CN116638525A

CN116638525A - Offline programming method and device for construction robot

Info

Publication number: CN116638525A
Application number: CN202310818979.2A
Authority: CN
Inventors: 孙澄; 贾永恒; 董琪; 韩昀松; 周亦然; 顾健
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2023-07-05
Filing date: 2023-07-05
Publication date: 2023-08-25

Abstract

The application discloses an off-line programming method and device for a construction robot, and relates to the technical field of construction robots. The off-line programming method and the off-line programming device for the construction robot comprise a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring current workpiece data on a target workpiece drawing; the data input module is used for storing the current workpiece data; the parameter correction module is used for correcting the current workpiece data stored by the data input module; the generating program module is used for generating a program for the construction robot to cut the target workpiece according to the current workpiece data. The technical scheme of the application can solve the problems that the existing industrial building robot has single offline programming function, inaccurate data cannot be corrected when workpiece data are acquired, and the workpiece cannot be smoothly cut by the cutting action executed after offline programming according to the inaccurate data, so that the requirement of a user on accurately cutting the workpiece cannot be met.

Description

Offline programming method and device for construction robot

Technical Field

The application relates to the technical field of building robots, in particular to an off-line programming method and device for a building robot.

Background

The industrial building robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability.

The off-line programming of the existing industrial building robot can be used for the industrial building robot to cut the workpiece in an off-line state. Off-line programming of industrial construction robots can be efficient and simple to achieve the required program. However, the existing industrial building robot has a single offline programming function, and when workpiece data are collected, the data are inaccurate and cannot be corrected, so that after offline programming according to the inaccurate data, the workpiece cannot be smoothly cut by the executed cutting action, and the requirement of a user for accurately cutting the workpiece cannot be met.

Disclosure of Invention

The application mainly aims to provide an off-line programming method and device for a construction robot, and aims to solve the problems that the existing industrial construction robot has single off-line programming function, inaccurate data cannot be corrected when workpiece data are acquired, so that the workpiece cannot be cut smoothly by the cutting action executed after the off-line programming according to the inaccurate data, and the requirement of a user on accurately cutting the workpiece cannot be met.

In order to achieve the above object, the method and apparatus for offline programming of a construction robot according to the present application include:

the data acquisition module is used for acquiring current workpiece data on a target workpiece drawing;

the data input module is used for storing the current workpiece data;

the parameter correction module is used for correcting the current workpiece data stored by the data input module;

and the generating program module is used for generating a program for the construction robot to cut the target workpiece according to the current workpiece data.

In an embodiment, the data for the target workpiece includes: the number of the edges to be cut of the target workpiece is multiple, and the cutting sequence of the edges to be cut is multiple.

In an embodiment, the parameter correction module compares the data stored by the data input module with a parameter template in the parameter correction module, and when there is a large difference between the current workpiece data and the parameter template, executes a parameter correction action to correct the current workpiece data with the large difference into data provided by the parameter template.

In an embodiment, the off-line programming method of the construction robot further includes a temperature control module, wherein the temperature control module is used for collecting the current temperature of the generating program module, and the temperature control module executes an alarm action when the current temperature is greater than a set temperature.

In an embodiment, the temperature control module includes a fault detection module, and when the current temperature is greater than a set temperature, the temperature control module controls the fault detection module to execute an alarm action, so as to implement fault detection on the generating program module.

In an embodiment, the off-line programming method of the construction robot further includes an off-line downloading module, the generating program module submits the generated program to the off-line downloading module, and the off-line downloading module starts to execute downloading according to the program of the construction robot for cutting the target workpiece after the program is completed.

In an embodiment, when the data acquisition module acquires the current workpiece data secondarily, the program stored in the storage unit is used for the construction robot to cut the target workpiece secondarily.

In an embodiment, the off-line programming method of the construction robot further comprises a compensation operation module, and the compensation operation module can perform data processing on the current workpiece data acquired by the data acquisition module to achieve correction on the current workpiece data acquired by the data acquisition module.

The application also provides an off-line programming device of the construction robot, which comprises a data acquisition module, a data input module, a parameter correction module and a generation program module:

the data input module is connected with the data acquisition module and can store the current workpiece data on the target workpiece drawing acquired by the data acquisition module;

the parameter correction module is connected with the data input module and is used for correcting the current workpiece data stored by the data input module;

the generating program module is connected with the data input module and is used for generating a program for the construction robot to cut a target workpiece according to the current workpiece data.

In an embodiment, the off-line programming device of the construction robot further comprises a display screen, wherein the display screen is connected with the data acquisition module, and the display screen can display the current workpiece data of the target workpiece.

According to the technical scheme, the data acquisition module, the data input module, the parameter correction module and the generation program module are arranged, so that the drawing data of a target workpiece are acquired, the acquired current workpiece data are stored, the stored current workpiece data are compared with the data of the parameter template contained in the parameter correction module, if the fact that the difference between the data of the stored current workpiece and the data of the parameter template is large is found, the current workpiece data are corrected according to the data of the parameter template, the corrected accurate data can be used for generating the program module, and the generation program module generates a program for the construction robot to cut the target workpiece according to the accurate data of the current workpiece. In the off-line programming method of the construction robot, collected and stored data can be corrected according to the parameter template of the parameter correction module, if the difference between the collected and stored current workpiece data and the parameter template is not large, the collected current workpiece data cannot be corrected, a program for cutting a target workpiece by the construction robot is directly generated according to the current workpiece data, the scientificity of the off-line programming method of the construction robot can be realized, the off-line programming program is carried out after the collected current workpiece data is determined to be accurate data, and the purpose that the target workpiece can be cut by the current program in the follow-up work is achieved. In the subsequent work, if the target workpiece to be cut with the same size is available, the cutting action is directly executed according to the program for cutting the workpiece downloaded by the offline downloading module, and the purpose of high-efficiency cutting is achieved without repeatedly generating the program.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an off-line programming method of a construction robot provided by the application;

fig. 2 is a functional block diagram of an offline programming method of a construction robot according to the present application.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that all the directional indicators in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture, and if the specific posture is changed, the directional indicators are correspondingly changed.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

In order to solve the above problems, the present application provides a method and apparatus for offline programming of a construction robot.

Referring to fig. 1 to 2, in this embodiment, the offline programming method of a construction robot includes a data acquisition module for acquiring current workpiece data on a target workpiece drawing; the data input module is used for storing the current workpiece data; the parameter correction module is used for correcting the current workpiece data stored by the data input module; and the generating program module is used for generating a program for the construction robot to cut a target workpiece according to the current workpiece data.

Specifically, the off-line programming method of the construction robot specifically comprises the following steps: and the application data acquisition module acquires current workpiece data on a target workpiece drawing, wherein the target workpiece is a workpiece to be cut. The drawing of the target workpiece may be obtained in advance in various ways, for example: CAD drawing of the target workpiece can be obtained through CAD drawing software; or, the image acquisition device can acquire the image of the target workpiece, determine the scale of the image of the target workpiece, and obtain the image of the target workpiece with the scale as the drawing of the target workpiece.

After the data acquisition module acquires the current workpiece data on the target workpiece drawing, the current workpiece data is transmitted to the data input module for storage, and the data to be stored include, but are not limited to, size information, shape characteristics, machining information and the like of the target workpiece. The data input module can transmit the stored data of the current workpiece to the parameter correction module, the parameter correction module comprises a parameter template, the parameter template comprises but is not limited to positions of a starting point and an ending point of a certain edge corresponding to a certain target task if the certain target task is to cut the certain edge in a straight line, and the construction robot can start from the position of the starting point of the edge and cut the certain edge in the straight line to the position of the ending point of the edge; or if a certain target task is to cut a certain edge in an arc manner, the parameter template comprises the positions of the starting point and the ending point of the edge and the position of the midpoint of the edge corresponding to the target task, and the construction robot can cut each arc from the position of the starting point of the edge to the position of the ending point of the edge. And the present parameter template may be a predetermined parameter template. If the difference between the collected target workpiece data and the data predetermined by the parameter template is larger, the data of the corresponding position of the parameter template is directly input for replacement. For example, when measuring the positions of the starting point and the ending point of the corresponding edge of the target workpiece, if the position measurement data of the ending point obviously does not accord with the actual data, the building robot manipulator cannot reach the ending point position, and then the current workpiece data is replaced according to the ending point data provided by the parameter template.

The generation program module refers to a program for controlling the construction robot to perform the relevant standard action. Based on the parameter templates or the current workpiece data corresponding to each target task, an original code for controlling the construction robot to cut the target workpiece can be obtained. After compiling, packaging, and the like the original codes, a program for controlling the construction robot to cut the target workpiece can be obtained. The embodiment of the application is used for storing the current workpiece data through a data input module; the parameter correction module is used for correcting the current workpiece data stored by the data input module; the generating program module is used for generating a program for the construction robot to cut the target workpiece according to the current workpiece data, so that the construction robot can program the workpiece more accurately, and the data correction is performed by using a predetermined parameter template, so that the programming accuracy is realized.

Specifically, when the generating program module generates the corresponding target program, the temperature control module monitors the heat energy generated by the generating program module, the temperature control module comprises a preset temperature, the preset temperature is the highest temperature which can be received by the generating program module when the generating program module is correctly stabilized, and if the temperature is higher than the preset temperature when the generating program module works, the temperature control module directly alarms. The temperature control module comprises a temperature control detector, the temperature control detector can detect the current temperature of the generating program module in real time and transmit the current temperature to the temperature controller in real time, the temperature controller controls whether the temperature control module executes an alarm action, and if the temperature transmitted to the temperature controller at the moment is obviously higher than the preset temperature, the temperature controller directly controls the temperature control module to alarm.

Specifically, the temperature control module includes a fault detection module, and specifically, the fault detection module executes an alarm action. The fault detection module can realize the on-line fault diagnosis and the off-line fault diagnosis of the generating program module, and particularly, the on-line fault diagnosis is that the generating program module is subjected to fault detection under the condition that the generating program module is not down, and the generating program module is subjected to the on-line fault diagnosis through the fault detection module, so that an on-line fault diagnosis result is obtained; the specific offline fault diagnosis is that offline fault detection is carried out on the generation program module under the condition that the generation program module is down. After the offline fault diagnosis result and the online fault diagnosis result are obtained, the offline fault diagnosis result and the online fault diagnosis result can be fused, and the fused result is displayed and monitored. However, when the generator module is powered off or down, the alarm action is directly executed, and whether to execute the offline fault detection action can be judged according to the requirement.

Specifically, submitting the generated program to an offline downloading module, wherein the offline downloading module judges whether the program to be downloaded is a downloaded program, and if so, executes a discard downloading action; if not, a download action is performed. When the downloading mode is non-blocking large file downloading, creating a temporary file and starting to download the file at the offline downloading server, judging whether the file is successfully downloaded, dividing the file into blocks with a preset size and uploading the blocks with the preset size to cloud storage in sequence when judging that the file is successfully downloaded, judging whether the uploading is successful, and deleting the temporary file when judging that the uploading is successful. In addition, when the downloading mode is that the small files are not blocked, the downloading of the files is started, whether the downloading of the files is successful or not is judged, and when the downloading of the files is successful, the files are divided into blocks with preset sizes and the blocks with the preset sizes are uploaded to cloud storage in sequence.

In an embodiment, a storage unit in the offline download module is used for storing the downloaded program.

Specifically, the offline downloading module may further include a judging and identifying module, when the program module is generated to successfully generate the program for cutting the target workpiece, and then the downloading operation is performed, the judging and identifying module may first perform the identifying operation, specifically, identify whether the program is a downloaded program or not, if the program is a program which is not downloaded, if the program is a downloaded program, the second downloading operation is not performed, and the user may find the downloaded program in the cloud and directly perform the program, without generating the program module to generate the program again, so as to realize the convenience and intelligence of controlling the offline programming method of the construction robot. The specific method of judging whether the program is downloaded is not limited, the judgment can be performed according to the data input to the program generating module by the data input module, if the current workpiece data is matched with the program data downloaded before, the secondary downloading action is not executed, and the workpiece cutting action is executed directly according to the previous downloading program. The off-line programming device of the construction robot is provided with a controller, the controller can judge according to the data transmitted to the generating program module by the data input module, and if the data is matched with the previous workpiece data, the off-line downloading program is controlled to search the workpiece cutting program which is downloaded before and applied to the data. If the controller does not find that the current workpiece data is identical with the previous data, the data transmitted by the data input module is directly sent to the parameter correction module, and the data after parameter correction can be applied to a program for generating the cutting target workpiece by the generating program module.

Specifically, the offline download module may also copy the downloaded resources into the space of the user, such as a network disk, and when the user needs to use the resources, the resources may be downloaded from the space to, for example, the user's personal computer or mobile terminal according to the user's request.

In the application, the off-line downloading module can also carry out block downloading, namely when the downloading mode is non-block large file downloading, a temporary file is created and the downloading of the file is started in the off-line downloading server, whether the downloading of the file is successful or not is judged, when the downloading of the file is judged to be successful, the file is divided into blocks with a preset size, the blocks with the preset size are sequentially uploaded to cloud storage, whether the uploading is successful or not is judged, and when the uploading is judged to be successful, the temporary file is deleted. And when the downloading mode is that the small files are not blocked, starting to download the files, judging whether the downloading of the files is successful, dividing the files into blocks with preset sizes when the downloading of the files is successful, and uploading the blocks with the preset sizes to cloud storage according to the sequence. The specific partitioning mode can be distinguished according to actions required to be executed by the target workpiece. For example, if the target workpiece only needs to execute the linear cutting action, the program is generated and downloaded only according to the data required by the target workpiece when executing the linear cutting action, and if the target workpiece only needs to execute the curved cutting action, the data required by the target workpiece when executing the linear cutting action is not acquired.

Specifically, the off-line programming method of the construction robot comprises a compensation operation module, wherein when the data acquisition module acquires current workpiece data on a target workpiece drawing, the computer can be used for processing and compensating the data in a current working room on line, and the current workpiece data after the data processing and the compensation operation can be used for storing the current workpiece data through the data input module. Preferably, the compensation operation module and the parameter correction module can determine whether to set or not according to the actual design requirement. Only the effect of correcting the collected current workpiece data is needed.

Specifically, the off-line programming device of the construction robot comprises a controller, a data acquisition module, a data input module, a parameter correction module, a generation program module, a temperature control module, an off-line downloading module and a fault detection module. The controller can data acquisition module carry out data acquisition work and control data input module with the data that data acquisition module gathered are stored to the drawing of target work piece, and data acquisition module is connected with data input module, and data input module is connected with parameter correction module, and parameter correction module and the production procedure module are connected, and the production procedure module still includes temperature control module, includes fault detection module in temperature control module, and the production procedure module is connected with off-line download module. The parameter correction module is internally provided with a parameter correction controller, the parameter correction controller can control the data of the parameter template to be compared with the data of the target workpiece according to the data of the target workpiece transmitted by the data input module, if one item of data or two items of data obviously do not accord with the size of the actual target workpiece or obviously are the cutting working range which cannot be achieved by the mechanical arm of the building robot, the corresponding data of the corresponding position of the target workpiece is changed into the data of the parameter template according to the parameters of the parameter template, and the changed data is within the working range of the mechanical arm. And transmitting the corrected data to the generating program module. If the data transmitted to the parameter correction module by the data input module is compared with the parameter template controlled by the parameter correction controller, the data is found to have no obvious problem, and the data transmitted by the data input module is directly transmitted to the generation program module. And the generating program module is used for generating a program according to the transmitted correct data of the target workpiece, and the generated program is used for the manipulator to cut the target workpiece linearly or cut the target workpiece in a curve manner. After the generating program module generates the program for linearly cutting the target workpiece or curvilinearly cutting the target workpiece, the off-line downloading device automatically starts downloading the program. However, it should be noted that, after the target workpiece data passes through the parameter correction module, the correct data is only transmitted to the generating program module, and the controller controls and determines whether the data is a program that has been downloaded by a cutting operation performed before, and if the data is a program that has been downloaded, the generating program module is not required to secondarily generate the target program for cutting the target workpiece. And the generating program module further comprises a temperature control device, the temperature control module is arranged in the generating program module, the temperature control module is used for monitoring the real-time temperature of the generating program module, a temperature controller is arranged in the temperature control module, and if the temperature of the generating program module monitored by the temperature control module is higher than the preset temperature set by the temperature control module, the temperature controller controls the fault detection module to execute an alarm action. This action can ensure the normal operation of the generator module.

Specifically, the off-line programming device of the construction robot further comprises a display screen, the display screen can be connected with the data acquisition module, the display screen can display current drawing data of the target workpiece, and whether the parameter correction module updates the data on the drawing of the target workpiece or not, and whether the generated program module is in a normal production working state or not at the moment, so that a user can intuitively observe the working progress and the error reporting of the off-line programming device of the construction robot.

The off-line programming device of the construction robot adopts all the technical schemes of all the embodiments, so that the off-line programming device at least has all the beneficial effects brought by the technical schemes of the embodiments, and the off-line programming device is not repeated herein.

In an embodiment, the technical scheme of the application realizes the acquisition of the drawing data of the target workpiece by arranging the data acquisition module, the data input module, the parameter correction module and the generation program module, stores the acquired current workpiece data, compares the stored current workpiece data with the data of the parameter template contained in the parameter correction module, corrects the current workpiece data according to the data of the parameter template if the data of the stored current workpiece has larger difference with the data of the parameter template, uses the corrected accurate data as the generation program module, and generates a program for the construction robot to realize cutting the target workpiece according to the accurate data of the current workpiece. In the off-line programming method of the construction robot, collected and stored data can be corrected according to the parameter template of the parameter correction module, if the difference between the collected and stored current workpiece data and the parameter template is not large, the collected current workpiece data cannot be corrected, a program for cutting a target workpiece by the construction robot is directly generated according to the current workpiece data, the scientificity of the off-line programming method of the construction robot can be realized, the off-line programming program is carried out after the collected current workpiece data is determined to be accurate data, and the purpose that the target workpiece can be cut by the current program in the follow-up work is achieved. In the subsequent work, if the target workpiece to be cut with the same size is available, the cutting action is directly executed according to the program for cutting the workpiece downloaded by the offline downloading module, and the purpose of high-efficiency cutting is achieved without repeatedly generating the program.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the application, and all equivalent structural changes made by the specification and drawings of the present application or direct/indirect application in other related technical fields are included in the scope of the present application.

Claims

1. A method for offline programming of a construction robot, comprising:

the data input module is used for storing the current workpiece data;

2. The construction robot offline programming method of claim 1, wherein the data of the target workpiece comprises: the number of the edges to be cut of the target workpiece is multiple, and the cutting sequence of the edges to be cut is multiple.

3. The offline programming method of claim 2, wherein the parameter correction module compares the data stored in the data input module with a parameter template in the parameter correction module, and performs a parameter correction action to correct the current workpiece data with a larger difference as the data provided by the parameter template when the current workpiece data has a larger difference from the parameter template.

4. The offline programming method of a construction robot according to claim 1, further comprising a temperature control module, wherein the temperature control module is configured to collect a current temperature of the generation program module, and the temperature control module performs an alarm action when the current temperature is greater than a set temperature.

5. The offline programming method of the construction robot according to claim 4, wherein the temperature control module comprises a fault checking module, and the temperature control module controls the fault checking module to execute an alarm action according to the current temperature being greater than a set temperature, so as to implement fault checking of the generator module.

6. The offline programming method of a construction robot according to claim 1, further comprising an offline download module, the generation program module submitting the generated program to the offline download module, the offline download module starting to perform a download action after the program of the construction robot cutting the target workpiece is completed.

7. The offline programming method of the construction robot according to claim 6, wherein the program stored in the storage unit is used for the construction robot to secondarily cut the target workpiece when the data of the current workpiece is secondarily collected by the data collection module.

8. The offline programming method of a construction robot according to claim 1, further comprising a compensation operation module, wherein the compensation operation module can perform data processing on the current workpiece data acquired by the data acquisition module, so as to correct the current workpiece data acquired by the data acquisition module.

9. The off-line programming device of the construction robot is characterized by comprising a data acquisition module, a data input module, a parameter correction module and a generation program module:

10. The offline programming device of claim 9, further comprising a display screen coupled to the data acquisition module, the display screen capable of displaying the current workpiece data of the target workpiece.