CN116100549B - Robot processing track design method, control device and medium - Google Patents
Robot processing track design method, control device and medium Download PDFInfo
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- CN116100549B CN116100549B CN202310107846.4A CN202310107846A CN116100549B CN 116100549 B CN116100549 B CN 116100549B CN 202310107846 A CN202310107846 A CN 202310107846A CN 116100549 B CN116100549 B CN 116100549B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention provides a robot processing track design method, a control device and a medium, and relates to the technical field of robot processing. The robot processing track design method comprises the following steps: establishing a three-dimensional data model of a robot processing system; loading the three-dimensional data model into a simulation environment, and defining tool coordinates of a machining tool; generating respective manufacturing feature coordinates according to all manufacturing features on the workpiece to be processed; sequencing all manufacturing feature coordinates according to the machining procedure of the workpiece to be machined; adjusting the tool coordinates to be correspondingly overlapped with each manufacturing characteristic coordinate in sequence; respectively determining the pose of the robot when the tool coordinates are overlapped with each manufacturing characteristic coordinate; and generating a robot processing track according to all the poses of the robot. The robot processing track design method can reasonably plan the processing track of the robot, and greatly improve the teaching efficiency and the processing precision of the robot processing track.
Description
Technical Field
The present invention relates to the field of robot processing technologies, and in particular, to a method for designing a robot processing track, a control device, and a medium.
Background
Industrial robotics have been developing for half a century, and an emerging technology is emerging. Meanwhile, industrial robots are also becoming an emerging industry that grows faster. At present, industrial robots are widely applied to factory production and are mainly applied to production and manufacturing processes with repeatability such as product inspection, assembly, transportation, packaging, spraying and the like; in some light cutting machining occasions with low machining precision requirements, industrial robots gradually replace the traditional numerical control machine tool to perform milling machining. The industrial robot is a mechanical arm, and is an automatic industrial product for realizing specific processing according to a certain track. At present, most robots realize the running track of the robot in a manual teaching mode, but the manual teaching method has the defects of low efficiency, low precision and the like.
In view of the above, there is a need for a robot processing track design method with high efficiency and precision.
Disclosure of Invention
The invention provides a robot processing track design method, a control device and a medium, which can realize the high-efficiency and high-precision robot running track design.
The technical scheme is as follows:
in one aspect, a method for designing a robot machining track is provided, and the method is suitable for a robot machining system, wherein the robot machining system comprises a robot and a tool, a machining tool is arranged at the tail end of the robot, a clamp is arranged on the tool, and the clamp is used for clamping and fixing a workpiece to be machined;
the robot processing track design method comprises the following steps:
establishing a three-dimensional data model of the robot processing system;
loading the three-dimensional data model into a simulation environment, defining tool coordinates (X a ，Y a ，Z a )；
Generating respective manufacturing feature coordinates (X) according to all manufacturing features on the workpiece to be processed b ，Y b ，Z b )；
For all the manufacturing feature coordinates (X b ，Y b ，Z b ) Sequencing;
adjusting the tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially associating each of the manufacturing feature coordinates (X b ，Y b ，Z b ) Corresponding superposition;
determining the tool coordinates (X a ，Y a ，Z a ) And each of the manufacturing feature coordinates (X b ，Y b ，Z b ) The pose of the robot when the robot is overlapped;
and generating a robot processing track according to all the poses of the robot.
In some embodiments, the robotic processing trajectory comprises a feed trajectory;
the robot processing track design method comprises the following steps:
generating a target feed track according to the manufacturing characteristics;
a plurality of interpolation coordinates (X L ，Y L ，Z L )；
Adjusting the tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially with each of the interpolation coordinates (X L ，Y L ，Z L ) Corresponding superposition;
determining the tool coordinates (X a ，Y a ，Z a ) And each of the interpolation coordinates (X L ，Y L ，Z L ) The pose of the robot when the robot is overlapped;
and generating the feeding track according to all the poses of the robot.
In some embodiments, the manufacturing feature comprises a drilling feature, and the target feed trajectory comprises a straight trajectory that is parallel to an axial direction of the manufacturing feature;
and/or the number of the groups of groups,
the manufacturing feature comprises a milling feature and the target feed trajectory comprises an arc trajectory that is parallel to a plane in which the milling feature lies.
In some embodiments, when the target feed trajectory comprises a straight trajectory, the interpolating a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
acquiring start coordinates (X 1 ，Y 1 ，Z 1 ) And endpoint coordinates (X) 2 ，Y 2 ，Z 2 )；
Determining the number of interpolations N 1 ；
The interpolation coordinates (X L ，Y L ，Z L ) Calculated by formula (1):
Δ X 、Δ Y 、Δ Z calculated by formula (2):
wherein the interpolation times N 1 Is an integer of 0 or more.
In some embodiments, the interpolation number N 1 C×s, where c is a coefficient and S is the length of the straight track;
when the length S of the linear track is in the range of 0-20mm, the value range of c is 100-200;
when the length S of the linear track exceeds 20mm, the value range of c is 200-500.
In some embodiments, the target feed trajectory includes a circular arc trajectory, and the interpolating a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
obtaining the center coordinates (X) o ，Y o ，Z o ) Radius R, start angle α, circular arc central angle θ;
determining the number of interpolations N 2 ；
The interpolation coordinates (X L ，Y L ，Z L ) Calculated by formula (3):
where Δθ=θ/(n) 2 +1), the number of interpolation times N 2 Is an integer of 0 or more.
In some embodiments, the interpolation number N 2 C×θ×r, where c is a coefficient, θ is a circular arc central angle of the circular arc track, and R is a radius of the circular arc track;
when theta X R is in the range of 0-20mm, the value range of c is 100-200;
when theta X R exceeds 20mm, the value range of c is 200-500.
In some embodiments, the ratio of the three-dimensional data model of the robotic processing system is 1:1.
In some embodiments, before loading the three-dimensional data model into a simulation environment, the method further comprises:
and carrying out light weight conversion on the three-dimensional data model.
In some embodiments, the method generates respective manufacturing feature coordinates (X b ，Y b ，Z b ) Comprising:
extracting geometric features of manufacturing features of the workpiece to be processed;
sequentially projecting the geometric features onto a reference plane, generating the manufacturing feature coordinates (X b ，Y b ，Z b )。
On the other hand, a control device is provided, and is suitable for a robot processing system, wherein the robot processing system comprises a robot and a tool, and the control device is respectively and electrically connected with the robot and the tool;
the control device includes:
the modeling module is used for establishing a three-dimensional data model of the robot processing system;
the simulation module is used for loading the three-dimensional data module;
a positioning module for defining tool coordinates (X a ，Y a ，Z a ) And generating respective manufacturing feature coordinates (X) from all manufacturing features on the workpiece to be processed b ，Y b ，Z b )；
A sorting module for sorting all the manufacturing feature coordinates (X b ，Y b ，Z b ) Sequencing;
a pose determination module for adjusting the tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially associating each of the manufacturing feature coordinates (X b ，Y b ，Z b ) Corresponding coincidence, and determining the tool coordinates (X a ，Y a ，Z a ) And each of the manufacturing feature coordinates (X b ，Y b ，Z b ) The pose of the robot when the robot is overlapped;
and the track generation module is used for generating a robot processing track according to all the poses of the robot.
In some embodiments, the robotic processing system includes: an operation module, a tool and a tool library module;
the operation module comprises a robot and an electric spindle, wherein the electric spindle is connected to the tail end of the robot, and the electric spindle is detachably connected with at least one processing tool;
the tool is positioned at one side of the robot and is used for clamping a workpiece to be machined; the rigidity of the robot is larger than or equal to the cutting force required by the workpiece to be processed;
the tool library module is positioned at the other side of the robot, and at least one processing tool is stored in the tool library module;
the machining system is configured to drive the motorized spindle to move to the tool magazine module position along a first target track, and the motorized spindle is connected with or replaces the at least one machining tool on the tool magazine module; the robot drives the electric spindle to move to the tool position along a second target track, and the electric spindle drives the at least one processing tool to operate so as to machine the workpiece to be processed.
In another aspect, a computer readable storage medium is provided, the computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the method of the present invention.
The technical scheme provided by the invention has the beneficial effects that at least:
the robot processing track design method is suitable for a robot processing system, can reasonably plan the processing track of the robot, greatly improves the teaching efficiency of the robot processing track, shortens the debugging period of the robot processing system, and reduces the debugging cost; and the geometric dimension precision of the workpiece to be processed can be improved, so that the hole making precision is improved to +/-0.1 mm, and the milling surface roughness is higher than the Ra6.3 level.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a robot processing track design method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robotic processing system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a part of a workpiece to be processed according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for designing a robot processing track according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a linear track provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a circular arc trajectory provided by an embodiment of the present invention;
FIG. 7 is an interpolation diagram of circular arc trajectories according to an embodiment of the present invention;
FIG. 8 is a flow chart of a method for designing a robot processing track according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Reference numerals in the drawings are respectively expressed as:
1. an operation module;
11. a robot; 12. an electric spindle; 13. a machining tool;
2. a tool;
3. a tool magazine module;
4. a workpiece to be processed; 411. a cutting section; 412. a circular hole portion; 413. waist hole part;
5. a modeling module; 6. a simulation module; 7. a positioning module; 8. a sequencing module; 9. the pose determining module; 10. and a track generation module.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
It should be understood that "electrically connected" in the present invention may be understood as components in physical contact and in electrical conduction; it is also understood that the various components in the wiring structure are connected by physical wires such as printed circuit board (Printed Circuit Board, PCB) copper foil or leads that carry electrical signals. "communication connection" may refer to transmission of electrical signals, including wireless communication connections and wired communication connections. The wireless communication connection does not require physical intermediaries and does not belong to a connection relationship defining the product architecture. "connected" or "coupled" may refer to a mechanical or physical connection, i.e., a and B are connected or a and B are connected, and may refer to a fastening member (such as a screw, bolt, rivet, etc.) between a and B, or a and B are in contact with each other and a and B are difficult to separate.
Unless defined otherwise, all technical terms used in the embodiments of the present invention have the same meaning as commonly understood by one of ordinary skill in the art.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a robot processing track design method according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a robotic processing system according to an embodiment of the present invention; fig. 3 is a schematic view of a partial structure of a workpiece to be processed according to an embodiment of the present invention.
On the one hand, as shown in fig. 1-3, the present embodiment provides a robot processing track design method, which is suitable for a robot processing system, wherein the robot processing system comprises a robot 11 and a tool 2, a processing tool 13 is arranged at the tail end of the robot 11, and a clamp is arranged on the tool 2 and used for clamping and fixing a workpiece 4 to be processed.
The robot processing track design method comprises the following steps:
s1, establishing a three-dimensional data model of the robot processing system.
S2, loading the three-dimensional data model into a simulation environment, and defining tool coordinates (X a ，Y a ，Z a )。
S3, generating respective manufacturing feature coordinates (X) according to all manufacturing features on the workpiece 4 to be processed b ，Y b ，Z b )。
S4, according to the processing procedure of the workpiece 4 to be processed, all manufacturing characteristic coordinates (X b ，Y b ，Z b ) And sequencing.
S5, adjusting tool coordinates (X) a ，Y a ，Z a ) Sequentially and sequentially with each manufacturing feature coordinate (X b ，Y b ，Z b ) Corresponding coincidence.
S6, respectively determining the tool coordinates (X a ，Y a ，Z a ) With each manufacturing feature coordinate (X b ，Y b ，Z b ) The pose of the robot 11 when the two are overlapped ensures that the robot 11 cannot interfere with the tool 2 or the workpiece 4 to be processed.
S7, generating a robot processing track according to all the poses of the robot.
The robot processing track design method is suitable for a robot processing system, can reasonably plan the processing track of the robot, greatly improves the teaching efficiency of the robot processing track, shortens the debugging period of the robot processing system, and reduces the debugging cost; and the geometric dimension precision of the workpiece 4 to be processed can be improved, so that the hole making precision is improved to +/-0.1 mm, and the milling surface roughness is higher than the Ra6.3 level.
It will be appreciated that the machining tool 13 in this embodiment includes a drill, a milling cutter, a boring cutter, a saw, etc., and that the robotic machining system is capable of performing machining of a variety of different processes on the workpiece 4 to be machined, including, but not limited to, sawing, turning, milling, drilling, boring, grinding, etc.
The workpiece 4 to be processed comprises products such as metal, wood and the like, for example, profiles such as roof beams of vehicles and the like. The manufacturing features on the workpiece 4 to be machined include, but are not limited to, machining holes, machining surfaces, and the like. Alternatively, referring to fig. 3, the manufacturing features include a cut-off portion 411, a round hole portion 412, a waist hole portion 413, and the like, which are respectively located on the surface of the workpiece 4 to be processed, and the robot 11 drives the processing tool 13 to sequentially move to each manufacturing feature position according to the robot processing trajectory output by the present embodiment, and respectively completes the processing of the manufacturing features according to a specific process.
In some possible implementations, after step S7, the generated robot processing track is subjected to comprehensive optimization adjustment, and the robot processing track is led into a control system of the robot 11, and the robot 11 performs verification of the track to implement processing of the workpiece to be processed by the robot 11.
In some possible implementations, in step S2, the method further includes defining operation actions of the tool 2, the processing tool 13, and the like in the simulation environment.
In step S6, determining the pose of the robot 11 includes adjusting the direction and angle of all the articulated arms in the robot 11 so that the tool coordinates (X a ，Y a ，Z a ) With each manufacturing feature coordinate (X b ，Y b ，Z b ) When the machining tool 13 is coincident, the joint arm of the robot 11 is at a desired angle and position without interfering with other components. In addition, the pose of the robot 11 needs to consider the space distance between the robot 11 and the upstream and downstream poses, so that the robot 11 can realize the conversion of the adjacent poses by using the movement with smaller amplitude, thereby realizing the effects of shortening the working beat, improving the working efficiency, reducing the working cost and the like.
In some possible implementations, referring to fig. 2 and 3, the robotic machining system includes a work module 1, a tooling 2, and a tool magazine module 3.
The operation module 1 comprises a robot 11 and an electric spindle 12, wherein the electric spindle 12 is connected to the tail end of the robot 11, and at least one processing tool 13 is detachably connected to the electric spindle 12; the tool 2 is positioned on one side of the robot 11, and the tool 2 is used for clamping a workpiece 4 to be processed; the rigidity of the robot 11 is greater than or equal to the cutting force required for the workpiece 4 to be processed; the tool magazine module 3 is located on the other side of the robot 11, and at least one machining tool 13 (not shown) is stored in the tool magazine module 3.
The robot processing system is configured such that the robot 11 drives the electric spindle 12 to move to the position of the tool magazine module 3 along the first target track, and the electric spindle 12 connects or replaces at least one processing tool 13 on the tool magazine module 3; the robot 11 drives the electric spindle 12 to move to the position of the tool 2 along the second target track, and the electric spindle 12 drives at least one processing tool 13 to move so as to machine the workpiece 4 to be processed.
Wherein at least one of the first target track and the second target track is determined by the robot processing track design method of the present embodiment.
Alternatively, the operation range of the robot 11 is based on the ellipsoidal rigidity control area of the robot 11, and the end rigidity of the robot 11 is equal to or greater than the cutting force required for the workpiece 4 to be machined within the ellipsoidal rigidity control area of the robot 11, so that the operation accuracy of the machining system can be ensured.
In the robot processing system of the embodiment, the electric spindle 12 is integrated at the tail end of the robot 11, the electric spindle 12 can be detachably connected with various processing tools 13, and the workpiece 4 to be processed is processed mechanically under the drive of the robot 11; the workpiece 4 to be processed is clamped and fixed in the operation range of the robot 11 by the tool 2, and the rigidity of the robot 11 in the range is ensured to be greater than or equal to the cutting force of the workpiece 4 to be processed, so that the problems of track deviation, tremble and the like caused by the fact that the stress of the robot 11 exceeds a threshold value are avoided, and the processing precision of a robot processing system is influenced.
In some embodiments, step S1 includes modeling the robot processing system space using cartographic software. Drawing software includes, but is not limited to, 3DMAX, softImage, maya, UG, autoCAD, and the like.
Optionally, the ratio of the three-dimensional data model of the robot processing system is 1:1, and the design accuracy of the processing track is guaranteed by using the three-dimensional data model with the ratio of 1:1.
In some embodiments, the robot processing track includes a feed track, where a feed track refers to a movement track of the end of the robot 1 that drives the processing tool 13 to complete the manufacturing feature processing.
Referring to fig. 4, the robot processing track design method includes:
s8, generating a target feeding track according to the manufacturing characteristics. The target feed trajectory is the desired path of the processing tool 13 to complete the fabrication feature processing.
For example, when the circular hole portion 412 is machined by the machining tool 13 such as a drill, and the diameter of the drill is the same as the inner diameter of the circular hole portion 412, the target feeding trajectory is a straight line overlapping with the axis of the circular hole portion 412.
S9, interpolating a plurality of interpolation coordinates (X) on the target feeding track at intervals L ，Y L ，Z L )。
S10, adjusting tool coordinates (X) a ，Y a ，Z a ) Sequentially and sequentially with each interpolation coordinate (X L ，Y L ，Z L ) Corresponding coincidence.
S11, respectively determining the tool coordinates (X a ，Y a ，Z a ) With each interpolation coordinate (X L ，Y L ，Z L ) The pose of the robot 11 when it is coincident.
And S12, generating a feeding track according to all the poses of the robot 11.
The robot generally moves between preset coordinate points, but when the robot moves between adjacent two coordinate points due to the limitation of the structure of the robot, the end of the robot does not move along a straight line but may move along an arc, a fold line, or a more complicated spatial path. This characteristic results in the robot not being able to move completely in accordance with the target feed trajectory, which movement characteristics can significantly reduce the machining accuracy of the robot machining system.
In the present embodiment, a plurality of interpolation coordinates (X L ，Y L ，Z L ) Thereby shortening two adjacent seats for positioning of the robot 11The distance between the targets enables the actual space path of the robot 11 to be infinitely close to the target feeding track, and further the machining precision of the workpiece 4 to be machined is greatly improved.
In some embodiments, the manufacturing feature comprises a drilling feature, and the target feed trajectory comprises a straight trajectory that is parallel to an axis direction of the manufacturing feature.
In some embodiments, the manufacturing feature comprises a milling feature and the target feed trajectory comprises a circular arc trajectory that is parallel to a plane in which the milling feature lies.
In some embodiments, as shown in connection with FIG. 5, when the target feed trajectory comprises a straight line trajectory, a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
acquiring start coordinates (X) 1 ，Y 1 ，Z 1 ) And endpoint coordinates (X) 2 ，Y 2 ，Z 2 )。
Determining the number of interpolations N 1 。
Interpolation coordinates (X) L ，Y L ，Z L ) Calculated by formula (1):
Δ X 、Δ Y 、Δ Z calculated by formula (2):
wherein the interpolation times N 1 Is an integer of 0 or more.
By using the interpolation method provided by the embodiment, the processing precision of the manufacturing feature processed along the linear track can be improved.
In some embodiments, the number of interpolations N 1 C×s, where c is a coefficient and S is the length of a straight track; when the length S of the linear track is in the range of 0-20mm, c is takenA value in the range of 100-200; when the length S of the linear track exceeds 20mm, the value range of c is 200-500.
The interpolation number N is determined according to the method of the present embodiment 1 The manufacturing method can adaptively adjust according to the manufacturing characteristics of different linear tracks, not only can the machining precision of different manufacturing characteristics be improved, but also the machining beat of the manufacturing characteristics can be ensured, and the machining precision and the machining efficiency of the robot machining system are ensured.
In some embodiments, as shown in connection with fig. 6 and 7, the target feed trajectory includes a circular arc trajectory, and when the circular arc trajectory is located in the Y-Z plane, a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
obtaining the center coordinates (X) o ，Y o ，Z o ) Radius R, start angle α, circular arc central angle θ.
Determining the number of interpolations N 2 。
Interpolation coordinates (X) L ，Y L ，Z L ) Calculated by formula (3):
where Δθ=θ/(N) 2 +1), number of interpolation times N 2 Is an integer of 0 or more.
By using the interpolation method provided by the embodiment, the processing precision of the manufacturing features processed along the arc track can be improved.
In some embodiments, the number of interpolations N 2 C×θ×r, where c is a coefficient, θ is a circular arc central angle of the arc system of the circular arc track, and R is a radius of the circular arc track; when theta X R is in the range of 0-20mm, the value range of c is 100-200; when theta X R exceeds 20mm, the value range of c is 200-500.
The interpolation number N is determined according to the method of the present embodiment 2 The method can adaptively adjust the manufacturing characteristics according to different circular arc tracks, not only can improve the processing precision of different manufacturing characteristics, but also can ensure the manufacturingThe processing precision and the processing efficiency of the robot processing system are ensured by the processing beats of the features.
It will be appreciated that the target feed trajectory may include both a straight trajectory and an arc trajectory, where the straight trajectory and the arc trajectory may be interpolated separately to achieve a complex feed trajectory determination of the manufacturing feature.
As shown in connection with fig. 8, in some embodiments, before loading the three-dimensional data model into the simulation environment, step S2 further includes: s13, performing light weight conversion on the three-dimensional data model.
Three-dimensional models are in different formats, and the memory ratio is slightly different, but the three-dimensional models are generally several times larger than two-dimensional pictures, and even some large models can have memories as high as hundreds of G or more. When the three-dimensional model is loaded into the simulation environment, huge operation pressure is caused to the simulation environment, so that the simulation environment is blocked. Therefore, before step S2, the three-dimensional data model is subjected to light-weight conversion, so that not only the accuracy of the three-dimensional model can be ensured as much as possible, but also the number of the molding surfaces can be optimally reduced, and the optimal effect suitable for the simulation scene can be achieved.
In some embodiments, respective manufacturing feature coordinates (X) are generated from all manufacturing features on the workpiece to be processed b ，Y b ，Z b ) Comprising: extracting geometric features of manufacturing features of a workpiece to be processed; the geometric features are projected onto a reference plane in sequence to generate manufacturing feature coordinates (X b ，Y b ，Z b )。
According to the robot processing track design method, the geometric features of the manufacturing features are projected to the reference plane to generate corresponding manufacturing feature coordinates, so that the spatial positions of the manufacturing features are accurately obtained.
On the other hand, referring to fig. 9, the present embodiment provides a control device, which is suitable for a robot processing system, wherein the robot processing system includes a robot 11 and a tool 2, and the control device is electrically connected with the robot 11 and the tool 2 respectively.
The control device comprises:
the modeling module 5, the modeling module 5 is used for establishing a three-dimensional data model of the robot processing system.
And the simulation module 6 is used for loading the three-dimensional data module.
A positioning module 7, a positioning module 8 for defining tool coordinates (X a ，Y a ，Z a ) And generating respective manufacturing feature coordinates (X) based on all manufacturing features on the workpiece to be processed b ，Y b ，Z b )。
A ranking module 8, the ranking module 8 being configured to rank all manufacturing feature coordinates (X b ，Y b ，Z b ) And sequencing.
A pose determination module 9, the pose determination module 9 being adapted to adjust tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially with each manufacturing feature coordinate (X b ，Y b ，Z b ) Corresponding overlap and respectively determine tool coordinates (X a ，Y a ，Z a ) With each manufacturing feature coordinate (X b ，Y b ，Z b ) And (5) overlapping the pose of the robot.
The track generation module 10, the track generation module 10 is used for generating a robot processing track according to all the pose of the robot.
The control device is suitable for a robot processing system, can reasonably plan the processing track of the robot, greatly improves the teaching efficiency of the robot processing track, shortens the debugging period of the robot processing system, and reduces the debugging cost; and the geometric dimension precision of the workpiece to be processed can be improved, so that the hole making precision is improved to +/-0.1 mm, and the milling surface roughness is higher than the Ra6.3 level.
In some embodiments, in some possible implementations, referring to fig. 2, 3, a robotic machining system includes a work module 1, a tooling 2, and a tool magazine module 3.
The operation module 1 comprises a robot 11 and an electric spindle 12, wherein the electric spindle 12 is connected to the tail end of the robot 11, and at least one processing tool 13 is detachably connected to the electric spindle 12; the tool 2 is positioned on one side of the robot 11, and the tool 2 is used for clamping a workpiece 4 to be processed; the rigidity of the robot 11 is greater than or equal to the cutting force required for the workpiece 4 to be processed; the tool magazine module 3 is located on the other side of the robot 11, and at least one machining tool 13 (not shown) is stored in the tool magazine module 3.
The robot processing system is configured such that the robot 11 drives the electric spindle 12 to move to the position of the tool magazine module 3 along the first target track, and the electric spindle 12 connects or replaces at least one processing tool 13 on the tool magazine module 3; the robot 11 drives the electric spindle 12 to move to the position of the tool 2 along the second target track, and the electric spindle 12 drives at least one processing tool 13 to move so as to machine the workpiece 4 to be processed.
Wherein at least one of the first target track and the second target track is determined by the control device of the present embodiment.
Alternatively, the operation range of the robot 11 is based on the ellipsoidal rigidity control area of the robot 11, and the end rigidity of the robot 11 is equal to or greater than the cutting force required for the workpiece 4 to be machined within the ellipsoidal rigidity control area of the robot 11, so that the operation accuracy of the machining system can be ensured.
In another aspect, the present embodiment provides a computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the method of the present invention.
The computer-readable storage medium of the present embodiment may cause a processor to execute the robot processing trajectory design method of the present invention, with all the advantageous technical effects of all the embodiments herein.
In the description of the present specification, reference to the terms "certain embodiments," "one embodiment," "some embodiments," "an exemplary embodiment," "an example," "a particular example," or "some examples" means 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 present invention.
The foregoing description of the embodiments of the invention is not intended to limit the invention, but rather, the invention is to be construed as limited to the embodiments disclosed.
Claims (7)
1. The robot machining track design method is characterized by being suitable for a robot machining system, wherein the robot machining system comprises a robot and a tool, a machining tool is arranged at the tail end of the robot, a clamp is arranged on the tool, and the clamp is used for clamping and fixing a workpiece to be machined;
the robot processing track design method comprises the following steps:
establishing a three-dimensional data model of the robot processing system;
loading the three-dimensional data model into a simulation environment, defining tool coordinates (X a ，Y a ，Z a )；
Generating respective manufacturing feature coordinates (X) according to all manufacturing features on the workpiece to be processed b ，Y b ，Z b )；
For all the manufacturing feature coordinates (X b ，Y b ，Z b ) Sequencing;
adjusting the tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially associating each of the manufacturing feature coordinates (X b ，Y b ，Z b ) Corresponding superposition;
determining the tool coordinates (X a ，Y a ，Z a ) And each of the manufacturing feature coordinates (X b ，Y b ，Z b ) The pose of the robot when the robot is overlapped;
generating a robot processing track according to all the poses of the robot;
when the robot processing track comprises a feeding track, the robot processing track design method comprises the following steps:
generating a target feed track according to the manufacturing characteristics;
a plurality of interpolation coordinates (X L ，Y L ，Z L )；
Adjusting the tool coordinates (X a ，Y a ，Z a ) Sequentially and sequentially with each of the interpolation coordinates (X L ，Y L ，Z L ) Corresponding superposition;
determining the tool coordinates (X a ，Y a ，Z a ) And each of the interpolation coordinates (X L ，Y L ，Z L ) The pose of the robot when the robot is overlapped;
generating the feeding track according to all the poses of the robot;
when the target feed path includes a straight line path, the method interpolates a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
acquiring start coordinates (X 1 ，Y 1 ，Z 1 ) And endpoint coordinates (X) 2 ，Y 2 ，Z 2 )；
Determining the number of interpolations N 1 ；
The interpolation coordinates (X L ，Y L ，Z L ) Calculated by formula (1):
Δ Z 、Δ Y 、Δ Z calculated by formula (2):
wherein the interpolation times N 1 Is an integer of 0 or more;
the target feeding track comprises an arc track, and when the arc track is located in the Y-Z plane, a plurality of interpolation coordinates (X L ，Y L ，Z L ) Comprising:
acquiring the arc trackCenter coordinates (X) o ，Y o ，Z o ) Radius R, start angle α, circular arc central angle θ;
determining the number of interpolations N 2 ；
The interpolation coordinates (X L ，Y L ，Z L ) Calculated by formula (3):
where Δθ=θ/(N) 2 +1), the number of interpolation times N 2 Is an integer of 0 or more.
2. The robotic processing trajectory planning method of claim 1, wherein the manufacturing feature comprises a drilling feature and the target feed trajectory comprises a straight trajectory that is parallel to an axial direction of the manufacturing feature;
and/or the number of the groups of groups,
the manufacturing feature comprises a milling feature and the target feed trajectory comprises an arc trajectory that is parallel to a plane in which the milling feature lies.
3. The robot processing track design method according to claim 2, wherein the interpolation number N 1 C×s, where c is a coefficient and S is the length of the straight track;
when the length S of the linear track is in the range of 0-20mm, the value range of c is 100-200;
when the length S of the linear track exceeds 20mm, the value range of c is 200-500.
4. The robot processing track design method according to claim 2, wherein the interpolation number N 2 C×θ×r, where c is a coefficient, θ is a circular arc central angle of the circular arc track, and R is a radius of the circular arc track;
when theta X R is in the range of 0-20mm, the value range of c is 100-200;
when theta X R exceeds 20mm, the value range of c is 200-500.
5. The method according to any one of claims 1 to 4, wherein the respective manufacturing feature coordinates (X b ，Y b ，Z b ) Comprising:
extracting geometric features of manufacturing features of the workpiece to be processed;
sequentially projecting the geometric features onto a reference plane, generating the manufacturing feature coordinates (X b ，Y b ，Z b )。
6. The control device is characterized by being suitable for a robot processing system, wherein the robot processing system comprises a robot and a tool, and the control device is electrically connected with the robot and the tool respectively;
the control device adopts the robot processing trajectory design method according to any one of claims 1 to 5;
the control device includes:
the modeling module is used for establishing a three-dimensional data model of the robot processing system;
the simulation module is used for loading the three-dimensional data module;
a positioning module for defining tool coordinates (X a ，Y a ，Z a ) And generating respective manufacturing feature coordinates (X) from all manufacturing features on the workpiece to be processed b ，Y b ，Z b )；
A sorting module for sorting all the manufacturing feature coordinates (X b ，Y b ，Z b ) Sequencing;
the pose determining module is used for adjusting the workerWith coordinates (X) a ，Y a ，Z a ) Sequentially and sequentially associating each of the manufacturing feature coordinates (X b ，Y b ，Z b ) Corresponding coincidence, and determining the tool coordinates (X a ，Y a ，Z a ) And each of the manufacturing feature coordinates (X b ，Y b ，Z b ) The pose of the robot when the robot is overlapped;
and the track generation module is used for generating a robot processing track according to all the poses of the robot.
7. A computer readable storage medium storing instructions which, when executed by a processor, cause the processor to perform the method of any one of claims 1-5.
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