A debugging process method for robotic spot welding of a body-in-white

Abstract

The present invention relates to the technical field of automobile industry software simulation, and in particular to a white body robot spot welding debugging process method, the method comprising the following steps: establishing a white body spot welding process parameter standardization library, importing the three-dimensional data of the robot white body spot welding workstation into the offline programming software, importing the white body three-dimensional data into the offline programming software, and identifying and extracting the welding point data information, the offline programming software performs welding point allocation and automatic trajectory planning, simulates the trajectory generated by the offline programming software, corrects the trajectory with interference, imports the corrected offline program into the corresponding robot, uses the three-dimensional design software to partition and flatten the white body spot welding position, and exports the plane welding point parameter position map, the debugging personnel conducts on-site verification and modification of the offline program imported into the robot, starts the robot spot welding operation, and modifies the existing trajectory and process parameters. The beneficial effect of the present invention is that the standardization of the white body robot spot welding debugging process can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile industry software simulation, and in particular to a white body robot spot welding debugging process method. Background Art

[0002] The welding of automobile body-in-white is an extremely important link in the automobile manufacturing process, which plays a decisive role in the subsequent assembly and quality of the whole vehicle. Among various welding methods, spot welding has become the most widely used welding process in the welding process of automobile body-in-white due to its advantages such as simple operation, low welding cost, high production efficiency and small welding deformation. At present, most OEMs use robot automatic spot welding for body-in-white spot welding, so the quality of the body-in-white robot spot welding debugging process directly affects the quality of the entire automobile.

[0003] At present, the robot spot welding debugging process of the white body mainly consists of the following two methods:

[0004] One is based on offline programming, importing the body-in-white model data and workstation model data into the offline programming software, then the software extracts the welding point information and generates the robot trajectory data, then the technicians simulate and verify and correct the robot trajectory generated by the software, and finally generate the program code that the robot can recognize, and import the code into the robot. Then the robot debugger verifies the trajectory of the program imported into the robot and modifies the teaching, and finally completes the debugging of the body-in-white robot spot welding process.

[0005] The other is based on the body-in-white spot welding process file. The robot debugger teaches the robot according to the points marked in the process file and finally completes the debugging of the body-in-white robot spot welding process.

[0006] The above two methods have high requirements on the level of robot debuggers in the later stage of debugging. The robot spot welding processes debugged by debuggers of different levels are quite different, which will directly affect the quality of the whole vehicle. Therefore, a standardized and high-precision robot spot welding debugging process method is needed to facilitate the operation of debuggers. Summary of the invention

[0007] In view of the above-mentioned deficiencies described in the background technology, the present invention provides a body-in-white robot spot welding debugging process method to achieve standardization of the body-in-white robot spot welding debugging process.

[0008] The present invention provides a body-in-white robot spot welding debugging process method, comprising:

[0009] S1: Establish a standardized library of body-in-white spot welding process parameters;

[0010] S2: Import the 3D data of the body-in-white robot spot welding workstation into the offline programming software and perform 3D layout to create a workspace; import the corresponding robot modeling data into the workspace of the offline programming software, and install the corresponding welding clamp on the corresponding robot;

[0011] S3: Importing the 3D data of the body in white into the workspace, the offline programming software extracts the corresponding welding point data information according to the specific identification in the 3D data of the body in white, and attaches a unique spot welding parameter identification code;

[0012] S4: Based on the spot welding parameter identification code, the offline programming software performs welding spot allocation, allocates the welding spots to the robots at the corresponding workstations, and performs path trajectory planning;

[0013] S5: The offline programming software simulates the trajectory generated by the robot and establishes an interference space, corrects the trajectory with interference during the simulation process, and generates an offline program without motion interference;

[0014] S6: importing the offline program into the corresponding robot model, inputting the corresponding base coordinates and TCP and workpiece coordinates into the corresponding robot, and verifying and improving the running coordinates of the robot;

[0015] S7: Generate a solder joint parameter position diagram by using the three-dimensional design software in combination with the solder joint division of the offline programming software;

[0016] S8: The robot debugging personnel conduct on-site simulation verification and precise positioning of the offline program imported into the robot in combination with the welding point parameter position diagram;

[0017] S9: Robot spot welding operation. The debugging personnel modify the trajectory problems and spot welding parameter problems that occur during the robot's on-site spot welding operation to complete the entire body-in-white robot spot welding debugging process.

[0018] Furthermore, the database described in S1 is established by collecting materials and plate thicknesses of body-in-white stamping parts, conducting process simulation tests on spot welding combinations of plates of different materials and thicknesses, and analyzing the process test data. Three standardized spot welding process parameters, namely general parameters, medium parameters, and optimal parameters, are provided for each plate combination, and a unique spot welding parameter identification code is attached.

[0019] Furthermore, the classification labels of the spot welding parameter identification code are overlap mode, number of spot welding layers and material.

[0020] Furthermore, the on-site simulation verification in S8 is performed by attaching a welding point parameter position map with welding point process parameters to a corresponding position of the body-in-white, and accurately positioning the trajectory position in the spot welding program by referring to the welding point parameter position map.

[0021] Furthermore, the welding point parameter position map is flattened and generated by a body-in-white spot welding position partitioning module.

[0022] Furthermore, the two-dimensional data of the spot welding position partition module is annotated with welding spot process parameters.

[0023] The beneficial effects of the present invention are:

[0024] 1. The present invention establishes a database to associate data such as target material, overlap method and spot welding process, realizes rapid retrieval and filtering, and realizes standardization of debugging process methods.

[0025] 2. The present invention establishes a workspace, matches the vehicle body data with the robot model in the workspace, and refits the welding clamp device of the robot to achieve adaptation of the robot to the processing work.

[0026] 3. The present invention introduces spot welding parameter identification codes to achieve efficient selection of spot welding processes without the need for on-site judgment by operators, thereby achieving standardized selection of spot welding processes.

[0027] 4. The present invention realizes the standardization and precision of the soldering point process adjustment by simulating the generated trajectory, correcting the interfering mechanical parts, and debugging through various software and multi-level on-site.

[0028] 5. The present invention compares the processing trajectory generated by calculation with the dimensions of the actual body-in-white through on-site simulation verification and precise positioning, thereby effectively ensuring the feasibility of the generated processing trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0030] Figure 1 The present invention is a flow chart of the white body robot spot welding debugging process method. DETAILED DESCRIPTION

[0031] To illustrate the features of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0032] Example:

[0033] A body-in-white robot spot welding debugging process method, comprising:

[0034] S1: Establish a standardized database of body-in-white spot welding process parameters; the establishment of the database is the basis for standardizing the entire debugging process method.

[0035] S2: Import the 3D data of the BIW robot spot welding workstation into the offline programming software and perform 3D layout to create a workspace; import the corresponding robot modeling data into the workspace of the offline programming software, and install the corresponding welding clamp on the corresponding robot; coordinate the body data and robot model in the workspace, and adapt the robot to the processing work by modifying the robot's welding clamp device.

[0036] S3: Importing the BIW three-dimensional data into the workspace, the offline programming software extracts the corresponding welding point data information according to the specific identification in the BIW three-dimensional data, and attaches a unique spot welding parameter identification code; by introducing the spot welding parameter identification code, the spot welding process can be efficiently selected without the need for on-site judgment by the operator, thereby realizing the standardized selection of the spot welding process.

[0037] S4: Based on the spot welding parameter identification code, the offline programming software performs welding spot allocation, allocates the welding spots to the robots at the corresponding workstations, and performs path trajectory planning;

[0038] S5: The offline programming software simulates the trajectory generated by the robot and establishes an interference space, corrects the trajectory with interference during the simulation process, and generates an offline program without motion interference; correcting the trajectory without interference is an important step in applying the generated data to the actual processing process. By simulating the generated trajectory, the mechanical parts with interference can be corrected.

[0039] S6: Import the offline program into the corresponding robot model, input the corresponding base coordinates and TCP, workpiece coordinates into the corresponding robot, and verify and improve the robot's running coordinates; usually when matching models implemented by different software, there will be a coordinate offset, and the normal coordination of the two models can be achieved by correcting the coordinates.

[0040] S7: Generate a solder joint parameter position diagram by using the three-dimensional design software in combination with the solder joint division of the offline programming software;

[0041] S8: The robot debugging personnel conduct on-site simulation verification and precise positioning of the offline program imported into the robot in combination with the welding point parameter position diagram;

[0042] S9: Robot spot welding operation, the debugging personnel modify the trajectory problems and spot welding parameter problems that occur during the robot spot welding operation, and complete the entire body-in-white robot spot welding debugging process. The present invention realizes the standardization and precision of the welding spot process adjustment through various software and multi-level debugging on site.

[0043] The database described in S1 is established by collecting materials and plate thicknesses of body-in-white stamping parts, conducting process simulation tests on spot welding combinations of plates of different materials and thicknesses, and analyzing process test data. For each plate combination, three standard spot welding process parameters, namely general parameters, medium parameters, and optimal parameters, are provided, and a unique spot welding parameter identification code is attached. The target material, overlap method and other data are associated with the spot welding process through the spot welding parameter identification code, so as to achieve rapid retrieval and filtering, and standardize the processing process.

[0044] The classification labels of the spot welding parameter identification code are overlap mode, number of spot welding layers and material. Through this classification label, the complicated spot welding process is divided and matched.

[0045] The on-site simulation verification described in S8 is to attach the welding point parameter position map with welding point process parameters to the corresponding position of the body-in-white, and to accurately locate the trajectory position in the spot welding program by referring to the welding point parameter position map. The on-site simulation verification and accurate positioning are the last correction and adjustment process of the spot welding debugging process. The feasibility of the generated processing trajectory is ensured by comparing the calculated processing trajectory with the dimensions of the actual body-in-white through simulation operations.

[0046] The welding point parameter position map is flattened and generated by the body-in-white spot welding position partitioning module.

[0047] The two-dimensional data of the spot welding position partition module is annotated with the welding point process parameters. By annotating the welding point process parameters with the two-dimensional data, it is more convenient to determine the processing technology of each welding point during the processing, which significantly improves the convenience of the operator.

[0048] The above embodiments and drawings are only used to illustrate the technical solutions of the present invention, and are not intended to limit the present invention. The present invention is described in detail with reference to the preferred embodiments. It should be understood by those skilled in the art that any changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention do not deviate from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention. Other related technical structures not fully disclosed in the present invention are prior art in the art.

Claims

1. A white body robot spot welding debugging process method, It is characterized in that include: S1: Establish a standardized library of body-in-white spot welding process parameters; S2: Import the 3D data of the body-in-white robot spot welding workstation into the offline programming software and perform 3D layout to create a workspace; import the corresponding robot modeling data into the workspace of the offline programming software, and install the corresponding welding clamp on the corresponding robot; S3: Importing the 3D data of the body in white into the workspace, the offline programming software extracts the corresponding welding point data information according to the specific identification in the 3D data of the body in white, and attaches a unique spot welding parameter identification code; S4: Based on the spot welding parameter identification code, the offline programming software performs welding spot allocation, allocates the welding spots to the robots at the corresponding workstations, and performs path trajectory planning; S5: The offline programming software simulates the trajectory generated by the robot and establishes an interference space, corrects the trajectory with interference during the simulation process, and generates an offline program without motion interference; S6: importing the offline program into the corresponding robot, inputting the corresponding base coordinates and TCP and workpiece coordinates into the corresponding robot, and verifying and improving the running coordinates of the robot; S7: Generate a solder joint parameter position diagram by using the three-dimensional design software in combination with the solder joint division of the offline programming software; S8: The robot debugging personnel conduct on-site simulation verification and precise positioning of the offline program imported into the robot in combination with the welding point parameter position diagram; S9: Robot spot welding operation. The debugging personnel modify the trajectory problems and spot welding parameter problems that occur during the robot's on-site spot welding operation to complete the entire body-in-white robot spot welding debugging process.

2. The body-in-white robot spot welding debugging process method according to claim 1, It is characterized in that The parameter standardization library described in S1 is established by collecting materials and plate thicknesses of body-in-white stamping parts, conducting process simulation tests on spot welding combinations of plates of different materials and thicknesses, and analyzing the process test data. Three standardized spot welding process parameters of general parameters, medium parameters, and optimal parameters are provided for each plate combination, and a unique spot welding parameter identification code is attached.

3. The body-in-white robot spot welding debugging process method according to claim 2, It is characterized in that The classification labels of the spot welding parameter identification code are overlap mode, number of spot welding layers and material.

4. The body-in-white robot spot welding debugging process method according to claim 1, It is characterized in that The on-site simulation verification described in S8 is performed by attaching a welding point parameter position map with welding point process parameters to the corresponding position of the white body, and accurately positioning the trajectory position in the spot welding program by referring to the welding point parameter position map.

5. The body-in-white robot spot welding debugging process method according to claim 4, It is characterized in that The welding point parameter position map is flattened and generated by the body-in-white spot welding position partitioning module.

6. The body-in-white robot spot welding debugging process method according to claim 5, It is characterized in that The two-dimensional data of the spot welding position partition module is annotated with welding spot process parameters.

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