CN116901111A - Method and system for externally adjusting machining parameters of robot - Google Patents
Method and system for externally adjusting machining parameters of robot Download PDFInfo
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- CN116901111A CN116901111A CN202311166789.3A CN202311166789A CN116901111A CN 116901111 A CN116901111 A CN 116901111A CN 202311166789 A CN202311166789 A CN 202311166789A CN 116901111 A CN116901111 A CN 116901111A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000006243 chemical reaction Methods 0.000 claims description 29
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- 230000004044 response Effects 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for 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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The embodiment of the application relates to the technical field of robots, in particular to a method and a system for externally adjusting machining parameters of a robot.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a method and a system for externally adjusting machining parameters of a robot.
Background
At present, when a robot is adopted to remove burrs on a workpiece, a robot demonstrator is used for manually moving a machining path, machining parameters and machining codes are generated after the robot is programmed, the robot operates according to the machining parameters and the machining codes to remove the burrs in the subsequent machining process, however, the workpiece has differences, when burrs removed in certain machining working sections are abnormal and disqualified in the machining process, the machining parameters such as offset, spindle rotation speed, spindle floating pressure and feeding speed are required to be adjusted, the machining parameters are manually readjusted in the machining working sections through the robot demonstrator hardware on the robot is adjusted after the robot is stopped, such as an electronic control proportional valve or IO control on the robot is adjusted after the robot is stopped, the operation is very complicated, and the deburring machining efficiency is low.
Disclosure of Invention
The embodiment of the application aims to provide a method and a system for externally adjusting machining parameters of a robot, and aims to solve the problems that the machining efficiency is low due to complex operation and the need of stopping machine for adjusting the machining parameters when the machining parameters of the robot are adjusted through a robot demonstrator at present.
In order to achieve the above object, the embodiment of the present application provides the following technical solutions:
a method for externally adjusting robot processing parameters is applied to a robot provided with a touch screen, and specifically comprises the following steps:
displaying a digital model of the workpiece on a touch screen of the robot;
responding to the operation of a user on the digital model on the touch screen, and determining a target working section;
displaying a processing parameter adjusting interface of the target working section, and receiving adjusting data of the target working section input by the user at the processing parameter adjusting interface;
according to the data conversion rule of the robot, converting the adjustment data into target processing parameters of the target working section;
and replacing the initial machining parameters in the machining codes of the target working section in the robot by the target machining parameters.
As a further limitation of embodiments of the present application, before the touch screen of the robot displays the digital model of the workpiece, the method specifically further comprises the following steps:
a digital model of the workpiece and initial machining parameters are obtained, wherein the initial machining parameters comprise initial machining parameters of the pre-divided multi-section working section.
As a further limitation of the embodiment of the present application, the displaying the digital model of the workpiece on the touch screen of the robot specifically includes the following steps:
displaying a digital model of the workpiece and a plurality of section selection controls on a touch screen of the robot;
the method specifically comprises the following steps of:
responding to the operation of a user on the touch screen on the target workshop section selection control, and determining the workshop section associated with the target workshop section selection control to obtain the target workshop section.
As a further limitation of the embodiment of the present application, the displaying the processing parameter adjustment interface of the target working section, and receiving the adjustment data of the target working section input by the user at the processing parameter adjustment interface, specifically includes the following steps:
displaying an input box of at least one of a machining offset, a spindle rotation speed, a spindle floating pressure and a feeding speed of the target working section on the touch screen;
and receiving input operation of the user at the input box, and determining the machining offset, the spindle rotating speed, the spindle floating pressure and the feeding speed of the target working section input by the user at the input box as adjustment data.
As a further limitation of the embodiment of the present application, the adjustment data includes a machining offset, and the step of converting the adjustment data into the target machining parameter of the target working section according to the data conversion rule of the robot specifically includes the following steps:
judging whether the processing offset of the target working section is smaller than a preset threshold value or not;
if yes, calculating a first ratio of the machining offset to a preset value, and calculating a sum of the first ratio and an initial value to serve as a target machining offset of the target working section;
if not, calculating the difference value between the machining offset and the preset threshold value, calculating a second ratio of the difference value to the preset numerical value, taking the negative value of the second ratio, and calculating the sum of the negative value and the initial value to obtain the target machining offset of the target working section.
As a further limitation of the embodiment of the present application, the adjustment data includes an adjustment ratio, and the step of converting the adjustment data into the target processing parameter of the target working section according to the data conversion rule of the robot specifically includes the following steps:
acquiring a section number of the target section;
searching a reference processing parameter matched with the section number in a register of the robot;
calculating the product of the reference processing parameter and the adjustment proportion to obtain a target processing parameter of the target working section;
wherein the reference machining parameter includes at least one of a spindle reference rotational speed, a spindle reference float pressure, and a reference feed speed.
As a further limitation of an embodiment of the present application, before calculating the product of the reference machining parameter and the adjustment ratio to obtain the target machining parameter of the target working section, the method specifically further includes the following steps:
calculating the ratio of the adjusting proportion to a preset value, and replacing the adjusting proportion by adopting the ratio.
As a further limitation of the embodiment of the present application, the displaying the processing parameter adjustment interface of the target working section, and receiving the adjustment data of the target working section input by the user at the processing parameter adjustment interface, specifically includes the following steps:
displaying a characteristic input frame of a processing object of the target working section;
receiving input operation of the user in the characteristic input box, and determining characteristic parameters input by the user in the characteristic input box to serve as adjustment data;
the step of converting the adjustment data into target processing parameters of the target working section according to the data conversion rule of the robot specifically comprises the following steps:
and searching the processing parameters matched with the characteristic parameters in a budgeted processing parameter library to serve as target processing parameters of the target working section.
As a further limitation of an embodiment of the present application, the replacing the initial processing parameter in the processing code of the target section in the robot with the target processing parameter specifically includes the following steps:
searching a target register position corresponding to the section number of the target section in a register of the robot;
and replacing the initial processing parameters stored in the target register position with the target processing parameters.
A system for externally adjusting robot processing parameters is applied to a robot provided with a touch screen, and specifically comprises the following units:
the digital model display unit is used for displaying the digital model of the workpiece on the touch screen of the robot;
the target working section determining unit is used for responding to the operation of a user on the digital model on the touch screen and determining a target working section;
the adjusting data receiving unit is used for displaying a processing parameter adjusting interface of the target working section and receiving adjusting data of the target working section input by the user at the processing parameter adjusting interface;
the target machining parameter conversion unit is used for converting the adjustment data into target machining parameters of the target working section according to the data conversion rule of the robot;
and the machining parameter updating unit is used for replacing the initial machining parameters in the machining codes of the target working section in the robot by the target machining parameters.
Compared with the prior art, the application has the beneficial effects that:
according to the embodiment of the application, the digital model of the workpiece can be displayed on the touch screen of the robot, the target working section is determined in response to the operation of a user on the digital model, the machining parameter adjusting interface of the target working section is displayed, the adjusting data of the target working section input by the user on the machining parameter adjusting interface is received, the adjusting data are converted into the target machining parameters of the target working section according to the data conversion rule of the robot, the initial machining parameters in the machining codes of the target working section in the robot are replaced by the target machining parameters, on one hand, after the machining parameters needing to be modified are input by the user on the touch screen, the machining parameters input by the user are automatically converted by the robot according to the data conversion rule of the robot, and are modified into the machining parameters in the machining codes, the machining parameters are not required to be manually adjusted through the robot demonstrator are adjusted after the robot is stopped, the operation is simple and convenient, the machining efficiency is improved, on the other hand, the machining parameters of the selected target working section can be independently adjusted, the machining parameters of the user on the machining parameters of the working section with the machining effect which does not reach the standard can be set according to the change of the workpiece, and the machining quality of products is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application.
FIG. 1 illustrates a flow chart of a method for externally adjusting robot processing parameters provided in one embodiment of the present application.
FIG. 2 is a schematic illustration of a digital model and a section selection control;
FIG. 3 is a schematic diagram of a process parameter adjustment interface;
fig. 4 shows an application architecture diagram of a system for externally adjusting robot processing parameters provided by one embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Fig. 1 shows a flowchart of a method for externally adjusting a robot processing parameter according to an embodiment of the present application. Specifically, the method for externally adjusting the machining parameters of the robot in the embodiment of the application specifically comprises the following steps:
step S101, displaying a digital model of the workpiece on a touch screen of the robot.
The robot of this embodiment may be a robot used for processing a workpiece in industry, and processing the workpiece may refer to processing the workpiece by cutting, milling, boring, planing, and the like, so as to remove excess materials, burrs, and the like on the workpiece, thereby achieving a product with a corresponding quality.
The touch screen can be a touch display screen of the robot, which is connected with a background of the robot and a PLC, and can display processing parameters of the robot in real time in the operation process of the robot, and can also be operated on the touch screen to control the robot.
The digital model may be a 3D model of the workpiece, and in this embodiment, the digital model of the workpiece and initial processing parameters may be obtained first, and the digital model of the workpiece and a plurality of section selection controls are displayed on a touch screen of the robot, where the initial processing parameters include initial processing parameters of the pre-divided multi-section.
Specifically, in one example, after a user places a workpiece on a machining table surface and fixes the workpiece, the user may operate the robot demonstrator to teach the workpiece, for example, manually operate the robot demonstrator, so that the robot walks along a contour edge of the workpiece to be deburred on the workpiece, thereby recording a plurality of coordinate points of the contour to generate a digital model and a machining track, and automatically generating a deburred machining code through a background program, where the machining code includes the machining track and initial machining parameters.
In another embodiment, the processing track of the workpiece can be obtained by programming through an upper computer outside the robot, the processing track is segmented to obtain a plurality of working sections and initial processing data of each working section, for example, a user can import a 3D model of the workpiece on the upper computer and set processing parameters and partition working sections, the processing code of each working section is obtained by programming through programming software on the upper computer, the processing code comprises the processing track and initial processing parameters of each working section, and the processing code and the digital model obtained by programming are imported into the robot, so that the robot can display the digital model of the workpiece and display selection controls of the plurality of working sections.
A schematic diagram of the digital model and the section selection controls displayed by the touch screen is shown in fig. 2, in which a digital model display area a in fig. 2 may display a digital model of the workpiece, and in which a section selection area B may display a plurality of section selection controls.
And step S102, responding to the operation of a user on the digital model on the touch screen, and determining a target working section.
As shown in fig. 2, in one embodiment, a digital model of a workpiece may be displayed in a digital model display area a on a touch screen, a user may perform operations such as rotation, zoom-in, zoom-out, and translation on the digital model to display various features of the workpiece, and the user may select a section that needs to adjust a processing parameter from the displayed digital model, so as to determine a target section in response to a selection of the user, for example, the user may select a certain edge of the workpiece on the digital model, and then the processing section on the edge selected by the user is the target section, and the user may intuitively and visually select the target section that needs to adjust the processing parameter through the digital model of the workpiece by performing a section selection operation on the digital model.
In another embodiment, as shown in fig. 2, a section selection control may be displayed in a section selection area B, and the target section is determined in response to the user touching the target section selection control on the touch screen, as shown in fig. 2, if the user touches the control "2 nd piece of data" in the section selection area B, it is determined that the target section selected by the user is the 2 nd section, and the features of the 2 nd section may be simultaneously highlighted in the digital model displayed in the digital model display area a, for example, the edge or the surface involved in the 2 nd section is displayed in a preset color in the digital model, so that the user determines whether the selected section is correct.
The embodiment can also directly provide a section searching input frame, and a user can directly input the section number of the target section in the input frame to select the target section, and the embodiment does not limit the mode of selecting the target section by the user.
Step S103, a processing parameter adjusting interface of the target working section is displayed, and adjusting data of the target working section input by a user at the processing parameter adjusting interface is received.
In this embodiment, the processing parameters may include at least one of a processing offset, a spindle rotation speed, a spindle floating pressure, and a feeding speed, after determining the target working section, a processing parameter adjustment interface may be displayed on a touch screen, and an input box may be disposed in the processing parameter adjustment interface to input adjustment data of the target working section, for example, after the user inputs at least one of the processing offset, the spindle rotation speed, the spindle floating pressure, and the feeding speed of the target working section in the input box, the data input by the user may be used as adjustment data, and may also be adjustment buttons for setting each processing parameter, such as "+", "-" buttons, so that the user may conveniently set each processing parameter through the adjustment buttons, thereby obtaining the adjustment data.
As shown in fig. 3, an example of a process parameter adjustment interface is shown, in which a user may input a ratio of each process parameter, that is, adjustment data.
And step S104, converting the adjustment data into target processing parameters of a target working section according to the data conversion rule of the robot.
In one embodiment, the PLC logic and the background logic of the robot are different, that is, the data input from the touch screen needs to be converted by the PLC logic and the background logic to obtain the processing parameters applicable to the processing code, and the data conversion rule in this embodiment is a logic conversion rule between the hardware of the robot, that is, the data conversion rule is used to convert the adjustment data input by the user in the touch screen into the target processing parameters for the robot identification execution in the processing code, so that the robot processes the workpiece according to the adjusted target processing parameters.
Taking the machining offset as a machining parameter to be adjusted as an example, when a user needs to adjust the machining offset of the target working section, after the user inputs the machining offset, whether the machining offset of the target working section is smaller than a preset threshold value can be judged, if so, a first ratio of the machining offset to the preset value is calculated, and a sum of the first ratio and an initial value is calculated to serve as the target machining offset of the target working section, if not, a difference value of the machining offset to the preset threshold value is calculated, a second ratio of the difference value to the preset value is calculated, and a negative value of the second ratio is taken, and a sum of the negative value and the initial value is calculated to obtain the target machining offset of the target working section.
The initial value is set for the robot, and can be the initial machining quantity, when the machining quantity of a certain working section needs to be adjusted, for example, the machining quantity is increased by positive offset, the machining quantity is reduced by negative offset, the PLC of the robot transmits a positive integer, the value smaller than 1000 is positive and larger than or equal to 1000 is negative, if the machining offset input by a user is smaller than 1000, the ratio of the machining offset to 100 is calculated, the numerical value accurate to the last two digits of the decimal point is obtained, the sum of the numerical value and the initial value is further calculated to serve as the target machining offset, if the machining offset input by the user is larger than 1000, the machining offset is calculated by the difference value multiplied by-1 after the ratio is calculated by 100, the negative offset accurate to the last two digits of the decimal point is obtained, and the sum of the negative offset and the initial value is calculated to serve as the target machining offset, so that the problem that the user cannot input the positive offset and the negative offset accurate to the last two digits of the decimal point when the PLC of the robot is transmitted on the basis is solved, the automatic code conversion of the machining offset input by the user on a touch screen is realized, the robot is not required to be manually adjusted after the machining offset is taught by the robot.
In another embodiment, the working section number of the target working section can be obtained, a reference machining parameter matched with the working section number is searched in a register of the robot, and the product of the reference machining parameter and the adjustment proportion is calculated to obtain the target machining parameter of the target working section, wherein the reference machining parameter comprises at least one of a main shaft reference rotating speed, a main shaft reference floating pressure and a reference feeding speed.
Specifically, for processing parameters such as a spindle reference rotation speed, a spindle reference floating pressure, a reference feeding speed and the like, reference data can be set, such processing parameters are adjusted through adjustment proportions, the spindle reference rotation speed of each working section is taken as an example, the spindle reference rotation speed of each working section can be assigned to a corresponding position of a register of the robot, for example, the register position R101 is the reference rotation speed of the 1 st working section, the register position R102 is the reference rotation speed of the 2 nd working section, and the like, after a user selects a target working section, the working section number of the target working section can be determined, the spindle reference rotation speed, the reference floating pressure and the reference feeding speed of the target working section are read from the register position corresponding to the working section number in the register, and are displayed in a processing parameter adjustment interface, the user can input the adjustment proportions in a proportion input frame, after the adjustment proportions input by the user are determined, the ratio of the adjustment proportions to a preset numerical value (100) is calculated, and the product of the adjustment proportions and the reference value is calculated to be the final processing parameter after the adjustment proportions are replaced by the ratio.
Taking the adjustment of the spindle rotation speed as an example, as shown in fig. 3, assuming that the spindle reference rotation speed of a certain target working section is 12000, a user can input a required proportion in the proportion of the spindle rotation speed adjustment in fig. 3, and after the user inputs the proportion, the background can automatically calculate the final rotation speed of the spindle in the manner described above and write the final rotation speed into a processing code in the register position of the target working section.
In another embodiment, a feature input box of a processing object of the target working section can be displayed, input operation of a user in the feature input box is received, feature parameters input by the user in the feature input box are determined to serve as adjustment data, and then processing parameters matched with the feature parameters are searched in a budget processing parameter library to serve as target processing parameters of the target working section.
The processing object can be burrs or processing excess materials, the burrs on the workpiece are removed by the robot as the processing object, after a user selects a target working section from the touch screen, a characteristic input frame of the burrs can be displayed on the touch screen, for example, the user can input the thickness, the height and other dimensions of the burrs in the characteristic input frame, the thickness, the height and other dimensions input by the user can be used as adjustment data, and the robot background programming can search matched processing offset, spindle rotating speed, spindle floating pressure and feeding speed according to the thickness, the height and other dimensions of the input burrs to serve as target processing parameters, so that different processing parameters are set according to characteristic differences of the processing object of each working section.
Step S105, replacing the initial machining parameters in the machining code of the target section in the robot with the target machining parameters.
Specifically, after determining the target processing parameters of the target working section, the target register position corresponding to the working section number of the target working section can be searched in the register of the robot, and the initial processing parameters stored in the target register position are replaced by the target processing parameters, so that the processing parameters stored in the register are the latest processing parameters, and when the target working section is processed, the latest processing parameters are read from the register and displayed in the touch screen, so that the processing parameters of the working section which is processed currently are displayed in real time.
The following describes the adjustment of the machining parameters by taking the adjustment of the machining offset and the spindle rotation speed as examples, and specifically includes the following steps:
s1, selecting a target working section needing to adjust processing parameters by a user through a touch screen;
s2, inputting a machining offset and an adjusting proportion of the spindle rotating speed on a touch screen by a user;
s3, reading the basic rotation speed of the main shaft of the target working section through the working section number of the target working section;
s4, judging whether the machining offset is a positive integer or a negative integer through background logic operation, converting to obtain a target machining offset, and storing the target machining offset into a register corresponding to a section number of a target section;
s5, calculating the product of the basic rotation speed of the main shaft and the adjustment proportion through background logic operation, obtaining the target main shaft rotation speed and storing the target main shaft rotation speed into a register corresponding to the section number of the target section;
s6, substituting the target machining offset and the target spindle rotation speed into machining parameters of the machining code.
According to the embodiment of the application, the digital model of the workpiece can be displayed on the touch screen of the robot, the target working section is determined in response to the operation of a user on the digital model, the machining parameter adjusting interface of the target working section is displayed, the adjusting data of the target working section input by the user on the machining parameter adjusting interface is received, the adjusting data are converted into the target machining parameters of the target working section according to the data conversion rule of the robot, the initial machining parameters in the machining codes of the target working section in the robot are replaced by the target machining parameters, on one hand, after the machining parameters needing to be modified are input by the user on the touch screen, the machining parameters input by the user are automatically converted by the robot according to the data conversion rule of the robot, and are modified into the machining parameters in the machining codes, the machining parameters are not required to be manually adjusted through the robot demonstrator are adjusted after the robot is stopped, the operation is simple and convenient, the machining efficiency is improved, on the other hand, the machining parameters of the selected target working section can be independently adjusted, the machining parameters of the user on the machining parameters of the working section with the machining effect which does not reach the standard can be set according to the change of the workpiece, and the machining quality of products is improved.
Fig. 4 shows an application architecture diagram of a system for externally adjusting a processing parameter of a robot, which is provided by an embodiment of the present application, and the application of the embodiment to a robot provided with a touch screen specifically includes the following units:
a digital model display unit 401 for displaying a digital model of the workpiece on a touch screen of the robot;
a target section determining unit 402, configured to determine a target section in response to an operation of the digital model by a user on the touch screen;
an adjustment data receiving unit 403, configured to display a processing parameter adjustment interface of the target working section, and receive adjustment data of the target working section input by a user at the processing parameter adjustment interface;
a target processing parameter conversion unit 404, configured to convert the adjustment data into target processing parameters of the target working section according to a data conversion rule of the robot;
a machining parameter updating unit 405 for replacing the initial machining parameters in the machining code of the target section in the robot with the target machining parameters.
As a further definition of an embodiment of the application, the following units are also included:
the digital model and initial machining parameter acquisition unit is used for acquiring the digital model and initial machining parameters of the workpiece, wherein the initial machining parameters comprise initial machining parameters of the pre-divided multi-section working section.
As a further definition of an embodiment of the present application, the digital model display unit 401:
the digital model and workshop section selection control display module is used for displaying the digital model of the workpiece and a plurality of workshop section selection controls on a touch screen of the robot;
the target section determining unit 402 includes:
the control determining module is used for responding to the operation of a user on the touch screen to the target workshop section selection control, determining the workshop section associated with the target workshop section selection control and obtaining the target workshop section.
As a further definition of an embodiment of the present application, the adjustment data receiving unit 403 includes:
the input frame display module is used for displaying at least one input frame of the processing offset, the spindle rotating speed, the spindle floating pressure and the feeding speed of the target working section on the touch screen;
and the input frame data receiving module is used for receiving the input operation of a user at the input frame, and determining the machining offset, the spindle rotating speed, the spindle floating pressure and the feeding speed of the target working section input by the user at the input frame to serve as adjustment data.
As a further definition of an embodiment of the present application, the adjustment data includes a process offset, and the target process parameter conversion unit 404 includes:
the processing offset judging module is used for judging whether the processing offset of the target working section is smaller than a preset threshold value;
the first target machining offset calculating module is used for calculating a first ratio of the machining offset to a preset value and calculating a sum of the first ratio and an initial value to serve as a target machining offset of a target working section;
the second target machining offset calculating module is used for calculating the difference value between the machining offset and a preset threshold value, calculating a second ratio of the difference value to the preset value, taking the negative value of the second ratio, and calculating the sum of the negative value and the initial value to obtain the target machining offset of the target working section.
As a further definition of an embodiment of the present application, the adjustment data includes an adjustment ratio, and the target processing parameter conversion unit 404 includes:
the section number acquisition module is used for acquiring the section number of the target section;
the reference processing parameter searching module is used for searching the reference processing parameters matched with the section numbers in a register of the robot;
the target machining parameter calculation module is used for calculating the product of the reference machining parameter and the adjustment proportion to obtain the target machining parameter of the target working section;
wherein the reference machining parameter includes at least one of a spindle reference rotational speed, a spindle reference float pressure, and a reference feed speed.
As a further definition of an embodiment of the present application, the target processing parameter conversion unit 404 further includes:
and the adjusting proportion conversion module is used for calculating the ratio of the adjusting proportion to the preset value and replacing the adjusting proportion by adopting the ratio.
As a further definition of an embodiment of the present application, the adjustment data receiving unit 403 includes:
the feature input frame display module is used for displaying a feature input frame of a processing object of the target working section;
the characteristic parameter receiving module is used for receiving the input operation of a user in the characteristic input box, and determining the characteristic parameters input by the user in the characteristic input box to be used as adjustment data;
the target processing parameter conversion unit 404 includes:
and the target machining parameter searching module is used for searching the machining parameters matched with the characteristic parameters in the budgeted machining parameter library to serve as target machining parameters of the target working section.
As a further limitation of the embodiment of the present application, the processing parameter updating unit 405 includes:
the target register position searching module is used for searching a target register position corresponding to the section number of the target section in a register of the robot;
and the processing parameter replacement module is used for replacing the initial processing parameters stored in the target register position by the target processing parameters.
It should be understood that, although the steps in the flowcharts of the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that the processes implementing all or part of the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a non-volatile computer readable storage medium, and the program may include the processes of the embodiments of the methods as above when executed. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (9)
1. A method for externally adjusting robot processing parameters, which is applied to a robot provided with a touch screen, specifically comprises the following steps:
displaying a digital model of the workpiece on a touch screen of the robot;
responding to the operation of a user on the digital model on the touch screen, and determining a target working section;
displaying a processing parameter adjusting interface of the target working section, and receiving adjusting data of the target working section input by the user at the processing parameter adjusting interface;
according to the data conversion rule of the robot, converting the adjustment data into target processing parameters of the target working section;
replacing initial machining parameters in a machining code of the target working section in the robot with the target machining parameters;
the adjusting data comprise machining offset, and the adjusting data are converted into target machining parameters of the target working section according to the data conversion rule of the robot, and the method specifically comprises the following steps:
judging whether the processing offset of the target working section is smaller than a preset threshold value or not;
if yes, calculating a first ratio of the machining offset to a preset value, and calculating a sum of the first ratio and an initial value to serve as a target machining offset of the target working section;
if not, calculating the difference value between the machining offset and the preset threshold value, calculating a second ratio of the difference value to the preset numerical value, taking the negative value of the second ratio, and calculating the sum of the negative value and the initial value to obtain the target machining offset of the target working section.
2. Method for externally adjusting robot processing parameters according to claim 1, characterized in that it comprises, before the digital model of the workpiece is displayed on the touch screen of the robot, the steps of:
a digital model of the workpiece and initial machining parameters are obtained, wherein the initial machining parameters comprise initial machining parameters of the pre-divided multi-section working section.
3. The method for externally adjusting machining parameters of a robot according to claim 1, wherein the step of displaying a digital model of a workpiece on a touch screen of the robot comprises the steps of:
displaying a digital model of the workpiece and a plurality of section selection controls on a touch screen of the robot;
the method specifically comprises the following steps of:
responding to the operation of a user on the touch screen on the target workshop section selection control, and determining the workshop section associated with the target workshop section selection control to obtain the target workshop section.
4. A method for externally adjusting robot process parameters according to claim 1, wherein said displaying a process parameter adjustment interface of said target section and receiving adjustment data of said target section entered by said user at said process parameter adjustment interface comprises the steps of:
displaying an input box of at least one of a machining offset, a spindle rotation speed, a spindle floating pressure and a feeding speed of the target working section on the touch screen;
and receiving input operation of the user at the input box, and determining the machining offset, the spindle rotating speed, the spindle floating pressure and the feeding speed of the target working section input by the user at the input box as adjustment data.
5. Method for externally adjusting robot processing parameters according to any of the claims 1-4, characterized in that the adjustment data further comprises an adjustment ratio, said adjustment data being converted into target processing parameters of the target section according to data conversion rules of the robot, in particular further comprising the steps of:
acquiring a section number of the target section;
searching a reference processing parameter matched with the section number in a register of the robot;
calculating the product of the reference processing parameter and the adjustment proportion to obtain a target processing parameter of the target working section;
wherein the reference machining parameter includes at least one of a spindle reference rotational speed, a spindle reference float pressure, and a reference feed speed.
6. Method for externally adjusting robot processing parameters according to claim 5, characterized in that before calculating the product of the reference processing parameters and the adjustment ratio, the target processing parameters of the target section are obtained, in particular further comprising the steps of:
calculating the ratio of the adjusting proportion to a preset value, and replacing the adjusting proportion by adopting the ratio.
7. A method for externally adjusting robot process parameters according to any one of claims 1 to 4, wherein the displaying the process parameter adjustment interface of the target process and receiving the adjustment data of the target process input by the user at the process parameter adjustment interface specifically comprises the following steps:
displaying a characteristic input frame of a processing object of the target working section;
receiving input operation of the user in the characteristic input box, and determining characteristic parameters input by the user in the characteristic input box to serve as adjustment data;
the step of converting the adjustment data into target processing parameters of the target working section according to the data conversion rule of the robot specifically comprises the following steps:
and searching the processing parameters matched with the characteristic parameters in a budgeted processing parameter library to serve as target processing parameters of the target working section.
8. Method for externally adjusting robot process parameters according to any of the claims 1-4, characterized in that said replacing initial process parameters in the process code of the target section in the robot with said target process parameters comprises in particular the steps of:
searching a target register position corresponding to the section number of the target section in a register of the robot;
and replacing the initial processing parameters stored in the target register position with the target processing parameters.
9. A system for externally adjusting robot processing parameters, characterized in that it is applied to a robot provided with a touch screen, comprising in particular the following units:
the digital model display unit is used for displaying the digital model of the workpiece on the touch screen of the robot;
the target working section determining unit is used for responding to the operation of a user on the digital model on the touch screen and determining a target working section;
the adjusting data receiving unit is used for displaying a processing parameter adjusting interface of the target working section and receiving adjusting data of the target working section input by the user at the processing parameter adjusting interface;
the target machining parameter conversion unit is used for converting the adjustment data into target machining parameters of the target working section according to the data conversion rule of the robot;
a machining parameter updating unit for replacing an initial machining parameter in a machining code of the target working section in the robot with the target machining parameter;
the adjustment data comprises a machining offset, and the target machining parameter conversion unit specifically comprises:
the processing offset judging module is used for judging whether the processing offset of the target working section is smaller than a preset threshold value;
the first target machining offset calculating module is used for calculating a first ratio of the machining offset to a preset value and calculating a sum of the first ratio and an initial value to serve as a target machining offset of a target working section;
the second target machining offset calculating module is used for calculating the difference value between the machining offset and a preset threshold value, calculating a second ratio of the difference value to the preset value, taking the negative value of the second ratio, and calculating the sum of the negative value and the initial value to obtain the target machining offset of the target working section.
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