A kind of rotary preform robot acupuncture trajectory planning method and storage medium

Abstract

The present invention relates to a method and storage medium for acupuncture trajectory planning of a quasi-rotational preform robot, comprising the following steps: S1, completing scene modeling of a seven-axis acupuncture robot; S2, designing acupuncture trajectory lines and outputting continuous point posture information on the trajectory lines; S3, constructing a seven-axis linkage robot acupuncture program conversion module and outputting the seven-axis linkage acupuncture robot executable program; S4, performing motion simulation of the seven-axis acupuncture robot through software, and verifying the correctness of the executable program output in S3; S5, downloading the executable program verified in S4 to the robot controller, and starting the robot to perform acupuncture on the quasi-rotational preform according to the set program. The present invention can meet the acupuncture trajectory planning of quasi-rotational preforms with any complex structure; by constructing a seven-axis linkage robot acupuncture program conversion module and outputting an executable program, the rotary table rotates while the robot performs acupuncture, which can meet the requirements of efficient motion synthesis of acupuncture point postures.

Description

Technical Field

[0001] The invention belongs to the technical field of automated needling forming of three-dimensional textile preforms, and in particular relates to a needling trajectory planning method and a storage medium for a rotary preform robot. Background Art

[0002] Needle-punched preforms and their composite materials are increasingly used in key core components of aerospace vehicles, and the profiling needle-punching technology of special-shaped preforms has always been a hot topic of research. Olry P (US Patent 4621662) invented the "Novoltex" needle-punching technology, which uses needle-punched fiber tapes to prepare axisymmetric non-cylindrical preforms, especially for manufacturing reinforcements of engine nozzle tail cone composite materials; the invention patent with patent number CN201210334473.6 discloses a special-shaped CNC needle-punching machine, which adopts a cantilever structure to solve the problems of limited loading and unloading of workpieces and affected operation, and meets the needling forming of the surface of a shell with a specific shape; in addition, the invention patent with patent number CN202011299892.1 discloses a double-station robot needle-punching device, which basically realizes the robot's non-stop operation through the switching of the double stations, and improves the needling forming efficiency to a certain extent.

[0003] Currently, in the research of three-dimensional acupuncture production technology, the utility model patent with patent number 201620357508.1 discloses a portable pneumatic acupuncture gun, and the utility model patent with patent number 201620357509.6 discloses a robotic acupuncture device, both of which are suitable for preparing preforms with complex spatial curved surface shapes; in addition, the invention patent with patent number 201810119922.2 discloses a path planning method for acupuncture robots, which is suitable for acupuncture path planning for open free-form surface preforms. However, the structure of a quasi-rotational preform is more complicated, and the workbench needs to rotate the robot while acupuncturing, and the existing path planning method for acupuncture robots is difficult to meet the use requirements. Within the scope of the applicant's search, there is no report on the literature on the trajectory planning method for acupuncture of a quasi-rotational preform robot. Summary of the invention

[0004] In order to solve the technical problems existing in the known technology, the present invention provides a method and a storage medium for acupuncture trajectory planning of a quasi-rotational preform robot, which can meet the needs of acupuncture trajectory planning of a quasi-rotational preform with any complex structure.

[0005] The present invention includes the following technical solutions:

[0006] A method for acupuncture trajectory planning of a quasi-rotational preform robot comprises the following steps:

[0007] S1. Complete the scene modeling of the seven-axis linkage acupuncture robot;

[0008] S2, design the needle trajectory and output the position information of continuous points on the trajectory; specifically, S2-1 based on the digital model of the rotary preform, use Powershape to project the equidistant straight lines onto the model surface to produce equidistant reference lines; S2-2 set the direction of the equidistant reference line to alternate clockwise and counterclockwise to meet the alternation of the rotary table rotating 360° clockwise and 360° counterclockwise during the needle processing; S2-3 generate the tool path in Powermill based on the reference line, set the start and end points of the tool path on the same line, set the cut-in and cut-out distance to 0mm to connect tool paths in different rows; S2-4 set the robot unit, axis priority and tool axis control, simulate the trajectory based on Powermill, write the simulation results into the CNC program and check the singularity, and correct the trajectory by adjusting the tool axis and axis priority; S2-5 set the trajectory point spacing, output the CNC program without singularity points, including the six-axis milling program and the rotation angle of the external rotary axis;

[0009] S3. Construct an acupuncture program conversion module for a seven-axis linkage acupuncture robot and output an executable program for the seven-axis linkage acupuncture robot; the conversion module transforms the position and posture of the acupuncture point in the plane, rotates the position and posture of P0 by an angle θ, transforms it into Pi, and converts the six-axis program into a seven-axis program; the formula is Xi=X0*COS(θ)-Y0*SIN(θ); Yi=X0*SIN(θ)+Y0*COS(θ); Zi=Z0; Oi=O0+θ; Ai=A0; Ti=T0; wherein X, Y, Z are position parameters, O, A, T are posture parameters, and θ is the transformation angle;

[0010] S4, using software to perform motion simulation of the seven-axis linkage acupuncture robot to verify the correctness of the executable program output in S3;

[0011] S5, downloading the executable program verified in S4 to the robot controller, starting the robot to perform acupuncture on the quasi-rotation preform according to the set program.

[0012] Furthermore, the S1 specifically includes: S1-1 measuring the relative positions of the T-slot platform, the rotary table and the robot, and converting the relative positions into coordinate values ​​of the T-slot platform and the rotary table in the robot world coordinate system; S1-2 setting the positions of various components in Powershape based on the relative positions obtained in S1-1 and outputting a .dmt file; S1-3 writing a robot configuration file, setting the action rotation axis and properties of the T-slot platform, the rotary table, and the acupuncture end effector in the configuration file; S1-4 adding the configuration file and the .dmt file to the robot library of Powermill to complete the scene modeling of the seven-axis linkage acupuncture robot.

[0013] Furthermore, the configuration file in S1-3 at least includes whether to move, linear motion or rotational motion, the coordinate value of the rotation axis, and the rotation angle range.

[0014] Furthermore, the acupuncture program conversion module of the seven-axis linkage acupuncture robot needs to define the coordinates of the rotary table origin in the robot world coordinate system, the robot's running speed, motion accuracy, tool coordinate parameters, step size, and the name of the output robot executable program.

[0015] Furthermore, the S4 specifically includes: S4-1 building a seven-axis linkage acupuncture robot simulation scene based on robot offline simulation software; S4-2 running the executable program output in S3 in the simulation software to verify the correctness of the program.

[0016] Furthermore, the robot offline simulation software in S4-1 is Kawasaki Robot K-ROSET simulation software.

[0017] Furthermore, the seven-axis linkage acupuncture robot adopts a Kawasaki six-joint robot.

[0018] A storage medium having a computer program stored thereon, wherein the computer program is an executable program of a seven-axis linkage acupuncture robot output in S3.

[0019] The present invention has the following advantages and positive effects:

[0020] 1. The trajectory planning method of the present invention can meet the needs of acupuncture trajectory planning for quasi-rotation preforms with any complex structure.

[0021] 2. The present invention constructs a seven-axis linkage robot acupuncture program conversion module and outputs an executable program for the seven-axis linkage acupuncture robot, thereby realizing acupuncture while the rotary table rotates the robot, which can meet the requirements of efficient motion synthesis of the acupuncture point posture; at the same time, it avoids large changes in the robot posture, thereby improving safety and acupuncture molding efficiency.

[0022] 3. The present invention can quickly and accurately generate the posture data required by the acupuncture robot in batches through the conversion module; through a simple user interaction interface, the seven-axis linkage acupuncture executable program is output, which reduces the workload and reduces the human errors that may be caused by the cumbersome generation process.

[0023] 4. The trajectory planning method of the present invention integrates acupuncture motion simulation, shortens program testing time, and avoids the risk of program errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the process of the present invention;

[0025] Figure 2 It is a schematic diagram of the position transformation of points in the plane in S3;

[0026] Figure 3 Schematic diagram of the seven-axis linkage acupuncture robot scenario in Example 1;

[0027] Figure 4 is a schematic diagram of acupuncture path in Example 1;

[0028] Figure 5 This is a schematic diagram of the interface of the acupuncture program conversion module of the seven-axis linkage robot;

[0029] In the figure, 1-seven-axis linkage acupuncture robot; 2-T-slot platform; 3-acupuncture end effector; 4-rotating worktable; 5-digital model of a type of rotary preform; 6-reference line; 7-integrated acupuncture path. DETAILED DESCRIPTION

[0030] In order to further disclose the content, features and effects of the present invention, the following examples are given and described in detail with reference to the accompanying drawings.

[0031] Example 1: See attached Figure 1-4 , a method for acupuncture trajectory planning of a rotary preform robot, comprising the following steps:

[0032] S1. Complete the scene modeling of the seven-axis linkage acupuncture robot 1, including:

[0033] S1-1 measures the relative positions of the T-slot platform 2, the rotary table 4 and the seven-axis linkage acupuncture robot 1, and converts the relative positions into coordinate values ​​of the T-slot platform 2 and the rotary table 4 in the robot world coordinate system;

[0034] S1-2 Based on the relative positions obtained in S1-1, set the positions of each component in Powershape and output a .dmt file;

[0035] S1-3 writes a robot configuration file, in which the action rotation axis and properties of the T-slot platform 2, the rotary table 4, and the acupuncture end effector are set; the configuration file in S1-3 at least includes whether to move, linear motion or rotary motion, the rotary axis coordinate value, and the rotation angle range;

[0036] S1-4 Add the configuration file and .dmt file to the robot library of Powermill. Figure 3 The scene modeling of the seven-axis linkage acupuncture robot 1 is shown. The robot is a Kawasaki six-joint robot.

[0037] S2. Design the acupuncture trajectory and output the position information of the continuous points on the trajectory, specifically:

[0038] S2-1 Based on the digital model 5 of the quasi-revolving preform, use Powershape to project equidistant straight lines onto the model surface to produce equidistant reference lines;

[0039] S2-2 sets the direction of the equidistant reference line 6 to alternately clockwise and counterclockwise, so that the rotary table rotates 360° clockwise and 360° counterclockwise in an alternating cycle during the needling process;

[0040] S2-3 Generate a tool path in Powermill based on the reference line 6, set the start and end points of the tool path to be on the same straight line, and set the cut-in and cut-out distances to 0 mm to connect tool paths of different rows 7;

[0041] S2-4 sets the robot unit, axis priority and tool axis control, simulates the trajectory based on Powermill, writes the simulation results into the NC program and checks for singularities, and corrects the trajectory by adjusting the tool axis and axis priority;

[0042] S2-5 sets the trajectory point spacing and outputs a NC program without singular points, including the six-axis milling program and the rotation angle of the external rotary axis.

[0043] S3, using Python language and QT Designer to build a seven-axis linkage robot acupuncture program conversion module and output the seven-axis linkage acupuncture robot executable program; the conversion module transforms the acupuncture point position in the plane, such as Figure 2 As shown, the posture of P0 is rotated by an angle θ and transformed into Pi, and the six-axis program is converted into a seven-axis program; the formula is Xi=X0*COS(θ)-Y0*SIN(θ); Yi=X0*SIN(θ)+Y0*COS(θ); Zi=Z0; Oi=O0+θ; Ai=A0; Ti=T0; wherein X, Y, Z are position parameters, O, A, T are posture parameters, and θ is the transformation angle; the acupuncture program conversion module of the seven-axis linkage acupuncture robot 1 needs to define the coordinates of the rotary table origin in the robot world coordinate system, the robot's running speed, motion accuracy, tool coordinate parameters, stepping amount, and the name of the output robot executable program.

[0044] S4, performing motion simulation of the seven-axis linkage acupuncture robot 1 through software to verify the correctness of the executable program output in S3, specifically including:

[0045] S4-1 builds a seven-axis linkage acupuncture robot simulation scene based on the robot offline simulation software; the robot offline simulation software in S4-1 is the Kawasaki robot K-ROSET simulation software.

[0046] S4-2 runs the executable program output in S3 in simulation software to verify the correctness of the program.

[0047] S5, downloading the executable program verified in S4 to the robot controller, starting the robot to perform acupuncture on the quasi-rotation preform according to the set program.

[0048] See attached Figure 5 , a storage medium having a computer program stored thereon, wherein the computer program is the executable program of the seven-axis linkage acupuncture robot output in the above S3.

[0049] Although the preferred embodiments of the present invention are described above, the present invention is not limited to the above specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, a person skilled in the art can make many forms without departing from the scope of the present invention and the claims. All of these belong to the protection scope of the present invention.

Claims

1. A method for acupuncture trajectory planning of a rotary preform robot, characterized in that: The following steps are involved: S1. Complete the scene modeling of the seven-axis linkage acupuncture robot; S2, design the needle trajectory and output the position information of continuous points on the trajectory; specifically, S2-1, based on the digital model of the quasi-rotational preform, use Powershape to project equidistant straight lines onto the model surface to produce equidistant reference lines; S2-2, set the direction of the equidistant reference lines to alternately clockwise and counterclockwise; S2-3, generate the tool path in Powermill based on the reference line, set the start and end points of the tool path on the same straight line, set the cut-in and cut-out distances to 0mm to connect tool paths in different rows; S2-4, set the robot unit, axis priority and tool axis control, simulate the trajectory based on Powermill, write the simulation results into the CNC program and check the singularity, and correct the trajectory by adjusting the tool axis and axis priority; S2-5, set the trajectory point spacing, and output the CNC program without singularity points, including the six-axis milling program and the rotation angle of the external rotation axis; S3. Construct an acupuncture program conversion module for a seven-axis linkage acupuncture robot and output an executable program for the seven-axis linkage acupuncture robot; the conversion module transforms the position and posture of the acupuncture point in the plane, rotates the position and posture of P0 by an angle θ, transforms it into Pi, and converts the six-axis program into a seven-axis program; the formula is Xi=X0*COS(θ)-Y0*SIN(θ); Yi=X0*SIN(θ)+Y0*COS(θ); Zi=Z0; Oi=O0+θ; Ai=A0; Ti=T0; wherein X, Y, Z are position parameters, O, A, T are posture parameters, and θ is the transformation angle; S4, using software to perform motion simulation of the seven-axis linkage acupuncture robot to verify the correctness of the executable program output in S3; S5, downloading the executable program verified in S4 to the robot controller, starting the robot to perform acupuncture on the quasi-rotation preform according to the set program.

2. The method for acupuncture trajectory planning of a quasi-rotational preform robot according to claim 1, characterized in that: The S1 specifically includes: S1-1 measuring the relative positions of the T-slot platform, the rotary table and the robot, and converting the relative positions into coordinate values ​​of the T-slot platform and the rotary table in the robot world coordinate system; S1-2 setting the positions of various components in Powershape based on the relative positions obtained in S1-1 and outputting a .dmt file; S1-3 writing a robot configuration file, setting the action rotation axis and properties of the T-slot platform, the rotary table, and the acupuncture end effector in the configuration file; S1-4 adding the configuration file and the .dmt file to the robot library of Powermill to complete the scene modeling of the seven-axis acupuncture robot.

3. The method for acupuncture trajectory planning of a quasi-rotational preform robot according to claim 2, characterized in that: The configuration file in S1-3 at least includes whether to move, linear motion or rotational motion, the coordinate value of the rotation axis and the rotation angle range.

4. The method for acupuncture trajectory planning of a quasi-rotational preform robot according to claim 1, characterized in that: The acupuncture program conversion module of the seven-axis linkage acupuncture robot needs to define the coordinates of the rotary table origin in the robot world coordinate system, the robot's running speed, motion accuracy, tool coordinate parameters, step size, and the name of the output robot executable program.

5. The method for acupuncture trajectory planning of a quasi-rotational preform robot according to claim 1, characterized in that: The S4 specifically includes: S4-1 building a seven-axis linkage acupuncture robot simulation scene based on the robot offline simulation software; S4-2 running the executable program output in S3 in the simulation software to verify the correctness of the program.

6. The method for acupuncture trajectory planning of a quasi-rotational preform robot according to claim 5, characterized in that: The robot offline simulation software in S4-1 is Kawasaki Robot K-ROSET simulation software.

7. A method for acupuncture trajectory planning of a quasi-rotational preform robot according to any one of claims 1 to 6, characterized in that: The seven-axis linkage acupuncture robot is a Kawasaki six-joint robot.

8. A storage medium having a computer program stored thereon, characterized in that: The computer program is the executable program of the seven-axis linkage acupuncture robot output by S3 in claim 1.

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