Method for generating mirror image program of double-station welding robot

Abstract

The invention provides a double-station welding robot mirror image program generation method, which comprises the following steps of: after compiling a welding program of an A-side robot, exporting a source program to a target folder in a text format, and carrying out classified compression processing on the source program, obtaining two independent compression packages of a welding overall locating and deviation rectifying source program and a welding seam sub-source program; welding procedures and program functions of the target mirror image program of the welding robot are classified, and a welding program mirror image offset rule knowledge base is made based on classification results and conditions of all welding workstations; through a program batch processing tool, internal parameters of the two independent compressed packages are automatically calculated in batches based on the welding program mirror image offset rule knowledge base, instructions containing the parameters are updated and replaced, and corresponding mirror image program compressed packages are generated; and decompressing the welding overall locating and deviation rectifying mirror image program compressed package and the welding sub-mirror image program compressed package, and importing the compressed package into a B-side welding robot target controller for installation.

Description

Technical Field

[0001] The invention relates to the field of autonomous programming of a dual-station robot welding program, and in particular to a method for generating a mirror image program of a dual-station welding robot. Background Art

[0002] In order to improve the overall work efficiency of production welding program preparation, FANUC welding robot workstations are currently configured symmetrically for double stations (see Figure 1 ), including a side A welding robot 1, a side B welding robot 2 and a top beam 3, adopting a working mode in which the welding robots simultaneously collaborate in welding operations.

[0003] After the welding source program of the welding robot 1 on the A side is compiled, the generation of the welding program of the welding robot 2 on the B side requires the programmer to mirror the source program line by line. However, the welding program mirroring of the traditional welding robot has the following problems: 1. The mirror operation process of welding robot simulation software is complicated; programmers need to determine the mirror direction and position of the program according to different processes, different workstations, and different functional programs; for multi-external axis welding robots, coordinate system offset operation is required, and then the welding points and the parameters of each joint axis of the robot are mirrored. The above two processes must be operated strictly according to the solidification mirroring steps.

[0004] 2. Under the original mirror operation mode, the software can only realize the mirroring of point coordinates. Programmers need to deal with huge data modification and proofreading of key parameters of program text, including correcting the program search direction, program point sequence number (priming and filling point sequence), and editing with the logic of first priming and then filling. The welding parameters of the welding robot need to be modified according to the B-side mirror program for multiple mirror offsets. This method seriously affects the overall programming efficiency and increases the risk of errors in manual proofreading of program text, resulting in frequent program errors in the mirror program during simulation and actual production, which prolongs the program debugging time and affects production efficiency.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0006] The purpose of the present invention is to provide a method for generating a mirror image program for a dual-station welding robot in view of the deficiencies in the prior art.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: a method for generating a mirror image program for a dual-station welding robot, comprising the following steps: After the A-side robot welding program is compiled, the source program is exported to the target folder in text format, and the source program is classified and compressed to obtain two independent compressed packages: the welding overall positioning and deviation correction source program and the weld sub-source program; The welding procedures and program functions of the target mirror program of the welding robot are classified, and a welding program mirror offset rule knowledge base is formulated based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror offset rule knowledge base includes component names, procedure names, welding workstation conditions and parameter mirror conversion rules; Through the program batch processing tool, the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program are automatically calculated in batches based on the welding program mirror offset rule knowledge base, and the instructions containing the parameters are updated and replaced to generate the welding overall positioning and correction mirror program compressed package and the welding sub-mirror program compressed package; Unzip the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

[0008] A second aspect provides a dual-station welding robot welding image program generation device, comprising: The classification compression module is used to classify and compress the source program to obtain two independent compression packages: the welding overall positioning and deviation correction source program and the weld sub-source program; wherein, after the compilation of the A-side robot welding program is completed, the source program is exported to the target folder in text format; A welding program mirror image rule knowledge base formulation module is used to classify the welding processes and program functions of the welding robot target mirror program, and formulate a welding program mirror image offset rule knowledge base based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror image offset rule knowledge base includes component names, process names, welding workstation conditions and parameter mirror image conversion rules; The image generation module is used to automatically batch calculate the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program based on the welding program image offset rule knowledge base through the program batch processing tool, and update and replace the instructions containing the parameters to generate the welding overall positioning and correction image program compressed package and the welding sub-image program compressed package; The installation module is used to decompress the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

[0009] A third aspect provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described in the first aspect.

[0010] A fourth aspect provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0011] The present invention has outstanding substantive features and significant progress compared to the prior art. Specifically, 1. The program mirroring operation is simple: by setting the mirroring program rules, the generation method of the welding mirroring program is more intuitive and simple, and it can solve the problem of difficult mirroring operation of multi-external axis double-station welding robot workstation with rotating axis; the program mirroring text accuracy is 100%, and there is no error in the program after execution, and the actual use of the on-site welding robot is good.

[0012] 2. Efficient generation of welding image programs: The program uses background tool batch processing. Based on the image program conversion rules, it can quickly solve the problem of large-scale image program generation and process hundreds of welding source programs in 1 minute.

[0013] 3. The programs of different welding robot workstations are highly universal: based on the current welding robot workstation configuration and the placement of structural parts, reasoning can be performed to adjust the new program conversion rule knowledge base of the welding program to achieve rapid adaptation of the program.

[0014] 4. The welding program structure can be flexibly configured: the functions of different station types and functional programs can be flexibly configured according to user needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a double-station welding robot welding workstation of the present invention.

[0016] Figure 2 It is a mirror image flow chart of the dual-station welding robot program described in the present invention.

[0017] In the figure: 1. A-side welding robot; 2. B-side welding robot; 3. Top beam. DETAILED DESCRIPTION

[0018] The welding program mirroring of traditional welding robots requires the operation of the welding program based on the program mirroring offset function in the welding program offline simulation software. Specifically, the operation steps are as follows: 1.UF overall positioning and correction program image: (1) Select the mirror UF program and determine the mirror direction of the welding program; (2) Mirror offset operation in the world coordinate system, select the source point position and target point position of the mirror program.

[0019] (3) Modify the positioning and correction program text initialized by the system according to the UF program mirror logic.

[0020] 2. Welding subroutine mirroring: (1) After executing the UF mirroring program, establish the user coordinate system and manually correct the deviation; (2) Mirror the axis of symmetry in the current user coordinate system and reselect the mirror point position of the subroutine; (3) Modify the program text of each weld initialized by the system according to the welding subroutine mirror logic.

[0021] 3. Multi-external axis welding robot workstation with rotating axis: Due to the limitation of the simulation software functions, the above-mentioned mirroring operation cannot be performed routinely. A secondary conversion is performed between the user coordinate system and the world coordinate system, and key parameter information such as each welding point, joint posture, and ground rail position of the program is manually modified one by one in the robot teach pendant.

[0022] The above-mentioned mirroring process has the problems of complex offline teaching operation, multiple processes, long time, high error rate of mirroring program text, etc. In order to solve the above problems, the present invention proposes a method for generating a mirroring program for a dual-station welding robot, which exports the source program from the offline simulation software of the welding program in the form of LS text, selects the process and functional conditions of the program, and can quickly generate the welding mirroring program under the corresponding process through the program batch processing tool.

[0023] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0024] Example 1 This embodiment provides a method for generating a dual-station welding robot mirror image program. Figure 2 As shown, the following steps are included: After the A-side robot welding program is compiled, the source program is exported to the target folder in text format, and the source program is classified and compressed to obtain two independent compressed packages: the welding overall positioning and deviation correction source program and the weld sub-source program; The welding procedures and program functions of the target mirror program of the welding robot are classified, and a welding program mirror offset rule knowledge base is formulated based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror offset rule knowledge base includes component names, procedure names, welding workstation conditions and parameter mirror conversion rules; Through the program batch processing tool, the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program are automatically calculated in batches based on the welding program mirror offset rule knowledge base, and the instructions containing the parameters are updated and replaced to generate the welding overall positioning and correction mirror program compressed package and the welding sub-mirror program compressed package; Unzip the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

[0025] In one embodiment, the source program is exported to a target folder in LS text format. The LS text format is an editable program architecture, so the editability can be used to compile key position parameters and text information in the source program.

[0026] Furthermore, without changing the original program logic framework, the process name and program function classification information corresponding to the mirror target program are input, and based on the editable and importable LS text architecture generated by the robot simulation software, a set of welding program mirror offset rule knowledge base for the welding robot is obtained, so that subsequent program batch processing tools can batch process the A-side welding source program based on the welding program mirror offset rule knowledge base, thereby realizing the generation of the B-side welding mirror program in the shortest time.

[0027] Furthermore, after obtaining the process name and program function classification information corresponding to the mirror target program, a welding program mirror rule knowledge base is compiled based on the division of each component, each process and each welding workstation condition. The welding program mirror rule knowledge base includes the component name, the process program where the program is located, the welding workstation conditions and the parameter mirror conversion rules.

[0028] For ease of understanding, a welding procedure mirror rule table is provided with the component name of top beam and the process of one-time stand-alone.

[0029] Table 1 Welding procedure mirror rules Table 1

[0030] It should be noted that for the backing welding parameters and filling welding parameters, there are two types of parameters, represented by A and B respectively; for example, there are 4 welds, represented by 0, 1, 2, and 3 respectively, 0-1 represents the 0th and 1st welds, and 2-3 represents the 2nd and 3rd welds; when the backing welding parameter of the welding robot on the A side is A 0-1 , fill welding parameters are B 2-3 When the bottom welding parameters of the B side welding robot are mirrored as B 0-1 , fill welding parameters mirrored as A2-3 .

[0031] The mirror replacement rule is the key to mirror processing. During processing, the mirror replacement rule is used to perform the inverse operation.

[0032] It can be seen that in this embodiment, the coordinate values ​​of the target point are based on the current point, and the coordinate values ​​given in the program segment are the relative coordinates of the target point relative to the current point. The coordinate values ​​to be processed are only mirrored but not offset.

[0033] In one embodiment, internal parameters of two independent compressed packages, the welding overall positioning and correction source program and the weld sub-source program, are automatically batch calculated based on the welding program mirror offset rule knowledge base, including: When the parameters in the source program meet the welding workstation conditions of the welding program mirror rule knowledge base, the key position parameters and text information of each process of each component of the source program are calculated and replaced as a whole based on the parameter mirror conversion rules of the welding program mirror rule knowledge base; Based on the replaced parameters, the instructions in the source program that contain the corresponding parameters are updated and replaced.

[0034] Further, in one embodiment, the overall calculation and replacement of the key position parameters and text information of each process of each component of the source program includes: The parameter mirror conversion rules based on the welding program mirror rule knowledge base respectively mirror the positioning direction parameters, welding base parameters and welding filling parameters in the text information of the source program; The parameter mirror conversion rules based on the welding program mirror rule knowledge base are used to batch calculate and replace the welding trajectory point parameters, welding robot joint parameters and external axis position parameters in the key position parameters of the source program.

[0035] Among them, the welding robot joint parameters can reflect the welding gun posture.

[0036] Specifically, the welding seam sub-source program is replaced with welding parameters, positioning direction, trajectory points, welding gun posture, and external axis; The overall welding positioning and deviation correction source program, namely the UF positioning source program, is replaced with positioning direction, trajectory point, welding gun posture and external axis.

[0037] By determining the component name and the process where the program is located, a welding program mirror knowledge base is formulated. Based on the knowledge base reasoning operation method, the overall calculation and replacement of key position parameters and text information in the welding program are realized based on the parameter mirror conversion rules under different welding workstation conditions, thereby realizing the rapid generation of the process mirror program content.

[0038] Example 2 This embodiment provides a dual-station welding robot welding image program generation device, comprising: The classification compression module is used to classify and compress the source program to obtain two independent compression packages: the welding overall positioning and deviation correction source program and the weld sub-source program; wherein, after the compilation of the A-side robot welding program is completed, the source program is exported to the target folder in text format; A welding program mirror image rule knowledge base formulation module is used to classify the welding processes and program functions of the welding robot target mirror program, and formulate a welding program mirror image offset rule knowledge base based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror image offset rule knowledge base includes component names, process names, welding workstation conditions and parameter mirror image conversion rules; The image generation module is used to automatically batch calculate the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program based on the welding program image offset rule knowledge base through the program batch processing tool, and update and replace the instructions containing the parameters to generate the welding overall positioning and correction image program compressed package and the welding sub-image program compressed package; The installation module is used to decompress the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

[0039] Example 3 This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in Embodiment 1 are implemented.

[0040] Example 4 This embodiment provides a computer program product, including a computer program, which implements the steps of the method described in Embodiment 1 when executed by a processor.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for generating a mirror image program for a dual-station welding robot, characterized in that: The following steps are involved: After the A-side robot welding program is compiled, the source program is exported to the target folder in text format, and the source program is classified and compressed to obtain two independent compressed packages: the welding overall positioning and deviation correction source program and the weld sub-source program; The welding procedures and program functions of the target mirror program of the welding robot are classified, and a welding program mirror offset rule knowledge base is formulated based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror offset rule knowledge base includes component names, procedure names, welding workstation conditions and parameter mirror conversion rules; Through the program batch processing tool, the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program are automatically calculated in batches based on the welding program mirror offset rule knowledge base, and the instructions containing the parameters are updated and replaced to generate the welding overall positioning and correction mirror program compressed package and the welding sub-mirror program compressed package; Unzip the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

2. A method for generating a dual-station welding robot mirror image program according to claim 1, characterized in that: Based on the welding program mirror offset rule knowledge base, the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program are automatically calculated in batches, including: When the parameters in the source program meet the welding workstation conditions of the welding program mirror rule knowledge base, the key position parameters and text information of each process of each component of the source program are calculated and replaced as a whole based on the parameter mirror conversion rules of the welding program mirror rule knowledge base; Based on the replaced parameters, the instructions in the source program that contain the corresponding parameters are updated and replaced.

3. A method for generating a dual-station welding robot mirror image program according to claim 2, characterized in that: The key position parameters and text information of each process of each component of the source program are calculated and replaced as a whole, including: The parameter mirror conversion rules based on the welding program mirror rule knowledge base respectively mirror the positioning direction parameters, welding base parameters and welding filling parameters in the text information of the source program; The parameter mirror conversion rules based on the welding program mirror rule knowledge base are used to batch calculate and replace the welding trajectory point parameters, welding robot joint posture parameters and external axis position parameters in the key position parameters of the source program.

4. A method for generating a dual-station welding robot mirror image program according to claim 3, characterized in that: When performing the replacement process, the welding parameters, positioning direction, trajectory points, welding gun posture and external axis of the weld sub-source program are replaced; The overall welding positioning and deviation correction source program, namely the UF positioning source program, is replaced with positioning direction, trajectory point, welding gun posture and external axis.

5. A welding image program generating device for a dual-station welding robot, characterized in that: include: The classification compression module is used to classify and compress the source program to obtain two independent compression packages: the welding overall positioning and deviation correction source program and the weld sub-source program; wherein, after the compilation of the A-side robot welding program is completed, the source program is exported to the target folder in text format; A welding program mirror image rule knowledge base formulation module is used to classify the welding processes and program functions of the welding robot target mirror program, and formulate a welding program mirror image offset rule knowledge base based on the classification results and the conditions of each welding workstation as the basis for division; the welding program mirror image offset rule knowledge base includes component names, process names, welding workstation conditions and parameter mirror image conversion rules; The image generation module is used to automatically batch calculate the internal parameters of the two independent compressed packages of the welding overall positioning and correction source program and the weld sub-source program based on the welding program image offset rule knowledge base through the program batch processing tool, and update and replace the instructions containing the parameters to generate the welding overall positioning and correction image program compressed package and the welding sub-image program compressed package; The installation module is used to decompress the compressed package of the welding overall positioning and correction mirror program and the welding sub-mirror program, import the welding overall positioning and correction mirror program and the welding sub-mirror program into the B-side welding robot target controller, and perform offline simulation tests on the welding overall positioning and correction mirror program and the welding sub-mirror program respectively.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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