Method and device for controlling groove of workpiece cut by robot

Abstract

The invention relates to a method and device for controlling a groove of a workpiece cut by a robot in offline generation robot data codes. The method mainly includes the steps that a two-dimensional graphic design file is read in CAD and groove features are set for the workpiece in the file; a workpiece graph file with the set groove features is opened, a pre-established or existing robot model and a selected robot path are used for calculating joint variables of all joints, corresponding to all points of the path, of the robot, and the corresponding robot offline data codes are generated according to the variables; the generated robot offline data codes are transmitted to a controller of the robot, so that the robot is controlled to cut the groove of the board workpiece. Through the design of the tail end coordinate position and the posture of the robot and research and development of a robot moving track algorithm, servo drive of the robot is controlled, so that the robot reaches the assigned space target, the assigned position and the assigned posture, workpiece groove cutting is finished, and a traditional undeveloped work mode that the robot is controlled to act depending on manual visual inspection and teaching programming is changed.

Description

technical field [0001] The invention relates to the field of cutting technology, in particular to a method and device for cutting workpiece grooves by using a robot. Background technique [0002] Customer factories that need to perform secondary bevel cutting of steel plate workpieces are mainly distributed in manufacturing industries such as coal mining machinery, engineering machinery, boilers, shipbuilding, marine engineering, and pressure vessels. In single-piece and small-batch production industries such as pressure vessels and pressure vessels, traditional plate bevel workpieces (hereinafter referred to as workpieces) are all made by hand-cutting, which not only has no guarantee for the construction period, but also has a large surface roughness. [0003] In recent years, the factory application of industrial robots has been widely recognized and has become an important means of enterprise competition. Judging from the application status of the above industries, the a...

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Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a method and device for controlling the bevel cutting of workpieces by robots, so as to solve the problems of time-consuming, labor-intensive and poor precision existing in programming cutting of existing teaching robots.

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