CN117506928A - Simulation design method and device based on industrial robot welding workstation - Google Patents
Simulation design method and device based on industrial robot welding workstation Download PDFInfo
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- CN117506928A CN117506928A CN202311763586.2A CN202311763586A CN117506928A CN 117506928 A CN117506928 A CN 117506928A CN 202311763586 A CN202311763586 A CN 202311763586A CN 117506928 A CN117506928 A CN 117506928A
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- 238000004088 simulation Methods 0.000 title claims abstract description 128
- 238000003466 welding Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 76
- 230000008569 process Effects 0.000 claims description 29
- 238000004140 cleaning Methods 0.000 claims description 26
- 238000005520 cutting process Methods 0.000 claims description 26
- 210000000707 wrist Anatomy 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000005265 energy consumption Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 210000003857 wrist joint Anatomy 0.000 claims description 5
- 230000009466 transformation Effects 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims 4
- 230000006870 function Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention provides a simulation design method and a simulation design device based on an industrial robot welding workstation, wherein the method comprises the following steps: respectively establishing an industrial robot model, a positioner model and an AGV logistics trolley model; respectively determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model; according to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model; determining parameters of respective signal control and attribute configuration components according to the operation logic of the industrial robot and the operation logic of external equipment; and according to the parameters of the signal control and attribute configuration assembly, carrying out simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model. The method improves the reliability of the multi-station welding workstation.
Description
Technical Field
The invention belongs to the technical field of simulation of design workstations, and particularly relates to a simulation design method and device based on an industrial robot welding workstation.
Background
The welding technology is a common manufacturing mode in industrial production, the industrial robot, the welding and auxiliary equipment, the logistics system and the control system are effectively integrated, and an intelligent working mode of a welding production line can be realized, so that the production efficiency is improved, and the operation period is reduced. In the welding workstation, only the welding robot and the external equipment are matched well, the effect of the welding production line can be fully exerted, and the situation that the functions of the production line are excessive or insufficient is avoided.
With the increase of the automation degree of the manufacturing industry, the welding workstation with a single station cannot meet the requirements of the manufacturing industry, so that the welding workstation with multiple stations is necessary to be built, the virtual simulation technology can be utilized to build the welding workstation in the early stage of building the workstation, the simulation is carried out on the welding work process, meanwhile, factors such as the operation performance and collision detection of the robot in the actual welding task are considered, the investment risk can be effectively reduced, and the period of building the workstation is shortened.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a simulation design method and a simulation design device based on an industrial robot welding workstation.
In order to achieve the above object, according to one aspect of the present invention, there is provided a simulation design method based on an industrial robot welding station including an industrial robot and an external device including at least two displacers, and an AGV logistics trolley, the industrial robot moving among a plurality of displacers, the method comprising:
respectively establishing an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model;
determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model respectively;
according to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model;
according to the operation logic of the industrial robot and the operation logic of the external equipment, designing the parameters of respective signal control and attribute configuration components;
and according to the parameters of the signal control and attribute configuration component, performing simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model.
As a further improvement to the above technical solution, detecting a connection relationship between each component in the industrial robot model;
determining attribute parameters corresponding to the industrial robot model under the condition that the connection relation of all the components in the industrial robot model is detected to be normal, wherein the control parameters of the industrial robot model comprise the attribute parameters;
and/or
Correcting the industrial robot model under the condition that the abnormal connection relation among all the components in the industrial robot model is detected;
and re-detecting and correcting the connection relation among the parts in the corrected industrial robot model until the connection relation among the parts in the model is normal.
As a further improvement to the above technical solution, the industrial robot model, the positioner model and the AGV logistics trolley model are subjected to real-time collision monitoring detection;
and under the condition that at least one abnormal result exists in collision monitoring detection results among all the devices, stopping the operation of the welding workstation and giving an alarm.
As a further improvement to the above technical solution, optimizing the working performance of the industrial robot model includes: changing the speed of the pose transformation of the industrial robot model in real time during welding, and dynamically outputting characteristic curves of the robot speed, energy consumption and motor power;
and obtaining optimal energy consumption and optimal running speed by analyzing the characteristic curves of energy consumption and motor power at different robot speeds so as to optimize the working performance of the industrial robot model.
As a further improvement to the technical scheme, whether the motion range of each joint of the industrial robot exceeds the limit and/or whether the wrist joint singular point appears or not is monitored in real time in the operation process of the welding workstation, so that the motion range of the industrial robot exceeds the limit and the wrist joint singular point is avoided. And if the industrial robot has a wrist singular point or is close to the wrist singular point in the welding process, outputting a joint angle value corresponding to the wrist singular point or a joint angle value corresponding to the close wrist singular point.
As a further improvement to the above-described solution, the signal control and attribute configuration component comprises a positioner configuration component comprising a first sub-component, a second sub-component, a third sub-component,
the first subassembly is configured to control the positioner to rotate around the shaft by a certain angle;
the second subassembly is configured to control the display and the hiding of the welded object in the simulation process;
the third subassembly is configured to perform logic operations on the digital signals;
the simulation process of the positioner simulation model is configured as follows:
in the welding simulation process of the industrial robot, the welding position signal is received through the third sub-assembly, and the first sub-assembly controls the positioner to rotate for a certain angle so as to adjust the object to be welded.
As a further improvement to the above technical solution, the signal control and attribute configuration component further includes an AGV logistics trolley configuration component, where the AGV logistics trolley configuration component includes a fourth subassembly, a fifth subassembly, a sixth subassembly, and a seventh subassembly;
the fourth subassembly is configured to enable the AGV logistics trolley to move linearly along a track;
the fifth subassembly is configured to perform logic operations on the digital signals,
the sixth subassembly is configured to detect whether the AGV logistics trolley is in place;
the seventh sub-assembly is configured to mount an object;
the simulation process of the AGV logistics trolley simulation model is configured as follows:
when the AGV enters the station, the AGV logistics trolley receives an entering signal through the fifth subassembly, the fourth subassembly controls the AGV logistics trolley to start moving to the target position of the working station, and after the sixth subassembly detects that the AGV logistics trolley is in place, the moving is stopped;
the seventh subassembly is used for installing an object to be transported at the target position on the AGV logistics trolley;
when the AGV logistics trolley is out of the station, the AGV logistics trolley receives an out-of-station signal through the fifth subassembly, and the fourth subassembly controls the AGV logistics trolley to start to move to leave the station.
As a further improvement to the technical scheme, the two position shifters are arranged in a straight shape.
As a further improvement to the above technical solution, the external device further includes: the external equipment model also comprises a gun cleaning and wire cutting device model; the method further comprises the steps of:
determining a simulation model of the gun cleaning and wire cutting device according to the control parameters of the gun cleaning and wire cutting device model;
according to the operation logic of the gun cleaning and wire cutting device, parameters of an attribute configuration component of the gun cleaning and wire cutting device are determined, and the signal control and attribute configuration component further comprises the attribute configuration component of the gun cleaning and wire cutting device;
and carrying out simulation control on the simulation model of the gun cleaning and wire cutting device according to the parameters of the attribute configuration assembly of the gun cleaning and wire cutting device.
The invention also provides a simulation design device based on the industrial robot welding workstation, wherein the welding workstation comprises an industrial robot and external equipment, the external equipment comprises at least two position shifters and an AGV logistics trolley, and the device adopts the simulation design method, and the device at least comprises:
the three-dimensional model building module is used for respectively building an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model;
the simulation model construction module is used for respectively determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model; and
According to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model;
the configuration module is used for designing the parameters of the respective signal control and attribute configuration components according to the operation logic of the industrial robot and the operation logic of the external equipment;
and the simulation control module is used for performing simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model according to the parameters of the signal control and attribute configuration assembly.
In addition, the invention also provides a readable storage medium, and the readable storage medium stores a program or instructions which, when executed by a processor, realize the steps of the simulation design method based on the industrial robot welding workstation and achieve the same technical effects.
The advantages of the invention are as follows:
the simulation design method based on the industrial robot welding workstation provided by the invention realizes the design of the multi-station welding workstation, the collision monitoring of the workstation and the optimization of the operation performance of the robot. The method provides a feasible basis for the design of multi-station welding of the industrial robot, can improve the reliability of a welding workstation by utilizing a robot simulation technology, can effectively shorten the construction and debugging time when building a physical project, provides a test platform for the actual welding workstation, and simultaneously provides a theoretical basis for technicians to seek the optimal operation performance and the pose of the robot when the robot is welded.
Drawings
FIG. 1 is a schematic overall flow diagram of a simulation design method based on an industrial robot welding workstation provided by the invention;
FIG. 2 is a block diagram of a simulation design apparatus based on an industrial robot welding workstation;
wherein:
200-simulating a design device;
201-a three-dimensional model building module;
202-a simulation model construction module;
203-a configuration module;
204-a simulation control module;
S1-S5: and (3) step (c).
Detailed Description
In order to make the above features and effects of the present invention more clearly understood, the following specific examples are given with reference to the accompanying drawings.
As shown in fig. 1, fig. 1 shows an overall flow chart of the simulation design method based on the industrial robot welding workstation.
A simulation design method based on an industrial robot welding workstation comprises an industrial robot and external equipment, wherein the external equipment comprises at least two displacement machines and an AGV logistics trolley, and the industrial robot moves among a plurality of displacement machines to build the welding workstation which forms multiple stations. The welding workstation of this embodiment can specifically adopt two position shifters, and two position shifters are in a style of calligraphy and are arranged, in the implementation, not only two position shifters. The working logic of the welding workstation is as follows: the AGV logistics trolley firstly conveys blanks of objects to be welded (such as boxes) to a designated position of a workstation, and the boxes are clamped on one of the displacers. The industrial robot starts welding operation on the box body placed on the position changing machine, the box body is taken down to be placed on a side stacking plate after welding, and then the industrial robot moves to another position changing machine, and the operation is repeated. When a specified number of processed cases are placed on the pallet, the AGV transport trolley moves the pallet carrying the finished cases to a specified position.
The method at least comprises the following steps:
s1, respectively establishing an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model.
In this embodiment, the Solidworks software may be used to build an industrial robot model and an external device model, and the built model file is imported into the RobotStudio software.
S2, respectively determining control parameters corresponding to the models based on the industrial robot model, the positioner model and the AGV logistics trolley model.
In this embodiment, after models such as an industrial robot model, a positioner model, and an AGV logistics trolley model are created, control parameters corresponding to each model are further determined.
In addition, in this embodiment, after the industrial robot model is created, it is further necessary to detect the connection relationship between each component in the industrial robot model, and output the detection result. Under the condition that the connection relation of all the components in the industrial robot model is detected to be normal, determining attribute parameters corresponding to the industrial robot model, wherein the control parameters of the industrial robot model comprise the attribute parameters; and/or correcting the industrial robot model under the condition that the abnormal connection relation among all the components in the industrial robot model is detected; and further detecting and correcting the connection relation among the parts in the corrected industrial robot model again until the connection relation among the parts in the model is normal.
S3, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model according to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model.
In the embodiment, when determining the control parameters of each three-dimensional model of the industrial robot model, the positioner model and the AGV logistics trolley model, determining an industrial robot simulation model according to the control parameters of the industrial robot model; determining a positioner simulation model according to the control parameters of the positioner model; and determining the AGV logistics trolley simulation model according to the control parameters of the AGV logistics trolley model.
S4, designing parameters of respective signal control and attribute configuration components according to the operation logic of the industrial robot and the operation logic of external equipment.
In a specific implementation, the signal control and attribute configuration component may be configured as a Smart component of Robotstudio software, which is used for I/O signal control and emulation attribute configuration. Further, the method comprises the steps of,
wherein in some embodiments, the signal control and attribute configuration component of the external device comprises a positioner configuration component comprising a first sub-component, a second sub-component, and a third sub-component. Wherein the first subassembly is configured to control the positioner to rotate about the axis by a certain angle; the second subassembly is configured to control the display and hiding of the welded object in the simulation process; the third subassembly is configured to perform logic operations on the digital signals. In a specific implementation, the first subassembly may employ a Rotator subassembly, the second subassembly employs a Show and Hide subassembly, and the third subassembly employs a LogicGate subassembly.
The simulation process of the positioner simulation model is configured as follows: in the welding simulation process of the industrial robot, the welding position signal is received through the third sub-assembly, and the first sub-assembly controls the positioner to rotate for a certain angle so as to adjust the object to be welded. For example, if the object to be welded is a box, when the industrial robot completes the welding work of the bottom of the box, the sensor detects the welding completion signal of the bottom of the box and transmits the welding completion signal to the position changing machine, the position changing machine receives the current welding position signal and the next welding position signal through the third subassembly, and the object to be welded is adjusted by rotating a certain angle according to the current welding position signal and the next welding position signal, so that the industrial robot completes the welding work of other parts of the box.
In addition, in some embodiments, the signal control and attribute configuration component of the external device further comprises an AGV logistics trolley configuration component comprising a fourth subassembly, a fifth subassembly, a sixth subassembly, and a seventh subassembly; wherein the fourth subassembly is configured to move the AGV logistics trolley linearly along the track; the fifth subassembly is configured to perform a logical operation on the digital signal; the sixth subassembly is configured to detect whether the AGV logistics trolley is in place; the seventh sub-assembly is configured to mount an object. In a specific implementation, the fourth subassembly may be a LinearMover subassembly, the fifth subassembly may be a LogicGate subassembly, the sixth subassembly may be a PlaneSensor subassembly, and the seventh subassembly may be an atacher subassembly.
The simulation process of the AGV logistics trolley simulation model is configured as follows: when the AGV enters the station, the AGV logistics trolley receives an entering signal through a fifth subassembly, the fourth subassembly controls the AGV logistics trolley to start moving to the target position of the working station, and after the sixth subassembly detects that the AGV logistics trolley is in place, the moving is stopped; a seventh subassembly installs the object to be transported at the target position on the AGV logistics trolley; when the AGV logistics trolley is out of the station, the AGV logistics trolley receives an out-of-station signal through the fifth subassembly, and the fourth subassembly controls the AGV logistics trolley to start to move away from the workstation.
S5, according to the parameters of the signal control and attribute configuration assembly, simulation control is carried out on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model.
In this embodiment, after the parameters of the signal control and attribute configuration component are designed in step S4, the simulation control is further performed on the industrial robot simulation model, the positioner simulation model, the AGV logistics trolley simulation model, and the like generated in step S3 according to the parameters of the signal control and attribute configuration component.
Furthermore, in some embodiments, real-time collision monitoring is further performed during the simulated operation of the welding workstation. The collision relation among the industrial robot, the position shifter, the AGV transportation trolley and the gun cleaning and wire cutting mechanism in the welding workstation is detected in real time, namely, the industrial robot model, the position shifter model and the AGV logistics trolley model are monitored and detected in real time; and under the condition that at least one abnormal result exists in the collision monitoring detection results among the devices, the welding workstation stops running and gives an alarm. Specifically, collision monitoring may be created by setting the industrial robot model to ObjectsA, the positioner model to ObjectsB, and the AGV transport cart model to ObjectsC, while initiating a proximity loss, such as setting the distance to a 10mm threshold. In the simulation running process of the welding workstation, when the distance between the industrial robot model and the positioner model reaches 10mm, the colors of the two devices become yellow, and if collision occurs, the two devices become red, so that warning and indicating are carried out.
Furthermore, in some embodiments, the operating performance parameters of the industrial robot are optimized at the same time during the simulation run of the welding workstation. Specifically, the signal analysis and the instruction are utilized to carry out real-time change on the speed of the pose transformation of the industrial robot model during welding, and the characteristic curves of the speed, the energy consumption and the motor power of the robot are dynamically output; and obtaining the optimal energy consumption and the optimal running speed by analyzing the characteristic curves of the energy consumption and the motor power at different robot speeds so as to optimize the working performance of the industrial robot model.
In addition, in some embodiments, during the operation of the welding workstation, through analyzing and optimizing the motion range and the wrist singular point of the industrial robot, the signal analysis function is specifically utilized to monitor whether the motion range of each joint of the industrial robot is overrun and whether the wrist singular point appears in real time during the welding process, so as to avoid the occurrence of the wrist singular point during the process of debugging and the overrun of the joint. The signal analyzer can check the nearest value of the wrist singular point, if the robot does not have the wrist singular point in the welding process, the output joint angle value can be kept at 20 degrees, if the industrial robot has the wrist singular point or the condition of the wrist singular point in the welding process, the joint angle value corresponding to the wrist singular point or the joint angle value corresponding to the wrist singular point is output, and the wrist singular point is the condition that the two joint angle values are 0 degrees.
Therefore, the method and the device can effectively identify and detect possible collision between the industrial robot and the equipment through the collision monitoring of the welding process, and ensure normal operation of welding. Meanwhile, through analyzing operation performance parameters of the industrial robot, the motion range and wrist joint singular points of the robot are observed in real time, the optimal operation performance of the robot is found, the phenomenon that joints exceed the motion range and the wrist joint singular points occur in the debugging process is avoided, a test platform is provided for optimizing an actual welding workstation, and meanwhile, a theoretical basis is provided for technicians to seek the optimal operation performance and the pose of the robot when the robot is welded.
Furthermore, in some embodiments, the external device of the welding station may further comprise: the gun cleaning and wire cutting device is used for constructing a three-dimensional model of the gun cleaning and wire cutting device, namely the external equipment model also comprises the gun cleaning and wire cutting device model. Meanwhile, determining a simulation model of the gun cleaning and wire cutting device according to control parameters of the gun cleaning and wire cutting device model; determining parameters of a Smart component configured by the attribute of the gun cleaning and wire cutting device according to the operation logic of the gun cleaning and wire cutting device; and finally, carrying out simulation control on the simulation model of the gun cleaning and wire cutting device according to the parameters of the attribute configuration assembly of the gun cleaning and wire cutting device.
In summary, the simulation design method based on the industrial robot welding workstation provided by the invention realizes the design of the multi-station welding workstation, the collision monitoring of the workstation and the optimization of the operation performance of the robot. The method provides a feasible basis for the design of multi-station welding of the industrial robot, can improve the reliability of a welding workstation by utilizing a robot simulation technology, can effectively shorten the construction and debugging time when building a physical project, provides a test platform for the actual welding workstation, and simultaneously provides a theoretical basis for technicians to seek the optimal operation performance and the pose of the robot when the robot is welded.
Furthermore, the above embodiment of the present invention may be applied to a terminal device based on a simulation design method function of an industrial robot welding workstation, where the terminal device may include a personal terminal, an upper computer terminal, and the like, and the embodiment of the present invention is not limited thereto.
Referring to fig. 2, fig. 2 illustrates an industrial robot welding workstation-based simulation design apparatus 200, which can implement the simulation design method based on the industrial robot welding workstation illustrated in fig. 1, and the industrial robot welding workstation-based simulation apparatus provided in the embodiment of the present application can implement each process implemented by the simulation design method.
An apparatus 200 for simulation design based on an industrial robot welding station including an industrial robot and an external device including at least two displacers and an AGV logistics trolley, the apparatus adopting the simulation design method of the above embodiment, the apparatus comprising:
the three-dimensional model construction module 201 is used for respectively constructing an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model;
the simulation model construction module 202 is used for respectively determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model; and
According to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model;
the configuration module 203 is configured to design parameters of respective signal control and attribute configuration components according to operation logic of the industrial robot and operation logic of external equipment;
and the simulation control module 204 is used for carrying out simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model according to the parameters of the signal control and attribute configuration assembly.
It should be understood that the descriptions of the above simulation design methods are equally applicable to the simulation design apparatus according to the embodiments of the present application, and detailed descriptions thereof are omitted to avoid repetition.
Further, it should be understood that in the simulation design apparatus according to the embodiment of the present application, only the above-described division of each functional module is exemplified, and in practical application, the above-described function allocation may be performed by different functional modules as needed, that is, the simulation design apparatus may be divided into functional modules different from the above-described illustrated modules to perform all or part of the above-described functions.
In addition, the embodiment of the application also provides electronic equipment, which comprises a processor, a memory, and a program or an instruction stored in the memory and capable of running on the processor, wherein the program or the instruction realizes the steps of the simulation design method based on the industrial robot welding workstation when being executed by the processor, and the same technical effects can be achieved.
In addition, the embodiment of the application also provides a readable storage medium, and the readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the simulation design method based on the industrial robot welding workstation are realized, and the same technical effects can be achieved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be applied, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
Claims (10)
1. A simulation design method based on an industrial robot welding station, wherein the welding station comprises an industrial robot and an external device, the external device comprises at least two displacers and an AGV logistics trolley, the industrial robot moves among a plurality of displacers, the method comprising:
respectively establishing an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model;
determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model respectively;
according to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model;
determining parameters of respective signal control and attribute configuration components according to the operation logic of the industrial robot and the operation logic of external equipment;
and according to the parameters of the signal control and attribute configuration component, performing simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model.
2. The method as recited in claim 1, further comprising:
detecting connection relations among all the components in the industrial robot model;
determining attribute parameters corresponding to the industrial robot model under the condition that the connection relation of all the components in the industrial robot model is detected to be normal, wherein the control parameters of the industrial robot model comprise the attribute parameters;
and/or
Correcting the industrial robot model under the condition that the abnormal connection relation among all the components in the industrial robot model is detected;
and re-detecting and correcting the connection relation among the parts in the corrected industrial robot model until the connection relation among the parts in the model is normal.
3. The method as recited in claim 1, further comprising:
performing real-time collision monitoring detection on the industrial robot model, the positioner model and the AGV logistics trolley model;
and under the condition that at least one abnormal result exists in collision monitoring detection results among all the devices, stopping the operation of the welding workstation and giving an alarm.
4. The method as recited in claim 1, further comprising:
optimizing the operational performance of the industrial robot model, comprising:
changing the speed of the pose transformation of the industrial robot model in real time during welding, and dynamically outputting characteristic curves of the robot speed, energy consumption and motor power;
and obtaining optimal energy consumption and optimal running speed by analyzing the characteristic curves of energy consumption and motor power at different robot speeds so as to optimize the working performance of the industrial robot model.
5. The method as recited in claim 1, further comprising:
in the operation process of a welding workstation, monitoring whether the motion range of each joint of the industrial robot exceeds the limit and/or whether wrist joint singular points appear in the welding process in real time;
and if the industrial robot has a wrist singular point or is close to the wrist singular point in the welding process, outputting a joint angle value corresponding to the wrist singular point or a joint angle value corresponding to the close wrist singular point.
6. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the signal control and attribute configuration component comprises a positioner configuration component comprising a first subassembly, a second subassembly, a third subassembly,
the first subassembly is configured to control the positioner to rotate around the shaft by a certain angle;
the second subassembly is configured to control the display and the hiding of the welded object in the simulation process;
the third subassembly is configured to perform logic operations on the digital signals;
the simulation process of the positioner simulation model is configured as follows:
in the welding simulation process of the industrial robot, the welding position signal is received through the third sub-assembly, and the first sub-assembly controls the positioner to rotate for a certain angle so as to adjust the object to be welded.
7. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the signal control and attribute configuration component further comprises an AGV logistics trolley configuration component, wherein the AGV logistics trolley configuration component comprises a fourth sub-component, a fifth sub-component, a sixth sub-component and a seventh sub-component;
the fourth subassembly is configured to enable the AGV logistics trolley to move linearly along a track;
the fifth subassembly is configured to perform logic operations on the digital signals,
the sixth subassembly is configured to detect whether the AGV logistics trolley is in place;
the seventh sub-assembly is configured to mount an object;
the simulation process of the AGV logistics trolley simulation model is configured as follows:
when the AGV enters the station, the AGV logistics trolley receives an entering signal through the fifth subassembly, the fourth subassembly controls the AGV logistics trolley to start moving to the target position of the working station, and after the sixth subassembly detects that the AGV logistics trolley is in place, the moving is stopped;
the seventh subassembly is used for installing an object to be transported at the target position on the AGV logistics trolley;
when the AGV logistics trolley is out of the station, the AGV logistics trolley receives an out-of-station signal through the fifth subassembly, and the fourth subassembly controls the AGV logistics trolley to start to move to leave the station.
8. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the two position changing machines are arranged in a straight line.
9. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the external device further includes: the external equipment model also comprises a gun cleaning and wire cutting device model; the method further comprises the steps of:
determining a simulation model of the gun cleaning and wire cutting device according to the control parameters of the gun cleaning and wire cutting device model;
according to the operation logic of the gun cleaning and wire cutting device, parameters of an attribute configuration component of the gun cleaning and wire cutting device are determined, and the signal control and attribute configuration component comprises the attribute configuration component of the gun cleaning and wire cutting device;
and carrying out simulation control on the simulation model of the gun cleaning and wire cutting device according to the parameters of the attribute configuration assembly of the gun cleaning and wire cutting device.
10. An artificial design device based on an industrial robot welding workstation, wherein the welding workstation comprises an industrial robot and an external device, the external device comprises at least two displacers and an AGV logistics trolley, and the artificial design method as claimed in any one of claims 1 to 9 is adopted, and the device comprises:
the three-dimensional model building module is used for respectively building an industrial robot model and an external equipment model, wherein the external equipment model comprises a positioner model and an AGV logistics trolley model;
the simulation model construction module is used for respectively determining control parameters corresponding to each model based on the industrial robot model, the positioner model and the AGV logistics trolley model; and
According to the control parameters of the industrial robot model, the control parameters of the positioner model and the control parameters of the AGV logistics trolley model, respectively determining an industrial robot simulation model, a positioner simulation model and an AGV logistics trolley simulation model;
the configuration module is used for designing the parameters of the respective signal control and attribute configuration components according to the operation logic of the industrial robot and the operation logic of the external equipment;
and the simulation control module is used for performing simulation control on the industrial robot simulation model, the positioner simulation model and the AGV logistics trolley simulation model according to the parameters of the signal control and attribute configuration assembly.
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