Method, device, equipment and medium for automatically planning tool rotation angle in robot hole making

Abstract

The present invention discloses a method, device, equipment, and medium for automatically planning tool rotation angles in robotic hole drilling. The method comprises: establishing a product coordinate system based on a three-dimensional part model, and sequentially generating a hole position information set in the order of hole arrangement; constructing a binormal vector and a tangent vector for each point; dividing the set into unit degrees to generate a tool rotation angle set; obtaining the number of holes with a solution at each rotation angle in the rotation angle set; extracting the rotation angle A and the corresponding hole set that covers the largest number of holes in the hole position information set, and removing them from the hole position information set; determining whether the hole position information set is an empty set, and if so, completing the process; and repeating the aforementioned steps until the hole position information set is an empty set. The present invention can achieve robotic drilling processing with as few tool rotation angles as possible based on part hole position arrangement information, robot structural dimensions, and other information, significantly improving offline programming and on-site processing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robot hole making, and in particular to a method, device, equipment and medium for automatically planning the rotation angle of a tool in robot hole making. Background Art

[0002] With the development of science and technology, industrial robots have been widely used in the manufacturing field. In the field of aviation manufacturing, robot-assisted assembly has also been widely researched, especially in civil aviation manufacturing companies. World-renowned aviation manufacturing giants such as Boeing and Airbus have successfully applied robot technology to realize automated drilling applications in aircraft assembly, which has been widely promoted.

[0003] Due to the limitations of the robot's processing range, parts are generally mounted on a rotating tooling during hole-making processing. The tooling rotation compensates for the robot's limited accessibility and achieves coverage of all processing holes. Traditional solutions generally set up multiple stations by changing the angle of the rotating tooling during offline programming, and perform trajectory planning at each station separately. This has problems such as excessive reliance on experience in station division and irrational division, which seriously restricts the improvement of offline programming and on-site processing efficiency. Therefore, in order to meet the current demand for efficient application of hole-making robots and improve offline programming and on-site processing efficiency, the design and invention of a method for automatic planning of tooling rotation angles in robot hole-making has great engineering significance and has broad application prospects in robot processing companies. Summary of the Invention

[0004] The purpose of the present invention is to address the problem that the current division of robot hole-making stations based solely on experience leads to low efficiency in offline programming and on-site processing. A method, device, equipment and medium for automatic planning of tool rotation angles in robot hole-making are provided. This scheme automatically plans the rotation angles of rotating tooling based on a clustering algorithm, and tries to achieve the coverage of all hole positions with as few rotation angle combinations as possible, thereby greatly improving the efficiency of offline programming and hole-making processing.

[0005] The technical solution of the present invention is:

[0006] A method for automatically planning the rotation angle of a tool in a robot hole making process includes the following steps:

[0007] Step 1: Establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P according to the hole arrangement order. i ;

[0008] Step 2: Construct the binormal vector and tangent vector for each point to obtain the complete posture information of the point in the robot base coordinate system;

[0009] Step 3: Divide the range from 0 to 360 degrees using unit degrees as intervals to generate the tooling rotation angle set Fi ;

[0010] Step 4: Get the tooling rotation angle set F i The number of holes with solutions for each rotation angle in ;

[0011] Step 5: Take out the coverage hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij ;

[0012] Step 6: From the hole position information set P i Remove the hole position information set P i and M ij The intersection of

[0013] Step 7: Determine the hole position information set P i Is it an empty set? If it is an empty set, the process is completed; if it is not an empty set, continue to repeat steps 5 to 7 until the hole position information set P is i It is an empty set, which means that all hole positions are covered.

[0014] Furthermore, the hole position information set P i Each sub-element in contains a serial number represented by the order of hole arrangement and the point coordinates and normal vector coordinates of each hole.

[0015] Furthermore, the tangent vector is constructed by projecting the vector connecting adjacent points onto a plane perpendicular to the normal vector.

[0016] Furthermore, the binormal vector is constructed by the cross product of the normal vector and the tangent vector according to the right-hand rule.

[0017] Furthermore, in step three, if the minimum division value of the rotary tooling is greater than the unit degree, the tooling rotation angle set is generated by dividing the interval of 0-360 degrees with the minimum division value as an interval.

[0018] Furthermore, in step 4, the tooling rotation angle set F is obtained based on the screw method robot inverse solution algorithm i The number of holes with solutions for each rotation angle.

[0019] Further: In step 5, the cover hole position information set P is taken out i The rotation angle A with the largest number of holes in the middle, including: the set of tooling rotation angles F i Sort the number of holes with solutions at each rotation angle from most to least, and select the rotation angle corresponding to the result with the largest number of coverage as the currently selected angle.

[0020] Furthermore, the present invention also proposes a device for automatically planning the rotation angle of tooling in robot hole making, comprising:

[0021] The hole position information generation module is used to establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P including the position coordinates and normal vector coordinates of each point according to the hole arrangement sequence. i ;

[0022] The posture information improvement module is used to construct the binormal vector and tangent vector for each point obtained by the hole information generation module to construct the complete posture information of the TCP point at the end of the robot;

[0023] The rotation angle division module is used to divide the range of 0-360 degrees into unit degrees to generate the tooling rotation angle set F i ;

[0024] The data processing module is used to obtain the tooling rotation angle set F using the screw method robot inverse solution algorithm i The number of holes with solutions at each rotation angle; repeatedly extract the covering hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij ; Then from the hole position information set P i Remove the hole position information set P i and M ij The intersection of until the hole position information set P i is an empty set;

[0025] The judgment module is used to judge the hole position information set P output by the data processing module i Whether it is an empty set, and stop planning when the output result of the data processing module is an empty set.

[0026] Furthermore, the present invention also proposes an automatic planning device for tooling rotation angles in robotic hole making, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that when the processor executes the computer program, it implements the steps in the above-mentioned method for automatic planning of tooling rotation angles in robotic hole making.

[0027] Furthermore, the present invention provides a computer-readable storage medium storing a computer program. Running the computer program can execute the steps in the above-mentioned method for automatically planning the rotation angle of tooling in robot hole making.

[0028] Positive effects of the present invention:

[0029] The present invention does not require multi-station planning under different tool rotation angles during the offline programming stage of the robot hole making, and can realize robot drilling processing under the smallest possible tool rotation angles based on the part hole position arrangement information, robot structure size and other information, thereby greatly improving the offline programming and on-site processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and examples.

[0031] Figure 1 It is a flow chart of the automatic planning method of the rotary tooling angle;

[0032] Figure 2 It is a schematic diagram of point posture construction, where N is the normal vector, T is the tangent vector, and B is the binormal vector;

[0033] Figure 3 This is a schematic diagram of different robot postures corresponding to the same point at different rotation angles;

[0034] Figure 4 It is the inverse solution calculation model of the robot screw method;

[0035] Figure 5 This is a typical part hole making effect diagram. DETAILED DESCRIPTION

[0036] The following further illustrates the method for automatically planning tool rotation angles for robotic hole drilling, as proposed by the present invention, with reference to the accompanying drawings and examples. It should be noted that the described embodiments represent only a portion of the present invention, not all of its embodiments. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention. However, the present invention is not limited to this embodiment.

[0037] Example 1

[0038] A method for automatically planning the rotation angle of tooling in robot hole making, such as Figure 1 As shown, the following steps are included:

[0039] Step 1: Establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P according to the hole arrangement order. i , each sub-element in the hole position information set includes a serial number represented by the hole position arrangement order and the point coordinates and normal vector coordinates of each hole position.

[0040] If the part model has 100 holes (arranged according to the programming structure tree), the hole information set P i The capacity of is 100, and the characteristics of the 20th hole in the sub-element of the collection are:

[0041] The corresponding unique number 20; the position coordinate P (P x ,P y ,P z ) and normal coordinate N(N x ,N y ,N z ).

[0042] Step 2: Construct the binormal vector and tangent vector for each point to obtain the complete posture information of the point in the robot base coordinate system, such as Figure 2 shown.

[0043] The tangent vector is constructed as follows: the projection of the vector after connecting adjacent points on the plane perpendicular to the normal vector;

[0044] The binormal vector is constructed by taking the cross product of the normal vector and the tangent vector according to the right-hand rule.

[0045] Step 3: Divide the range from 0 to 360 degrees with unit degrees as the interval to generate the tooling rotation angle set F i .

[0046] If the minimum division value of the rotary tool is greater than the unit degree, the minimum division value is used as the interval between 0-360 degrees. If the minimum division value of the tool is the unit degree, then the set F i ={1,2,3,4,…,360}.

[0047] Step 4: Get the tooling rotation angle set F i The number of holes with solutions for each rotation angle.

[0048] When the tooling rotation angle is A, A is the tooling rotation angle set F i In the child element, at this time, let the rotation axis pass through point (t x , t y , 0) and is parallel to the Z axis. The initial point position information T0 is rotated by angle A to obtain the posture information T1 in the robot base coordinate system as follows:

[0049]

[0050] Get the set P0 corresponding to the rotation angle A; based on the screw method robot inverse solution algorithm (screw model such as Figure 4 As shown), calculate the number of holes N with solutions in the set P0.

[0051] Step 5: Take out the coverage hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij .

[0052] After screening, when the angle A is 20, the maximum number of covered holes is 59, and the corresponding hole numbers are (10-58).

[0053] Step 6: From the set P i Remove M from ij (P i =P i -M ij ∩P i ), at this time P i The set is {1,2,3,4,…,9,59,…,100}.

[0054] Step 7: Determine P i Is it an empty set? If it is an empty set, the process is completed; if it is not an empty set, continue to repeat steps 5 to 7 until P i It is an empty set, which means that all hole positions are covered.

[0055] After screening, when A is 80, the number of covered holes is 72, and all the remaining P i Therefore, by automatically planning the combination of the two angles A=20 and A=80, all hole positions are covered.

[0056] Select typical parts to verify the beneficial effects of the technical solution of the present invention (such as Figure 3 Table 1 shows the comparison between the technical solution of the present invention and the traditional solution (relying on experience to divide the stations).

[0057] Table 1 Comparison between the present invention and traditional solutions

[0058] Solution Type Station setting Offline programming On-site processing total Traditional solution 4 1.5 hours 0.8 hours 2.3 hours This program Automatic planning (2) 0.5 hours 0.6 hours 1.1 hours

[0059] Example 2

[0060] This embodiment proposes a device for automatically planning the rotation angle of tooling in robot hole making, comprising:

[0061] The hole position information generation module is used to establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P including the position coordinates and normal vector coordinates of each point according to the hole arrangement sequence. i ;

[0062] The posture information improvement module is used to construct the binormal vector and tangent vector for each point obtained by the hole information generation module to construct the complete posture information of the TCP point at the end of the robot;

[0063] The rotation angle division module is used to divide the range of 0-360 degrees into unit degrees to generate the tooling rotation angle set F i ;

[0064] The data processing module is used to obtain the tooling rotation angle set F using the screw method robot inverse solution algorithm i The number of holes with solutions at each rotation angle; repeatedly extract the covering hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij ; Then from the hole position information set P i Remove the hole position information set P i and M ij The intersection of until the hole position information set P i is an empty set;

[0065] The judgment module is used to judge the hole position information set P output by the data processing module i Whether it is an empty set, and stop planning when the output result of the data processing module is an empty set.

[0066] In this embodiment, the functions of each functional module correspond to the steps in a method for automatically planning the rotation angle of a tooling in a robot hole making process, and will not be described in detail here.

[0067] Example 3

[0068] This embodiment provides an automatic planning device for tooling rotation angles in robot hole making, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the automatic planning method for tooling rotation angles in robot hole making as described in the first embodiment above are implemented.

[0069] Preferably, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units can be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the device.

[0070] The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor. The processor is the control center of the device, and uses various interfaces and lines to connect the various parts of the device.

[0071] The memory mainly includes a program storage area and a data storage area. The program storage area can store the operating system, at least one application required for a function, etc., and the data storage area can store related data, etc. In addition, the memory can be a high-speed random access memory, or a non-volatile memory such as a plug-in hard disk, a smart memory card, a secure digital card, and a flash memory card, or the memory can also be other volatile solid-state memory devices.

[0072] Example 4

[0073] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. Running the computer program can execute the steps of the method for automatically planning the rotation angle of tooling in robot hole making in the first embodiment.

[0074] Computer storage media may be tangible media that can contain or store programs for use by or in connection with an instruction execution system, apparatus, or device.

Claims

1. A method for automatically planning the rotation angle of tooling in robot hole making, characterized in that: The following steps are involved: Step 1: Establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P according to the hole arrangement order. i ; Step 2: Construct the binormal vector and tangent vector for each point to obtain the complete posture information of the point in the robot base coordinate system; Step 3: Divide the range from 0 to 360 degrees using unit degrees as intervals to generate the tooling rotation angle set F i ; Step 4: Get the tooling rotation angle set F i The number of holes with solutions for each rotation angle in ; Step 5: Take out the coverage hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij ; Step 6: From the hole position information set P i Remove the hole position information set P i and M ij The intersection of Step 7: Determine the hole position information set P i Is it an empty set? If it is an empty set, the process is completed; if it is not an empty set, continue to repeat steps 5 to 7 until the hole position information set P is i It is an empty set, which means that all hole positions are covered.

2. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: Hole position information set P i Each sub-element in contains a serial number represented by the order of hole arrangement and the point coordinates and normal vector coordinates of each hole.

3. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: The tangent vector is constructed as follows: the projection of the vector after connecting adjacent points on the plane perpendicular to the normal vector.

4. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: The binormal vector is constructed by taking the cross product of the normal vector and the tangent vector according to the right-hand rule.

5. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: In step 3, if the minimum division value of the rotary tooling is greater than the unit degree, the tooling rotation angle set is generated by dividing the interval of 0-360 degrees with the minimum division value as the interval.

6. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: In step 4, the tooling rotation angle set F is obtained based on the screw method robot inverse solution algorithm i The number of holes with solutions for each rotation angle.

7. The method for automatically planning the rotation angle of tooling in robot hole making according to claim 1, characterized in that: In step 5, the cover hole position information set P is taken out i The rotation angle A with the largest number of holes includes: the set of tooling rotation angles F obtained i Sort the number of holes with solutions at each rotation angle from most to least, and select the rotation angle corresponding to the result with the largest number of coverage as the currently selected angle.

8. An automatic planning device for tool rotation angle in robot hole making, characterized in that: include: The hole position information generation module is used to establish a product coordinate system based on the part 3D model in the CAM system, and generate a hole position information set P including the position coordinates and normal vector coordinates of each point according to the hole arrangement sequence. i ; The posture information improvement module is used to construct the binormal vector and tangent vector for each point obtained by the hole information generation module to construct the complete posture information of the TCP point at the end of the robot; The rotation angle division module is used to divide the range of 0-360 degrees into unit degrees to generate the tooling rotation angle set F i ; The data processing module is used to obtain the tooling rotation angle set F using the screw method robot inverse solution algorithm i The number of holes with solutions at each rotation angle; repeatedly extract the covering hole position information set P i The rotation angle A with the largest number of holes and the corresponding hole set M ij ; Then from the hole position information set P i Remove the hole position information set P i and M ij The intersection of until the hole position information set P i is an empty set; The judgment module is used to judge the hole position information set P output by the data processing module i Whether it is an empty set, and stop planning when the output result of the data processing module is an empty set.

9. A device for automatically planning the rotation angle of tooling in robot hole making, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for automatically planning the rotation angle of tooling in robot hole making are implemented.

10. A computer-readable storage medium storing a computer program, wherein the computer program can be executed to execute the steps of the method for automatically planning the rotation angle of tooling in robot hole making according to any one of claims 1 to 7.

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