CN103713579A - Industrial robot operation method - Google Patents
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- CN103713579A CN103713579A CN201310680291.9A CN201310680291A CN103713579A CN 103713579 A CN103713579 A CN 103713579A CN 201310680291 A CN201310680291 A CN 201310680291A CN 103713579 A CN103713579 A CN 103713579A
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Abstract
The invention discloses an industrial robot operation method, and relates to the technical field of intelligent machines. The industrial robot operation method of the invention comprises the following steps: a three-dimensional model diagram of a workpiece is obtained; then, the machining path of the workpiece is obtained; and then, the industrial robot operation process of the workpiece is calculated automatically; and finally, the operation process is introduced into the industrial robot to realize the operation of the industrial robot on the workpiece. According to the invention, through the off-line programming method, and by utilizing the industrial robot official programming software and the third-party software company software, such as CAM software, in the programming process, what an operator needs to do is to introduce the three-dimensional model diagram of the workpiece, and then select the machining path of the workpiece, so that the industrial robot operation process of the workpiece can be calculated automatically so as to realize technical effects of high programming efficiency and high automation level.
Description
Technical field
The present invention relates to intelligent machine technical field, relate in particular to a kind of industrial robot operational method.
Background technology
Along with the development of modern production, the utilization factor of industrial robot is more and more higher, has improved greatly efficiency and the quality of suitability for industrialized production.
Utilizing industrial robot to carry out in the technical field of Intelligent Laser processing, Modern Laser processed and applied mainly relies on multiaxis (majority is three axles) numerically-controlled machine to carry out, the method can only be applied to the part of surperficial comparison rule, and for complex parts, for example large mold is at a loss what to do.Therefore the application of industrial robot in modern industry manufacture process is in recent years increasingly extensive, and its service efficiency and economy are decided by its programmed method to a great extent.
Industrial robot still adopts traditional on-line teaching method programming at present.This because their product life cycle is short, production task alternates the frequent programming that causes soon a large amount of operational use time of robot that accounted for, thereby greatly reduces its service efficiency concerning some medium and small sized enterprises, cannot embody its superiority.And the precision of robot motion's track, in the situation that not having vision sensor to follow the tracks of, substantially depend on the patient and painstaking and range estimation precision of operator when teaching.Along with the increase of robot application to small batch production and the complexity of finishing the work, this teach programming mode has been difficult to meet production requirement.
Summary of the invention
The embodiment of the present invention provides a kind of industrial robot operational method, for solving the technical matters that prior art industrial robot programming efficiency is low, automatization level is not high, reaches the technique effect that programming efficiency is high, automatization level is high.
The embodiment of the present invention provides a kind of industrial robot operational method, and described method comprises: the three-dimensional model diagram that obtains a workpiece; The machining path of acquisition to described workpiece; Automatically calculate the industrial robot work flow of described workpiece; Described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.
Further, before the three-dimensional model diagram of described acquisition one workpiece, also comprise: proofread and correct TCP point.
Further, described correction TCP point is specially: the reference substance of setting up an XY axis coordinate system; By the method that creates point, set up job procedure, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular; When industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously; The direction turning to according to instrument and described second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction; TCP is carried out to migration towards X-axis and Z axis again.
Further, by TCP again after X-axis and Z axis carry out migration, also comprise: configure one and move on to from X-axis forward the path program that then initial point turns to described predetermined angular and move along Y-axis positive dirction, and be disposed in the described reference substance in industrial robot and verify.
Further, automatically calculate the industrial robot work flow of described workpiece, be specially: when choosing machining path and be the limit of workpiece, automatically generate machining path.
Further, automatically calculate the industrial robot work flow of described workpiece, be specially: when choosing machining path and be the face of workpiece, import CAD software and calculate machining path.
Further, when choosing machining path and be the face of workpiece, import CAD software and calculate machining path, be specially: by described CAD software, drawing cross section on workpiece is leg-of-mutton path bar, the length that the spacing of wherein said triangular paths bar is laser facula; When setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.
Further, described described work flow is imported to described industrial robot before, also comprise: according to the described workpiece of described work flow simulation processing.
The beneficial effect of the embodiment of the present invention is as follows:
A kind of industrial robot operational method that one embodiment of the invention provides, by the method for off-line programing, utilize industrial robot official programming software and third party software company software, as CAM software, in programming process, only need to import the three-dimensional model diagram of workpiece, and then select the machining path to workpiece, the industrial robot work flow that can automatically calculate described workpiece, has reached the technique effect that programming efficiency is high, automatization level is high.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of a kind of industrial robot operational method in one embodiment of the invention;
Fig. 2 is the structural representation of a kind of industrial robot in one embodiment of the invention;
Fig. 3 proofreaies and correct the schematic flow sheet that TCP is ordered in one embodiment of the invention;
Fig. 4 is the schematic diagram that arranges of proofreading and correct reference substance that TCP orders in one embodiment of the invention;
During face that Fig. 5 is is workpiece when machining path in one embodiment of the invention, set the principle schematic of TCP;
During face that Fig. 6 is is workpiece when machining path in one embodiment of the invention, set the schematic flow sheet of TCP.
Embodiment
A kind of industrial robot operational method that one embodiment of the invention provides, by the method for off-line programing, utilize industrial robot official programming software and third party software company software, as CAM software, in programming process, only need to import the three-dimensional model diagram of workpiece, and then select the machining path to workpiece, the industrial robot work flow that can automatically calculate described workpiece, has reached the technique effect that programming efficiency is high, automatization level is high.
For making those skilled in the art understand more in detail the present invention, below in conjunction with accompanying drawing, describe the present invention.
As described in Figure 1, Fig. 1 is a kind of industrial robot operational method in one embodiment of the invention, and described method comprises:
Step 10: proofread and correct TCP point;
Specifically, the English full name of described TCP is TOOL CENTER POINT, and the Chinese meaning can be expressed as the tool work point that industrial robot is installed.
Step 20: the three-dimensional model diagram that obtains a workpiece;
Step 30: obtain the machining path to described workpiece;
Step 40: the industrial robot work flow of automatically calculating described workpiece;
Step 50: described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.
Specifically, as shown in Figure 2, a kind of industrial robot that the embodiment of the present invention provides comprises: laser instrument camera lens 1, semiconductor laser 2, the 6th axle 3 of six-shaft industrial robot, traversing slide unit 4.Wherein, laser instrument camera lens 1 is arranged on semiconductor laser 2 and forms a laser mirror head assembly, and integral body is fixed on the 6th axle 3 of six-shaft industrial robot, then by industrial robot floor installation on traversing slide unit 4, the range of work is expanded.Semiconductor laser 2 transfers to industrial robot to control its focal length and path, relies on the off-line programming software of industrial robot to complete.
Further, can carry out programming of the present invention in the off-line programming software by industrial robot.Specifically, a newly-built standard program in the off-line programming software of industrial robot, the three-dimensional model diagram of workpiece is imported in this software, then choose the line to the face of the processing of workpiece or processing, now software can calculate the work flow of the industrial robot of workpiece automatically, also be the path program of industrial robot, finally import to and in robot, complete processing.In order to guarantee that the operational method of the robot that the embodiment of the present invention provides meets final demand, reduce error rate, can in importing industrial robot, complete first being processed, implementation step 41, that is: according to the described workpiece of described work flow simulation processing.That is to say, by simulation, process and confirm that the work flow of programming meets real demand, reduces the generation of fault.
In a kind of industrial robot operational method providing at the present embodiment, step 10: proofreading and correct TCP point is a key point.If proofread and correct badly, can have a strong impact on machining precision, but not provide the method that can proofread and correct TCP in the off-line programming software of industrial robot.Therefore this enforcement provides a kind of TCP bearing calibration, as shown in Figure 3, comprising:
Step 11: the reference substance of setting up an XY axis coordinate system;
Step 12: set up job procedure by the method that creates point, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular;
Step 13: when industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously;
Step 14: the direction turning to according to instrument and second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction;
Step 15: in programming software, TCP is carried out to migration towards X-axis and Z axis again;
Step 16: write one and move on to from X-axis forward the path program that then initial point turns to described predetermined angular and move along Y-axis positive dirction in programming software, and be disposed in the described reference substance in industrial robot and verify.
For the bearing calibration of clearer expression TCP, 4 describe in detail by reference to the accompanying drawings below, wherein, the reference substance of the present embodiment is selected A4 blank sheet of paper.Particularly:
1. get a blank A4 paper, draw an XY coordinate system;
2. in programming software, with establishment point methods, programme, two point coordinate positions are all the same, and just the attitude of robot is different, and instrument need turn to 90 degree, and laser instrument camera lens is perpendicular to the ground all the time;
In 3. robot, move this program, the first point (a) is aimed to the initial point of XY coordinate system shown in accompanying drawing 4, working procedure is write down the position of second point (b shown in accompanying drawing 4) the off-set value of measurement and initial point, and in this example, second point is all offset 10mm along X-axis Y-axis positive dirction;
4. the direction turning to according to instrument and second point are determined the offset direction of laser beam at the quadrant of coordinate system, utilize the mathematical method of similar triangles to calculate, final definite laser instrument focus has been offset 14.14mm towards X positive dirction, in programming software, TCP is carried out to migration towards X-axis and Z axis again;
5. in programming software, write one and from X-axis forward, move on to initial point and then turn to the 90 path programs that move along Y-axis positive dirction, in Kao Ru robot, utilize coordinate paper just now to verify.
On the other hand, the step 40 in the embodiment of the present invention: automatically calculate the industrial robot program code of described workpiece, can have different computing method according to the machining path of choosing is different, particularly:
Step 401: when choosing machining path and be the limit of workpiece, utilize programming software automatically to generate machining path.
Step 402: when choosing machining path and be the face of workpiece, import CAD software and draw machining path.
Simultaneously, for embodiments of the invention, due to the not selection of face in the programming software of industrial robot, therefore when carrying out face processing, need in Three-dimensional CAD Software, will on the face of needs processing, by " scanning " mode, draw path, as shown in accompanying drawing 5,6, comprising:
Step 4021: drawing cross section on workpiece 1 is leg-of-mutton path bar 2, the length that the spacing of wherein said triangular paths bar is laser facula;
Step 4022: when setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.
In sum, the method providing by the embodiment of the present invention, the laser-processing system of having utilized industrial robot off-line programming software to programme and form, can substitute traditional numerical control laser process machine completely, for complex parts particularly large mold have good application, also be different from general robot artificial teach programming mode, working (machining) efficiency is improved.By off-line programming software, in Ke office, complete robotic programming, without breaks in production.Robot program can be ready in advance, improves integral production efficiency.The various tool providing by software can be carried out the tasks such as training, programming and optimization, the profitability of hoisting machine robot system under the prerequisite that does not affect production.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (8)
1. an industrial robot operational method, is characterized in that, described method comprises:
Obtain the three-dimensional model diagram of a workpiece;
The machining path of acquisition to described workpiece;
Automatically calculate the industrial robot work flow of described workpiece;
Described work flow is imported to described industrial robot, to realize the operation of described industrial robot to described workpiece.
2. operational method as claimed in claim 1, is characterized in that: before the three-dimensional model diagram of described acquisition one workpiece, also comprise:
Proofread and correct TCP point.
3. operational method as claimed in claim 2, is characterized in that: described correction TCP point is specially:
Set up the reference substance of an XY axis coordinate system;
By the method that creates point, set up job procedure, wherein two point coordinate positions are identical, and the attitude that configures described industrial robot is different, and instrument turns to predetermined angular;
When industrial robot moves described job procedure, by first initial point of aiming at XY axis coordinate system, the first off-set value with initial point is measured in running job program the position of recording second point simultaneously;
The direction turning to according to instrument and described second point are determined the offset direction of laser beam at the quadrant of coordinate system, and definite laser instrument focus is towards the second off-set value of X positive dirction;
TCP is carried out to migration towards X-axis and Z axis again.
4. operational method as claimed in claim 3, is characterized in that: TCP again after X-axis and Z axis carry out migration, is also comprised:
Configure one and move on to initial point from X-axis forward, the path program that then turns to described predetermined angular and move along Y-axis positive dirction, and be disposed in the described reference substance in industrial robot and verify.
5. operational method as claimed in claim 1, is characterized in that: automatically calculate the industrial robot work flow of described workpiece, be specially:
When choosing machining path and be the limit of workpiece, automatically generate machining path.
6. operational method as claimed in claim 1, is characterized in that: automatically calculate the industrial robot work flow of described workpiece, be specially:
When choosing machining path and be the face of workpiece, import CAD software and calculate machining path.
7. operational method as claimed in claim 6, is characterized in that, when choosing machining path and be the face of workpiece, imports CAD software and calculates machining path, is specially:
By described CAD software, drawing cross section on workpiece is leg-of-mutton path bar, the length that the spacing of wherein said triangular paths bar is laser facula;
When setting TCP, configure described the second laser focal, wherein said the second laser focal is: the first laser focal deducts the spacing of described triangular paths bar, wherein, the laser focal that described the first laser focal is original setting.
8. operational method as claimed in claim 1, is characterized in that, described described work flow is imported to described industrial robot before, also comprise:
According to the described workpiece of described work flow simulation processing.
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| CN104483905A (en) * | 2014-11-11 | 2015-04-01 | Abb技术有限公司 | Method and system for controlling robot to machine components |
| CN104875204A (en) * | 2015-01-06 | 2015-09-02 | 连云港宏翔东方智能技术有限公司 | Offline programming module and application method of plasma space cutting robot |
| CN107283426A (en) * | 2017-06-28 | 2017-10-24 | 重庆镭宝激光科技有限公司 | A kind of track capturing system and track capturing method for being cut by laser machine people |
| CN108789026A (en) * | 2018-05-07 | 2018-11-13 | 武汉纺织大学 | A kind of heavy castings cleaning polishing process based on man-machine collaboration |
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| CN111113420A (en) * | 2019-12-30 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Robot hub deburring teaching point coordinate system generation method |
| CN113714648A (en) * | 2021-07-09 | 2021-11-30 | 上海交通大学 | Ship part laser coding system and method |
| TWI763233B (en) * | 2021-01-05 | 2022-05-01 | 財團法人工業技術研究院 | Processing method and system for automatically generating machining feature |
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| CN111113420A (en) * | 2019-12-30 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Robot hub deburring teaching point coordinate system generation method |
| CN111113420B (en) * | 2019-12-30 | 2023-03-14 | 芜湖哈特机器人产业技术研究院有限公司 | Robot hub deburring teaching point coordinate system generation method |
| TWI763233B (en) * | 2021-01-05 | 2022-05-01 | 財團法人工業技術研究院 | Processing method and system for automatically generating machining feature |
| CN113714648A (en) * | 2021-07-09 | 2021-11-30 | 上海交通大学 | Ship part laser coding system and method |
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