A method for realizing simulation positioning arrangement of special vehicle studs

Abstract

The present application relates to a kind of special vehicle stud simulation positioning arrangement implementation method, by processing the point cloud scanning data of car body shell, according to the arrangement order requirement and size specification of armor model, the size, position calculation of armor uniform arrangement is carried out on the car body shell, while ensuring that the composite board arrangement is neat and consistent by stud positioning, and real-time display arrangement process, so as to give bolt column positioning position information, so as to provide welding guide data for welding robot.The present application can calculate stud position coordinates and uniformly arrange in simulation positioning process, using virtual simulation positioning technology, also greatly shorten the development cycle of product, not only reduce the development and production cost, but also improve the welding precision of attachment seat, welding stability, production speed and economic benefit.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of special vehicles, and particularly relates to a method for realizing simulation positioning and arrangement of studs of special vehicles. BACKGROUND

[0002] At present, the application research of the attachment stud welding adopts manual welding. When welding, a sample plate is held by hand to draw a line for positioning, the composite plate is assembled to the vehicle body, the studs are welded on the vehicle body first, and then the composite plate is assembled to the vehicle body (through the studs). Each vehicle body has 57 composite plates (48 shapes), the composite plate has fixed group hole positions and sizes, corresponding to the studs on the vehicle body. The stud positions on the vehicle body are adjusted to complete the gap adjustment of the composite plates, and finally the welding is completed.

[0003] The manual welding with the sample plate for drawing a line for positioning is easily affected by human factors, and the studs are easily unevenly arranged and the center lines of the studs in the same plane are not parallel when welding the studs, which finally leads to low production efficiency and unstable welding quality, greatly affecting the popularization and application of the attachment stud welding. SUMMARY

[0004] The present application provides a method for realizing simulation positioning and arrangement of studs of special vehicles to solve the defects of the prior art.

[0005] In order to solve the above technical problems, the present application provides a method for realizing simulation positioning and arrangement of studs of special vehicles, characterized in that it specifically comprises the following steps:

[0006] Step 1: creating a vehicle body composite plate resource library

[0007] Step 2: creating a composite plate and a process card

[0008] After creating the composite plate, the arrangement order and the gap between the composite plates are set according to the existing composite plate, and the arrangement of the composite plate is synchronously displayed in the view area;

[0009] Step 3: scanning data

[0010] The scanned point cloud data does not need to rely on a third-party platform, and the scanning data is directly analyzed and processed. In the case that the design and process data are ready, the subsequent data analysis and output results are directly performed;

[0011] Step 4: determining a coordinate system

[0012] Three mutually perpendicular planes are fitted on the positioning block, and then the coordinate system is determined according to the three fitted planes;

[0013] Step 5: model reconstruction

[0014] According to the actual situation on the spot, a plane is fitted in the point cloud, and model reconstruction is carried out;

[0015] Step 6: composite plate arrangement

[0016] The plane of the fixed plate and the process card are selected to arrange the composite plate, and the effect can be directly previewed after the composite plate arrangement;

[0017] After the composite plate arrangement is completed, when the anchor point position is saved, the number of the plane, the deviation threshold, the vertical orientation, the height of the lifting and the local radius can be set;

[0018] Step 7: ordering anchor points

[0019] The order of the anchor points of the arranged composite plate is customized according to the needs;

[0020] Step 8: output anchor points

[0021] The anchor point information output includes: fixed plate number, anchor point serial number, anchor point x value, anchor point y value, anchor point z value, column welding direction x value, column welding direction y value, column welding direction z value, model and actual point cloud deviation angle value;

[0022] Step 9: PLC

[0023] The anchor points are transmitted to the PLC platform, the control points captured by the camera are used to transmit instructions to the robot, and welding is carried out; the reference control points are obtained in the standard state for the first time, and the control point information is obtained in this state after each rotation, and the actual anchor point position after rotation is calculated after each new control point information is input, and the position is transmitted to the robot by instructions;

[0024] Step 10: statistical analysis.

[0025] Beneficial effects: the application can receive front-end scanning data, optimize the positioning of the stud position according to the scanning data, calculate the coordinate angle and position of the uniform arrangement on the vehicle body, realize virtual arrangement of the external pedestal stud of the vehicle body, meet the stud positioning process requirements, ensure that the composite plate arranged by the stud is neat and consistent, output the stud position coordinate value and stud number, and output the stud arrangement positioning information to the robot welding system, and the created stud information is summarized and counted, which changes the traditional design idea, can calculate the stud position coordinate and uniformly arrange the stud during the simulation positioning process, uses the virtual simulation positioning technology, greatly shortens the product development cycle, reduces the development and production cost, and improves the pedestal welding precision, welding stability, production speed and economic benefit. Experimental results show that the positioning method has shorter positioning time, higher accuracy and lower cost. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Method flow chart of the present application;

[0027] Figure 2 Composite plate assembly flow chart. DETAILED DESCRIPTION

[0028] In order to make the purpose, content and advantages of the present application more clear, the specific embodiments of the present application are described in further detail below.

[0029] The present application proposes a special vehicle stud simulation positioning arrangement implementation method, which specifically includes the following steps:

[0030] Step 1: Create a vehicle body composite plate resource library

[0031] According to the stud state to be arranged on the vehicle body, a composite plate database is first established, which contains vehicle body model and composite plate model data obtained from an automatic measurement system, and sets the composite plate name, vertex position, stud hole position and hole radius;

[0032] In the data management interface, composite plate data is first created. There are two methods for creating composite plate data: one is to manually add, and the other is to directly import a file in a compatible format. A composite plate is determined by setting the name, vertex position, hole position and hole radius of the composite plate. According to the set parameters, the composite plate will be displayed in the view area at the same time. The existing composite plate can be modified and deleted.

[0033] Step 2: Create a composite plate and process card

[0034] After creating the composite plate, the arrangement order of the composite plate and the gap between the composite plates can be set according to the existing composite plate. The arrangement of the composite plate will be displayed in the view area at the same time.

[0035] Step 3: Scan data

[0036] The scanned point cloud data does not need to rely on a third-party platform. The scanned data is directly analyzed and processed. In the case of ready design and process data, subsequent data analysis and output results can be directly performed.

[0037] Step 4: Determine the coordinate system

[0038] Three mutually perpendicular planes are fitted on the positioning block, and the coordinate system is determined according to the three fitted planes. The coordinate system can be adjusted by flipping the X, Y and Z axes.

[0039] Step 5: Model reconstruction

[0040] According to the actual situation, the plane is fitted in the point cloud, the model is reconstructed, and the plane fitting method has two kinds: one is to select a point on the point cloud, and automatically fit a plane according to the point; the second is to select points on the point cloud, and generate a plane every 4 points.

[0041] The size of the plane is adjusted through mutual shearing plane, boundary shearing, alignment plane and other functions.

[0042] Step 6: composite plate arrangement

[0043] Select the fixed plate plane and the process card to arrange the composite plate. After the composite plate arrangement, the effect can be directly previewed, the upward direction of the fixed plate can be adjusted, and the gap size between the composite plates can be adjusted. When previewing, the anchor points exceeding the set threshold are displayed in purple.

[0044] After the composite plate arrangement is completed, when saving the anchor point position, the number of the plane, the deviation threshold, the vertical direction, the lifting height and the local radius can be set.

[0045] Step 7: order anchor points

[0046] Customize the anchor point order of the arranged composite plate according to the needs.

[0047] Step 8: output anchor points

[0048] The anchor point information output includes: fixed plate number, anchor point serial number, anchor point x value, anchor point y value, anchor point z value, stud welding direction x value, stud welding direction y value, stud welding direction z value, model and actual point cloud deviation angle value (angle system).

[0049] Step 9: PLC

[0050] The anchor points are transmitted to the PLC platform, the control points are captured according to the camera, the instructions are transmitted to the robot, and the welding is performed. The first input obtains the reference control point in the standard state, and after each rotation, the control point information is obtained in this state. Every time a new control point information is input, the actual anchor point position after rotation is calculated, and the position is transmitted to the robot with instructions.

[0051] Step 10: statistical analysis

[0052] According to the time, the corresponding vehicle stud information can be queried, and the stud statistical chart is synchronously displayed.

[0053] The application processes the vehicle body shell point cloud scanning data, calculates the size and position of the uniform arrangement of the armor on the vehicle body shell according to the arrangement sequence requirement and size specification of the armor model, simultaneously ensures the uniform arrangement of the composite plate arranged through the stud positioning, and displays the arrangement process in real time, so as to give the stud positioning position information (including the coordinate and angle), thereby providing the welding robot with the welding guidance data.

[0054] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make some improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method for simulating the positioning and arrangement of studs in special vehicles, characterized in that: Specifically, the following steps are included: Step 1: Create a vehicle body composite panel resource library, which includes vehicle body model and composite panel model data obtained from the automatic measurement system, and sets the composite panel name, vertex position, stud hole position, and hole radius; Step 2: Create composite panels and process cards. Set the arrangement order and spacing of the composite panels according to the existing composite panels. The arrangement of the composite panels will be displayed synchronously in the view area. Step 3: Scan Data On-site scanning data and the point cloud data obtained do not require the use of a third-party platform. The scanned data can be directly analyzed and processed. With the design and process data ready, subsequent data analysis and output results can be performed directly. Step 4: Determine the coordinate system Fit three mutually perpendicular planes onto the positioning block, then determine the coordinate system based on the fitted three planes, and adjust the coordinate system by flipping the X, Y, and Z axes; Step 5: Model Reconstruction Based on the actual situation on site, a plane is fitted in the point cloud to reconstruct the model. There are two methods for fitting the plane: one is to select a point on the point cloud and automatically fit a plane based on it; the other is to select points on the point cloud and generate a plane for every four points. Step 6: Composite board arrangement Select the fixed plate plane and process card to arrange the composite panels. After the composite panels are arranged, you can preview the effect directly. During the preview, you can adjust the top orientation of the fixed plate or adjust the gap between the composite panels. After the composite panels are arranged, when saving the anchor point positions, you can set the plane number, bias threshold, vertical orientation, elevation height, and local radius; Step 7: Sort anchor points Customize the anchor point sequence of the already arranged composite panels as needed; Step 8: Output Anchor Point The output anchor point information includes: fixed plate number, anchor point serial number, anchor point x value, anchor point y value, anchor point z value, column welding direction x value, column welding direction y value, column welding direction z value, and deviation angle between the model and the actual point cloud. Step 9: PLC The anchor point is transmitted to the PLC platform. Based on the control point captured by the camera, the instructions are transmitted to the robot for welding. The first input obtains the reference control point in the standard state. After each rotation, the control point information is obtained by inputting again in the same state. Each time a new set of control point information is input, the actual position of the anchor point after rotation is calculated, and this position is transmitted to the robot with instructions. Step 10: Based on the time, the stud information of the corresponding vehicle can be queried, and a stud statistics chart will be displayed simultaneously.

2. The method for simulating the positioning and arrangement of studs for special vehicles according to claim 1, characterized in that: In step 1, first create composite board data in the data management interface. There are two ways to create composite board data: one is to add it manually; the other is to directly import a file that meets the format requirements.

3. The method for simulating the positioning and arrangement of studs for special vehicles according to claim 1, characterized in that: A composite board is defined by setting its name, vertex position, hole position, and hole radius. Based on the set parameters, the composite board will be displayed synchronously in the view area.

4. The method for simulating the positioning and arrangement of studs for special vehicles according to claim 3, characterized in that: Modify or delete existing composite panels.

5. The method for simulating the positioning and arrangement of studs for special vehicles according to claim 1, characterized in that: In step 5, the plane size is adjusted by mutual plane cutting, boundary cutting, and plane alignment.

6. The method for simulating the positioning and arrangement of studs for special vehicles according to claim 1, characterized in that: In step 6, during the preview, anchor points that exceed the set threshold are displayed in purple.

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