A robot hemming control method
By dividing the edge of the workpiece to be piked into multiple piping sections and planning multiple piping paths, multiple robots are controlled to piping simultaneously according to these paths, the scrapping problem of board parts caused by inconsistent piping timing of multiple robots is solved, which improves operating efficiency and safety, and reduces the risk of production accidents.
Patent Information
- Application Number
- CN202411981868.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-04
AI Technical Summary
When multiple robots perform piping operations at the same time, due to equipment failure and speed differences, the robot does not perform piping in accordance with the planned timing, resulting in scrapping and subsequent work stations, resulting in huge losses of manpower and material resources.
Divide the edge of the workpiece to be piping into multiple piping sections, plan multiple piping paths, and control multiple robots to piping the piping sections simultaneously according to these paths to ensure that only one robot piping in each interference area to avoid collision and interference.
The simultaneous spiral operation of multiple robots on multiple stages of spiral edges is realized, which improves operating efficiency and safety, and can switch to other robots to stop operations in time when the robot fails, avoid production accidents and reduces the scrap rate of board parts.
Smart Images
Figure CN119747464A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robots, and in particular to a robot hemming control method. Background Art
[0002] With the demand of automobile manufacturers for fast beat and flexibility of production lines, robot hemming process is often used for areas such as four doors and two covers, which inevitably involves multiple robots rolling hemming at the same time. Where there is interference between robots when working, interference areas are added, and there is no order of precedence. Add areas between robots and tooling, and the tooling needs to meet the conditions. Hemming is done step by step. Take the common 90° three-step hemming as an example: 90°→60°→30°→0°. Adding areas and interference areas can only ensure that the robot and tooling work in a normal sequence, and there is no collision or interference between robots. However, for the hemming handover area of multiple robots, due to equipment failure and robot speed differences, the robot did not roll hemming according to the planned sequence, and there was no stop waiting or error reporting. When the panel reached the last process, the staff discovered the problem. At this time, all panels of the hemming and subsequent stations were scrapped, causing great losses of manpower and material resources. Summary of the invention
[0003] In order to solve the technical problems existing in the background technology, the present invention proposes a robot hemming control method.
[0004] A robot hemming control method proposed by the present invention comprises:
[0005] Divide the edge of the workpiece to be rolled into M rolling segments;
[0006] M rolling paths of the M rolling segments are planned one by one;
[0007] Control N robots to roll hem X hem sections simultaneously according to M hem paths, wherein N≤M; X≤M.
[0008] Preferably, the one-to-one planning of the multiple rolling paths of the M rolling segments further includes:
[0009] Obtaining a first rolling edge segment and a second rolling edge segment that are connected among the M rolling edge segments;
[0010] Delineating an interference region associated with the first piping segment and the second piping segment;
[0011] The hemming path includes timing information, and when N robots are made to perform hemming on X hemming segments simultaneously according to a plurality of hemming paths including timing information, there is only one robot that performs hemming on the same interference area.
[0012] Preferably, the interference area specifically includes: a first interference segment located on the first rolling segment, and a second interference segment located on the second rolling segment, and the first interference segment is connected to the second interference segment; when N robots perform rolling on X rolling segments simultaneously according to multiple rolling paths containing timing information, the N robots at least include a first robot that is rolling on the first rolling segment and a second robot that is rolling on the second rolling segment, and when the first robot is rolling on the first rolling segment in a direction approaching / moving away from the second interference segment, the second robot is rolling on the second rolling segment in a direction moving away from / approaching the first interference segment, so that one and only one robot performs rolling on the same interference area.
[0013] Preferably, controlling N robots to perform rolling hemming on X rolling hemming segments simultaneously according to M rolling hemming paths specifically comprises:
[0014] N robots perform rolling hemming on X rolling hemming segments simultaneously according to multiple rolling hemming paths containing timing information;
[0015] When the first robot moves toward the direction close to the first interference section and reaches the first calibration point on the first rolling section close to the first interference section, if the second robot is rolling in the direction away from the first interference section, the first robot continues the rolling operation;
[0016] If the second robot is rolling the hem in a direction approaching the first interference section or the second robot is in a stopped state, the first robot switches to a stopped state and waits until the second robot rolls the hem in a direction away from the first interference section and then continues the rolling operation, so that when the first robot is rolling the first rolling section in a direction approaching the second interference section, the second robot is rolling the second rolling section in a direction away from the first interference section.
[0017] Preferably, the first calibration point is specifically an end point of the first interference segment away from the second interference segment.
[0018] Preferably, the controlling N robots to perform rolling hemming on X rolling hemming segments simultaneously according to M rolling hemming paths specifically includes:
[0019] N robots perform rolling hemming on X rolling hemming segments simultaneously according to multiple rolling hemming paths containing timing information;
[0020] When the second robot moves toward the direction approaching the second interference section and reaches the second calibration point on the second rolling section close to the second interference section, if the first robot is rolling in the direction away from the second interference section, the second robot continues the rolling operation;
[0021] If the first robot is rolling the hem in a direction approaching the second interference segment or the first robot is in a stopped state, the second robot switches to a stopped state and waits until the first robot continues the rolling operation after rolling the hem in a direction away from the second interference segment, so that when the second robot is rolling the second rolling segment in a direction approaching the first interference segment, the first robot is rolling the first rolling segment in a direction away from the second interference segment.
[0022] Preferably, the second calibration point is specifically an end point of the second interference segment away from the first interference segment.
[0023] Preferably, the method further comprises: when it is obtained that the first robot which is rolling the first rolling section is in the motion stop state due to a fault, the second robot which is rolling the second rolling section is actively switched to the motion stop state.
[0024] In the present invention, the proposed robot hemming control method divides the edge of the workpiece to be hemmed into M hemming segments; multiple hemming paths of the M hemming segments are planned one by one; and N robots perform simultaneous hemming of X hemming segments according to the multiple hemming paths. The simultaneous hemming operation of multiple hemming edges by N robots is realized, which improves the operation efficiency and safety. At the same time, when a robot fails, other robots can be switched to stop the operation in time, which avoids possible production accidents and reduces the scrap rate of panels. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 A schematic diagram of the working process of a robot hemming control method proposed by the present invention;
[0026] Figure 2 A schematic diagram of the structure of an embodiment of a robot hemming control method proposed by the present invention Figure 1 ;
[0027] Figure 3 A schematic diagram of the structure of an embodiment of a robot hemming control method proposed by the present invention Figure 2 . DETAILED DESCRIPTION
[0028] Reference Figure 1-3 The present invention provides a robot hemming control method, comprising:
[0029] The edge of the workpiece to be rolled is divided into M rolling segments.
[0030] M rolling paths of the M rolling segments are planned in a one-to-one correspondence.
[0031] Obtaining a first rolling edge segment and a second rolling edge segment that are connected among the M rolling edge segments;
[0032] Delineating an interference region associated with the first piping segment and the second piping segment;
[0033] The hemming path includes timing information, and when N robots are made to perform hemming on X hemming segments simultaneously according to a plurality of hemming paths including timing information, there is only one robot that performs hemming on the same interference area.
[0034] In this embodiment, the timing information is specifically the time for executing the rolling path. Different timing information is set for the N robots, so that the N robots can roll the X rolling segments simultaneously to avoid rolling interference.
[0035] In this embodiment, the interference area specifically includes: a first interference segment located on the first rolling segment, and a second interference segment located on the second rolling segment, and the first interference segment is connected to the second interference segment; when N robots simultaneously roll hemming X rolling segments according to multiple rolling paths containing timing information, the N robots at least include a first robot that is rolling the first rolling segment and a second robot that is rolling the second rolling segment, and when the first robot is rolling the first rolling segment in a direction approaching / moving away from the second interference segment, the second robot is rolling the second rolling segment in a direction moving away from / approaching the first interference segment, so that one and only one robot performs rolling on the same interference area.
[0036] Control N robots to roll hem X hem sections simultaneously along M hem paths, wherein N≤M; X≤M.
[0037] In this embodiment, N robots perform rolling on X rolling segments simultaneously according to multiple rolling paths containing timing information; when the first robot moves toward the direction approaching the first interference segment and reaches the first calibration point on the first rolling segment close to the first interference segment, if the second robot is rolling in the direction away from the first interference segment, the first robot continues the rolling operation; if the second robot is rolling in the direction approaching the first interference segment or the second robot is in a motion stop state, the first robot switches to a motion stop state and waits until the second robot performs rolling in the direction away from the first interference segment and then continues the rolling operation, so that when the first robot is rolling the first rolling segment in the direction approaching the second interference segment, the second robot is rolling the second rolling segment in the direction away from the first interference segment.
[0038] Specifically, the first calibration point is an end point of the first interference segment away from the second interference segment.
[0039] In this embodiment, N robots perform rolling on X rolling segments simultaneously according to multiple rolling paths containing timing information; when the second robot moves toward the direction approaching the second interference segment and reaches the second calibration point on the second rolling segment close to the second interference segment, if the first robot is performing rolling in the direction away from the second interference segment, the second robot continues the rolling operation; if the first robot is performing rolling in the direction approaching the second interference segment or the first robot is in a motion stop state, the second robot switches to a motion stop state and waits until the first robot performs rolling in the direction away from the second interference segment and then continues the rolling operation, so that when the second robot is performing rolling on the second rolling segment in the direction approaching the first interference segment, the first robot is performing rolling on the first rolling segment in the direction away from the second interference segment.
[0040] Specifically, the second calibration point is an end point of the second interference segment away from the first interference segment.
[0041] In this embodiment, if Figure 2 and Figure 3 As shown, the blue 340R1 is a schematic diagram of the hemming robot position. The blue line in the figure is the hemming trajectory of 340R1, and its order is ①②③④⑤, and the opening angle of each track is marked on the blue line; the red dotted line is a schematic diagram of the transition trajectory of 340R1 from the ②th order to the ③th order; the orange 340R3 is a schematic diagram of the hemming robot position. The orange 340R3 hemming trajectory, its order is ①②③④⑤, and the opening angle of each track is marked on the orange line; the green 340R5 is a schematic diagram of the hemming robot position. The green 340R5 hemming trajectory, its order is ①②③, and the opening angle of each track is marked on the green line. The blue 340R1 is taken as the first robot, and the orange 340R3 is taken as the second robot. The hemming segment corresponding to the rolling trajectory ①② of the first robot is taken as the first hemming segment, and the rolling trajectory ①②③ of the second robot is taken as the second hemming segment. Step_request 1 and step_request 2 on the rolling trajectory ①② corresponding to the first robot are used as the first calibration points corresponding to the first rolling segment associated with the interference area, and step_request 2 and step_request 4 on the rolling trajectory ①③ corresponding to the second robot are used as the second calibration points corresponding to the second rolling segment associated with the interference area.
[0042] Specifically, the first calibration point and the second calibration point need to be set before the corresponding interference section.
[0043] In this embodiment, if Figure 2 and Figure 3As shown, the rolling planning is as follows: the rolling planning of the lower corner of the left front door A pillar: orange ①→green ①→green ②→orange ②→orange ③→green ③; the rolling planning of the lower corner of the left front door B pillar: blue ①→orange ①→orange ②→blue ②→orange ③→orange ④; the rolling planning of the left front door B pillar: blue ①→blue ②→orange ④. By setting a continuous rolling condition for the first calibration point or the second calibration point corresponding to each rolling trajectory, it is collected to determine whether the first robot or the second robot is operating normally, so that when the first robot is rolling the first rolling segment in the direction of approaching / moving away from the second interference segment, the second robot is rolling the second rolling segment in the direction of moving away from / approaching the first interference segment, so that there is only one robot that performs rolling on the same interference area.
[0044] The continuous rolling conditions corresponding to the first calibration point or the second calibration point of each robot are shown in the following table:
[0045]
[0046] Combine the first calibration point or the second calibration point to set the continuous rolling condition. To achieve the unique rolling sequence of the lower corner of the left front door A pillar: orange ①→green ①→green ②→orange ②→orange ③→green ③; the unique rolling sequence of the lower corner of the left front door B pillar: blue ①→orange ①→orange ②→blue ②→orange ③→orange ④; the unique rolling sequence of the left front door B pillar: blue ①→blue ②→orange ④.
[0047] In this embodiment, the method further includes: when it is obtained that the first robot that is rolling the first rolling section is in a motion stop state due to a fault, the second robot that is rolling the second rolling section is actively switched to a motion stop state.
[0048] Specifically, when one of the hemming robots slows down or stops due to speed difference or equipment failure, the robot in the interference area can stop automatically when it reaches the corresponding first calibration point or second calibration point, and give a warning or error. After the slow robot moves through the corresponding first calibration point or second calibration point and outputs a timing signal, or after the failed hemming robot recovers, the remaining hemming operations can be performed in this order.
[0049] During the specific working process of the robot rolling control method of this embodiment, when N robots simultaneously roll hemming X rolling segments according to multiple rolling paths containing timing information, when the first robot moves in a direction close to the first interference segment and reaches a first calibration point on the first rolling segment close to the first interference segment, if the second robot is rolling in a direction away from the first interference segment, the first robot continues the rolling operation; if the second robot is rolling in a direction close to the first interference segment or the second robot is in a motion stop state, the first robot switches to a motion stop state and waits until the second robot rolls in a direction away from the first interference segment and then continues the rolling operation, so that when the first robot is rolling the first rolling segment in a direction close to the second interference segment, the second robot rolls the second rolling segment in a direction away from the first interference segment.
[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.
Claims
1. A robot hemming control method, characterized in that: include: Divide the edge of the workpiece to be rolled into M rolling segments; M rolling paths of the M rolling segments are planned one by one; Control N robots to roll hem X hem sections simultaneously along M hem paths, wherein N≤M; X≤M.
2. The robot hemming control method according to claim 1, characterized in that: The one-to-one correspondence of planning a plurality of rolling paths of the M rolling segments further includes: Obtaining a first rolling edge segment and a second rolling edge segment that are connected among the M rolling edge segments; Delineating an interference region associated with the first piping segment and the second piping segment; The hemming path includes timing information, and when N robots are made to perform hemming on X hemming segments simultaneously according to a plurality of hemming paths including timing information, there is only one robot that performs hemming on the same interference area.
3. The robot hemming control method according to claim 2, characterized in that: The interference area specifically includes: a first interference segment located on the first rolling segment, and a second interference segment located on the second rolling segment, the first interference segment is connected to the second interference segment; when N robots simultaneously roll hemming X rolling segments according to multiple rolling paths containing timing information, the N robots at least include a first robot that is rolling the first rolling segment and a second robot that is rolling the second rolling segment, and when the first robot is rolling the first rolling segment in a direction approaching / moving away from the second interference segment, the second robot is rolling the second rolling segment in a direction moving away from / approaching the first interference segment, so that there is only one robot that performs rolling on the same interference area.
4. The robot hemming control method according to claim 3, characterized in that: The controlling N robots to perform simultaneous rolling of X rolling segments according to M rolling paths specifically includes: N robots perform rolling hemming on X rolling hemming segments simultaneously according to multiple rolling hemming paths containing timing information; When the first robot moves toward the direction close to the first interference section and reaches the first calibration point on the first rolling section close to the first interference section, if the second robot is rolling in the direction away from the first interference section, the first robot continues the rolling operation; If the second robot is rolling the hem in a direction approaching the first interference section or the second robot is in a stopped state, the first robot switches to a stopped state and waits until the second robot rolls the hem in a direction away from the first interference section and then continues the rolling operation, so that when the first robot is rolling the first rolling section in a direction approaching the second interference section, the second robot is rolling the second rolling section in a direction away from the first interference section.
5. The robot hemming control method according to claim 4, characterized in that: The first calibration point is specifically an end point of the first interference segment away from the second interference segment.
6. The robot hemming control method according to claim 3, characterized in that: The controlling N robots to perform rolling hemming on X rolling hemming segments simultaneously according to M rolling hemming paths specifically includes: N robots perform rolling hemming on X rolling hemming segments simultaneously according to multiple rolling hemming paths containing timing information; When the second robot moves toward the direction approaching the second interference section and reaches the second calibration point on the second rolling section close to the second interference section, if the first robot is rolling in the direction away from the second interference section, the second robot continues the rolling operation; If the first robot is rolling the hem in a direction approaching the second interference segment or the first robot is in a stopped state, the second robot switches to a stopped state and waits until the first robot continues the rolling operation after rolling the hem in a direction away from the second interference segment, so that when the second robot is rolling the second rolling segment in a direction approaching the first interference segment, the first robot is rolling the first rolling segment in a direction away from the second interference segment.
7. The robot hemming control method according to claim 6, characterized in that: The second calibration point is specifically an end point of the second interference segment away from the first interference segment.
8. The robot hemming control method according to claim 1, characterized in that: Also includes: When it is obtained that the first robot that is rolling the first rolling segment is in a stopped state due to a fault, the second robot that is rolling the second rolling segment is actively switched to a stopped state.