An off-line programming method for industrial robot space intersecting curve welding

Abstract

The invention discloses an industrial robot space intersecting curve welding offline programming method. The method comprises the steps that firstly, an arc welding robot and a welding workpiece three-dimensional model are guided in, two peripheral hook faces of a welding line are formed through mouse pickup, a cut plane set is created inside a workpiece coordinate system, and node pose information of the welding line is extracted; according to the node pose, position and posture discretization are achieved along the curve of the welding line, and then welding line trajectory planning is achieved through coordinate conversion; then, a joint angle sequence needed in the robot motion process is obtained through robot inverse kinematics, and motion simulation is achieved; finally, according to language rules written by corresponding robot motion control program codes, a corresponding program file is generated. By adopting an open source VTK visual tool magazine, offline programming independent development is achieved, the method does not dependent on third party CAD software, the track of the welding line can be generated only through mouse picking, no complex external data computingor guiding-in process is needed, the man-machine interaction is good, and the needed robot program can be rapidly generated.

Description

Technical field [0001] The invention relates to an offline programming method for spatial intersecting curve welding of industrial robots, and belongs to the technical field of industrial robot welding. Background technique [0002] In the welding industry, there are many intersecting structures of pipe fittings of different shapes, forming complex spatially intersecting curve welds. Such spatial curve welding tasks are widely used in manufacturing industries such as automobiles, ships, petroleum, steel structures, and various pressure vessels. exist. For complex spatial curve welding, teaching and programming of arc welding robots not only takes up a lot of time, but it is also difficult to ensure the ideal welding gun pose. In order to overcome the shortcomings of low efficiency of teaching programming and difficulty in quality assurance, it is of great significance to study the application of robot offline programming technology in the field of complex intersecting curve weld...

AI Technical Summary

Problems solved by technology

Shi Lei et al. published the article "Automatic Welding Model and Simulation of Rotating Intersecting Curves with Competent Supervisors" published in Journal of Welding Society, 2015, 36(6): 5-8. The spatial analytic geometry method was used to calculate the intersecting welding model of supervisors. The model is accurate and High efficiency, but depends on the analytical expression of the curve, and only for specific forms of intersecting curves, it cannot solve the shape of complex weld curves formed by irregular workpieces

The article "Automatic Programming System for Industrial Robots Based on Workpiece Model" published by Xing Jisheng et al. in Robotics, 2017, 39(1): 111-118 proposed that on the basis of OpenGL and VRML, the automatic extraction method of DXF files using the workpiece model Constructed robot automatic programming software, which is currently a relatively advanced human-computer interactive system in China. The system supports the programming of common industrial complex curves, but its disadvantages are that it does not support other workpiece model formats other than DXF, and the posture of the curve path points lacks fusion. Information about surrounding entities

[0007] To sum up, the first type of method has insufficient versatility, and the second type of method has inherent defects of poor human-computer interaction and insufficient flexibility of independent development

The third type of method uses an open interactive simulation environment to realize independent research and development, which effectively overcomes the shortcomings of the first two types of methods, and is the direction of further development of the current domestic robot offline programming technology. However, at present, this type of method supports a single format of the workpiece model. It is difficult to extract the path point information of the complex weld curve of the irregular workpiece, and the posture of the curve path point lacks the fusion of surrounding entity information and other technical problems

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