Y2The axes extend in the same direction, Z-axis and Z2The extending directions of the shafts are the same, so that the positions of the working wheels are accurately controlled, and the edge rolling precision of the robot 100 on the workpiece is improved.
The step of obtaining the wrapping track according to the wrapping process comprises the following steps: and acquiring and analyzing the outer contour structure of the edge-covering workpiece, and determining the edge-covering track of the working wheel to the edge-covering workpiece according to the outer contour structure. That is to say, the outer contour structure of the workpiece is analyzed according to the set edge covering process to determine the required edge covering angle of the workpiece, and then the edge covering track of the working wheel to the workpiece is determined according to the outer contour shape of the workpiece and the required edge covering angle, so that the working wheel can be ensured to carry out edge covering on the workpiece according to the edge covering track, and the requirements of the edge covering process of different workpieces are met.
In the invention, by the above-mentioned binding method, in the binding process of different processes, the postures of the binding head 4 and the six shafts 21 of the robot 100 can be basically kept unchanged, so that the occupied space of the robot 100 in the binding process is basically the same, and the largest space can be played when the binding clamp 3 is designed, thereby facilitating the design of the binding clamp 3. Meanwhile, because the invention has the characteristics, when the robot 100 carries out the seam allowance simulation and the interference verification, whether the interference phenomenon exists above the moulding bed can be determined through any sequence, so that the design verification period is shortened, the corresponding workload is reduced, in addition, when the field debugging is finished, after the first sequence debugging is finished, the other procedures only need to call the program verification to finish the seam allowance debugging work of all the procedures, and the initial debugging time can be greatly shortened on the field.
The invention also provides a computer readable storage medium.
According to the computer-readable storage medium of the embodiment of the present invention, the binding program for the robot 100 is stored thereon, and when the binding program is executed by the processor, the binding method for the robot 100 according to any of the above embodiments is implemented, and the binding method can control the robot 100 to adjust the angle of the binding head 4 according to the process requirements, so as to adapt to different binding process angles, so that the robot 100 can complete binding processes of different processes only through slight posture changes, thereby ensuring that the robot 100 has an optimal posture in the binding process, and facilitating shortening of the product development cycle, so that the robot 100 has better flexibility and adaptability.
The invention also provides computer equipment.
According to the computer device of the embodiment of the invention, the computer device comprises a memory, a processor and a binding program which is stored on the memory and can be run on the processor and is used for the robot 100, when the processor executes the binding program, the binding method for the robot 100 of any one of the embodiments is realized, and the binding method can control the robot 100 to adjust the angle of the binding head 4 according to the process requirements so as to adapt to different binding process angles, so that the robot 100 can complete binding processes of different procedures only through slight posture changes, the optimal posture of the robot 100 in the binding process is ensured, the product development period is shortened, and the robot 100 has better flexibility and adaptability.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more.
In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween.
In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like 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 do not necessarily 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.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A binding method for a robot, characterized in that the robot (100) comprises a binding head (4), the binding head (4) being provided with a binding cradle (43) rotatable about a rotation point, the binding cradle (43) being provided with a first roller (44) and a second roller (45) coaxially arranged, the first roller (44) and the second roller (45) having different outer diameters, the binding method comprising:
a wrapping process of a workpiece is obtained;
determining the first roller (44) or the second roller (45) as a working wheel according to the edge covering process, and adjusting the angle of the working wheel;
and acquiring a wrapping track according to the wrapping procedure, and controlling the working wheel to roll the workpiece according to the wrapping track.
2. The binding method for a robot of claim 1, wherein the adjusting the angle at which the running wheels are located comprises:
determining a process edge rolling angle according to the edge covering process;
rotating the binding bracket (43) from an initial position to a target angle around the rotation point according to the process binding angle; wherein,
the initial position is a position where the axis of the binding bracket (43) is perpendicular to the axis of the six shafts (21) of the robot (100).
3. The hemming method for robot according to claim 2, wherein controlling the working wheel to hem the workpiece according to the hemming trajectory includes:
acquiring a theoretical contact point according to the wrapping track;
acquiring an actual coordinate point of a rolling point of the working wheel according to the target angle and the coordinate origin of the working wheel at the initial position;
and controlling the actual coordinate point to coincide with the theoretical contact point so as to roll the workpiece.
4. The binding method for a robot according to claim 3, wherein the acquiring of the actual coordinate point of the binding point of the work wheel comprises:
establishing a tool coordinate system and determining coordinate dots (O) of the tool coordinate system;
and acquiring the actual coordinate point of the edge rolling point according to the target angle, the length of a connecting line between the coordinate round point and the rotating point, an included angle between the connecting line between the coordinate round point and the rotating point and the axis line of a six-axis (21) of the robot (100) and the coordinate of the coordinate round point.
5. The binding method for a robot according to claim 4, wherein the acquiring the actual coordinate point of the binding point includes:
obtaining coordinate dots TCP of the border points of the first roller (44)1And the calculation formula is as follows: y is3＝Y0-L1*sin(α+θ)，Z3＝Z0+L1Cos (α + θ); wherein
Alpha is TCP1The included angle between the connecting line between the coordinate dots and the rotating point and the axis line of the six shafts (21) of the robot (100), theta is the target angle of the first roller (44), and L1Is a TCP1Length of the line between the coordinate dots of (a) and the rotation point of (b), Y0Is the Y-direction base coordinate value of the rotation point, Y3Is a TCP1Y-direction base coordinate value, Z of the coordinate dot of (2)0Is a Z-direction base coordinate value of the rotation point, Z3Is a TCP1The Z-direction base coordinate value of the coordinate dot of (a).
6. The binding method for a robot according to claim 4, wherein the acquiring of the actual coordinate point of the binding point further comprises:
obtaining coordinate dots TCP of the border points of the second roller (45)2And the formula is calculated as follows: y is4＝Y0+L2*sin(β-θ2)，Z4＝Z0+L2*cos(β-θ2) (ii) a Wherein
Beta is TCP2The included angle theta between the connecting line between the coordinate dots and the rotating point and the axis line of the six axes (21) of the robot (100)2Is a target angle, L, of the second roller (45)2Is a TCP2Length of the line between the coordinate dots of (a) and the rotation point of (b), Y0Is the Y-direction base coordinate value of the rotation point, Y4Is a TCP2Y-direction base coordinate value, Z of the coordinate dot of (2)0Is a Z-direction base coordinate value of the rotation point, Z4Is a TCP2The Z-direction base coordinate value of the coordinate dot of (a).
7. The binding method for a robot according to claim 4, further comprising:
establishing a basic coordinate system before establishing a tool coordinate system; wherein
The coordinate origin of the basic coordinate system is the central point of an assembly surface of the shell flange (41) of the edge rolling head (4) and the six shafts (21) of the robot (100), and the basic coordinate system is superposed with the tool coordinate system.
8. The binding method for a robot according to claim 1, wherein the acquiring a binding track according to the binding process includes:
acquiring and analyzing the outer contour structure of the edge-covering workpiece;
and determining the edge covering track of the working wheel to the edge covering workpiece according to the outer contour structure.
9. A computer-readable storage medium, on which a binding program for a robot (100) is stored, which when executed by a processor implements the binding method for a robot according to any one of claims 1-8.
10. A computer arrangement, characterized by comprising a memory, a processor and a binding program for a robot (100) stored on the memory and executable on the processor, which when executing the binding program, implements the binding method for a robot according to any of claims 1-8.
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Application publication date: 20211029 |