Symmetrical automatic welding tool positioning method and device for automobile production line and electronic equipment

Abstract

The embodiment of the invention provides a symmetric automatic welding tool positioning method and device for an automobile production line and electronic equipment, relates to the technical field of automobile intelligent manufacturing, and aims at unifying a coordinate system by taking equipment on one side of a symmetric welding tool as a reference, and carrying out field actual measurement on a plurality of site positions on the basis. Digital-analog reconstruction is carried out on the sites, digital-analog of other equipment facilities of the tool is obtained based on the reconstructed reference digital-analog, and complete digital-analog information of the stack-up welding tool is obtained; and then analog simulation is carried out by utilizing the complete digital-analog information, the position of the welding robot in the tool is corrected, secondary correction is carried out on key sites in combination with a compiled robot off-line program, and finally standard position data required by actual debugging of the robot on an automobile production line site is obtained. The error between actual installation of the welding tool and the simulation environment is greatly reduced, the consistency rate of welding spot coordinates exceeds the expectation, and the field debugging time of an automobile production line is remarkably shortened.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of automobile intelligent manufacturing technology, and in particular to a symmetrical automatic welding tool positioning method, device and electronic equipment for an automobile production line. [Background technology]

[0002] The existing market for new car models is undergoing frequent iterations, which requires automakers to speed up the development and production of new models.

[0003] The actual layout and installation of existing body production lines are generally quite different from the vehicle simulation environment. In particular, the symmetrical welding island production lines (symmetrical door cover welding island models) basically require point-by-point profiling and debugging of each robot at each workstation on the actual production line.

[0004] Moreover, a comprehensive analysis of the current production line and simulation status shows that there are at least the following problems:

[0005] 1. The installation error of on-site equipment is large, and some critical points of the simulation environment may interfere with or be unreachable on the production line.

[0006] 2. Due to the symmetrical installation of the workstation robots, the offline program cannot be used for on-site fine-tuning;

[0007] 3. The coordinate systems of the on-site measurement tool software and the simulation software are very different, which makes it impossible to directly measure the installation angle deviation;

[0008] 4. It takes a long time to import vehicle models on site. [Summary of the invention]

[0009] The embodiments of the present application propose a symmetrical automatic welding tool positioning method, device and electronic equipment for an automobile production line, which relate to the field of automobile intelligent manufacturing technology, and are intended to solve the problems of large deviations between the existing virtual simulation environment and the actual automobile production line site, and low efficiency of robot offline program profiling and debugging.

[0010] In a first aspect, an embodiment of the present application provides a symmetrical automatic welding tool positioning method for an automobile production line, the method comprising:

[0011] Selecting a platform on one side of the welding tool as a reference platform, constructing a reference coordinate system based on the digital model of the reference platform, and making the coordinate system of the measuring tool consistent with the reference coordinate system;

[0012] After determining the measuring points of the robot of the welding fixture and the platform on the other side, obtaining the position information of the measuring points measured by the measuring tool;

[0013] Using the reference platform and the measurement points, a reference plane digital model representing the actual plane of the robot base or the other side platform is constructed;

[0014] According to the reference plane digital model, the positions of the other side platform and the robot base are determined, and the welding tooling digital model is obtained;

[0015] Based on the welding fixture digital model and the reference coordinate system, modeling is performed in a simulation environment and the position of the robot is corrected;

[0016] Obtain the robot offline program, calibrate the robot position again through the offline program, and finally obtain the target position data for on-site debugging.

[0017] In at least one possible implementation manner, a method for acquiring the position information of the measuring point includes:

[0018] Select several measuring points on the robot and the other side platform, and determine at least two reference points from the measuring points;

[0019] The absolute coordinate zero value in the digital model of the reference platform is used as the measurement reference value of the robot and the platform on the other side to measure the actual position of the reference point.

[0020] In at least one possible implementation, the reference plane digital model is constructed in the following manner:

[0021] Use measurement tools to obtain measured position data of preset reference points on the reference platform;

[0022] Connecting the preset reference point and the reference point into a reference plane and projecting it onto a reference platform to obtain a projection angle value;

[0023] Reference plane modeling is performed based on the preset benchmark points and the measured position data of the reference points.

[0024] In at least one possible implementation, determining the positions of the other side platform and the robot base includes:

[0025] Use the parallel constraint to adjust the target surface of the robot base or the other side platform to be parallel to the reference plane;

[0026] Use distance constraints to make the measurement point on the robot base or the other side platform coincide with a corresponding reference point; then use the coincident current reference point as the center of the circle and use the projection angle value to rotate the robot base or the other side platform to make other reference points coincide with the corresponding measurement points.

[0027] In at least one possible implementation, obtaining the robot offline program includes: compiling an offline program after simulation environment modeling and before position correction, or pre-compilation of an offline program; wherein the offline program includes preset initial coordinates of the robot welding site.

[0028] In at least one possible implementation, a method for determining a robot position of a welding tool includes:

[0029] Correct the robot's position in the simulation environment based on the actual measurement data represented by the digital model;

[0030] Generate new robot welding site coordinates according to the robot position change value during calibration;

[0031] The offline program is continuously run in the simulation environment, and the robot position is corrected again in combination with the new robot welding site coordinates.

[0032] In at least one possible implementation, the step of constructing a reference coordinate system based on the digital model of the reference platform and making the coordinate system of the measuring tool consistent with the reference coordinate system includes:

[0033] Using the preset standard plane, modify the original coordinates of the digital model of the reference platform to obtain the reference coordinate system;

[0034] The digital model of the reference platform in the reference coordinate system is imported into the measuring tool, and the coordinate system of the measuring tool is adjusted.

[0035] The technical role of this solution can be referenced as follows: taking the equipment on one side of the symmetrical welding tooling as the reference unified coordinate system, on this basis, on-site measurements are made on the positions of several sites, and digital models are reconstructed from these sites. Based on the reconstructed reference digital models, the digital models of other equipment and facilities of the tooling are obtained to obtain complete digital model information of the stacked welding tooling; then, the complete digital model information is used for simulation, the position of the welding robot in the tooling is corrected, and the compiled robot offline program is used to perform secondary corrections on key sites, and finally the standard position data required for actual debugging of the robot on the automobile production line is obtained.

[0036] After practicing the above scheme, the installation and simulation environment data errors of the on-site tooling equipment of the welding island station are extremely small, and the robot accessibility analysis verification is high; the compiled and mirrored offline program process trajectory is completely available, and the weld point coordinate consistency rate exceeds expectations. The maximum errors of a few inconsistencies are also less than 3mm, which can be overcome through basic fine-tuning; therefore, it is calculated that the debugging time of a single robot on a symmetrical welding island is effectively controlled within 2 hours, which greatly shortens the debugging time on the production line site compared to traditional methods.

[0037] In a second aspect, an embodiment of the present application provides a symmetrical automatic welding tool positioning device for an automobile production line, the device comprising:

[0038] A coordinate system module 1, which is used to select a platform on one side of the welding tool as a reference platform, construct a reference coordinate system based on the digital model of the reference platform, and make the coordinate system of the measuring tool consistent with the reference coordinate system;

[0039] The measured data acquisition module is used to obtain the position information of the measuring points measured by the measuring tool after determining the measuring points of the robot of the welding tool and the platform on the other side;

[0040] A reference plane modeling module is used to construct a reference plane digital model representing the actual plane of the robot base or the other side platform using the reference platform and the measurement points;

[0041] A complete tooling digital model acquisition module is used to determine the position of the other side platform and the robot base according to the reference plane digital model, and obtain the welding tooling digital model;

[0042] A simulation correction module, used to model and correct the robot position in a simulation environment based on the welding tooling digital model and the reference coordinate system;

[0043] The offline program correction module is used to obtain the robot's offline program, correct the robot's position again through the offline program, and finally obtain the target position data for on-site debugging.

[0044] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors, a memory, and one or more computer programs, wherein the memory may adopt a non-volatile storage medium, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the device, the electronic device performs the method as described in the first aspect or any possible implementation manner of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the method as described in the first aspect or any possible implementation of the first aspect.

[0046] It should be understood that the second to fourth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

Brief Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1A schematic diagram of a flow chart of a symmetrical automatic welding tool positioning method for an automobile production line provided in an embodiment of the present application;

[0049] Figure 2 A schematic structural diagram of a symmetrical automatic welding tool positioning device for an automobile production line provided in an embodiment of the present application. [Specific implementation method]

[0050] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0051] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0052] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0053] An embodiment of the present application provides a symmetrical automatic welding tooling positioning method for an automobile production line, in which the equipment on one side of the symmetrical welding tooling is used as a reference unified coordinate system, and on-site actual measurements are performed on the positions of several sites on this basis, and digital model reconstruction is performed based on these sites, and the digital models of other equipment and facilities of the tooling are obtained based on the reconstructed reference digital model to obtain complete digital model information of the stacked welding tooling; then, simulation is performed using the complete digital model information to calibrate the position of the welding robot in the tooling, and a secondary correction of key sites is performed in conjunction with the compiled robot offline program, and finally the standard position data required for actual debugging of the robot on the automobile production line site is obtained.

[0054] After practicing the above scheme, the installation and simulation environment data errors of the on-site tooling equipment of the welding island station are extremely small, and the robot accessibility analysis verification is high; the compiled and mirrored offline program process trajectory is completely available, and the weld point coordinate consistency rate exceeds expectations. The maximum errors of a few inconsistencies are also less than 3mm, which can be overcome through basic fine-tuning; therefore, it is calculated that the debugging time of a single robot on a symmetrical welding island is effectively controlled within 2 hours, which greatly shortens the debugging time on the production line site compared to traditional methods.

[0055] The technical solution protected by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0056] See also Figure 1, is a schematic diagram of a flow chart of a symmetrical automatic welding tool positioning method for an automobile production line provided in an embodiment of the present application. The flow chart of the method is described as follows:

[0057] Step S1, constructing a reference coordinate system based on the digital model of the platform on one side of the welding tool and making the coordinate system of the measuring tool consistent with the reference coordinate system;

[0058] In this embodiment, the digital model of the left platform (also called the assembly platform) of the symmetrical welding island is used as a reference, and the original coordinate modeling is first modified in the UG software, such as adjusting the coordinate leveling angle of the digital model of the left platform to construct a reference coordinate system. Specifically, the deviation angle (5 to 10 degrees) between the actual digital model of the left platform and the horizontal plane can be adjusted to 0 degrees.

[0059] Next, the digital model of the left platform after leveling is imported into the software Po1yWorks of the measurement tool (such as but not limited to the laser tracker used for actual measurement on the production line), and the current absolute coordinate zero value of the digital model of the left platform is used as the measurement reference value of other tooling equipment of the symmetrical welding island (the other tooling equipment here refers to the right platform mentioned below, and the robot located between the left and right platforms), where each other tooling equipment can select 3 to 4 feature points as measurement points. Through this process, the coordinate system used by the measurement tool and tooling modeling is consistent.

[0060] Step S2, determining the measuring points of the robot of the welding tooling and the platform on the other side, and measuring the position information of the measuring points with a measuring tool in a unified coordinate system;

[0061] Here, a robot is used as an example to illustrate that the measurement points of the robot base of the symmetrical welding island can be selected in advance. For example, preferably, when the robot is in place, the centers of the three pin holes on the upper surface of the base are used as target measurement positions. In actual operation, these three centers can be recorded as A, B, and C in sequence, and B and C can be selected as the main reference points for subsequent processing.

[0062] In the aforementioned reference coordinate system, a measuring tool (that is, a measuring tool in a unified coordinate system) is used to measure the position information of the three pin holes (measuring points) of the robot base.

[0063] Step S3, using the position information of the platform on one side and the measurement point, construct a reference plane digital model representing the actual plane where the robot base or the platform on the other side is located;

[0064] Continuing from the previous article, taking the robot as an example, the measurement tool is used to continue to measure the angle of the projection of the precision-machined reference groove on the bottom plate of the left platform and the two main reference points B and C on the bottom plate plane, which can be recorded here as angle 1. After that, the corresponding three points are set in the UG software, and a plane is established based on these three points, that is, the key measurement data is remodeled using the UG software to achieve the reproduction of the on-site installation angle deviation, and also provide basic correction data for the subsequent correction of the robot in the simulation environment.

[0065] Step S4, determining the position of the other side platform and the robot base according to the reference plane digital model, and obtaining a complete digital model representing the welding tooling;

[0066] Specifically, the newly created plane is the actual plane where the upper surface of the robot base is located on the production line. Then, the parallel constraint is used in the UG software to adjust the upper surface of the robot base represented by the digital model to be parallel to the newly created plane; then, the distance constraint is used to make the center B of the pin hole of the robot base in the digital model coincide with the corresponding measurement point, and then, with B as the center of the circle, the robot base is rotated using the angle 1 in the previous step to make the center C of the pin hole of the base coincide with the corresponding measurement point (it can be approximately coincident here).

[0067] According to the above process, the position of the right platform of the symmetrical welding island in the reference coordinate system is measured in the same way, which will not be repeated here; the slight difference is that the center of the upper surface of the three pin base holes (pin seat holes) of the right platform can be selected as the measuring point (that is, equivalent to the measuring point determined by the pin hole on the robot base).

[0068] After completing the position measurement of the platforms on both sides of the symmetrical welding island, the position of the right platform and the robot base based on the left platform are finally obtained in the digital model representation (there are two robots in a front-to-back layout between the left and right platforms, and the measurement and positioning methods of the two robots can refer to the above). Finally, the complete digital model of the welding island (including the platforms on both sides and the two robots between them) is exported from the UG software and then imported into the ROBOGUIDE simulation environment.

[0069] Step S5, modeling in a simulation environment based on the complete digital model and the reference coordinate system, and performing robot position correction in the simulation environment;

[0070] Step S6: Obtain the compiled robot offline program, calibrate the robot position again through the offline program, and finally obtain the target position data for on-site debugging.

[0071] After calibration in the simulation environment according to the actual measured data of the production line and the coordinate system consistent with the tooling digital model and measuring tools, the user coordinate offset, mirroring and other functions in the simulation software can be used to achieve offline program mirroring output in cases where the on-site installation deviation is large and the tooling digital model is asymmetric.

[0072] Specifically, the offline program can be compiled according to the process plan after the simulation environment modeling is completed and before the digital model position correction. Of course, the robot offline program can also be compiled in advance before step S1. It is necessary to set the initial user coordinates in the compiled offline program. Here, it is recommended to use the original coordinate value of the welding tool itself as the initial user coordinate.

[0073] In addition, in actual operation, the offline program of the robot only needs to be manually compiled for the reference device mentioned above (that is, one of the robots corresponding to the left platform), and the offline program of the robot of the right device (the robot responsible for the right platform) can be conveniently completed using the mirror offset function of the software.

[0074] This step can be expanded to calibrate the position of the robot in the simulation environment based on the actual measurement data converted by the UG software. At this time, the initial user coordinates of the robot will automatically generate new user coordinate data, including angle values, based on the change values ​​during calibration. Then, the above-mentioned offline program is continuously run in the ROBOGUIDE simulation environment. At this stage, the coordinate value of each point will be automatically modified according to the new user coordinates, thereby ensuring that the position of the weld performed by the robot remains unchanged.

[0075] After completing all the previous measurement and correction work, the newly generated user coordinates and the robot offline program will be provided to the on-site contour teaching staff to complete the actual debugging of the production line.

[0076] See also Figure 2 Based on the same inventive concept, the embodiment of the present application also provides a symmetrical automatic welding tool positioning device for an automobile production line, the device comprising:

[0077] A coordinate system module 201 is used to select a platform on one side of the welding tool as a reference platform, construct a reference coordinate system based on the digital model of the reference platform, and make the coordinate system of the measuring tool consistent with the reference coordinate system;

[0078] The measured data acquisition module 202 is used to obtain the position information of the measuring points measured by the measuring tool after determining the measuring points of the robot of the welding tool and the platform on the other side;

[0079] A reference plane modeling module 203 is used to construct a reference plane digital model representing the actual plane of the robot base or the other side platform using the reference platform and the measurement points;

[0080] A complete tooling digital model acquisition module 204 is used to determine the position of the other side platform and the robot base according to the reference plane digital model, and obtain the welding tooling digital model;

[0081] A simulation correction module 205, for modeling and correcting the robot position in a simulation environment based on the welding tooling digital model and the reference coordinate system;

[0082] The offline program correction module 206 is used to obtain the offline program of the robot, and to correct the position of the robot again through the offline program, and finally obtain the target position data for on-site debugging.

[0083] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including at least one processor, which is used to execute a computer program stored in a memory to implement the flow chart steps of the above-mentioned symmetrical automatic welding tooling positioning method for an automobile production line provided in an embodiment of the present application.

[0084] Optionally, the processor may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0085] Optionally, the electronic device may further include a memory connected to at least one processor, and the memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor when it is running, that is, it stores instructions that can be executed by at least one processor, and at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. Among them, the number of memories is one or more. Among them, the number of memories is one or more.

[0086] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the methods mentioned in the above embodiments.

[0087] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A symmetrical automatic welding tool positioning method for an automobile production line, characterized in that: The method comprises: Selecting a platform on one side of the welding tool as a reference platform, constructing a reference coordinate system based on the digital model of the reference platform, and making the coordinate system of the measuring tool consistent with the reference coordinate system; After determining the measuring points of the robot of the welding fixture and the platform on the other side, obtaining the position information of the measuring points measured by the measuring tool; Using the reference platform and the measurement points, a reference plane digital model representing the actual plane of the robot base or the other side platform is constructed; According to the reference plane digital model, the positions of the other side platform and the robot base are determined, and the welding tooling digital model is obtained; Based on the welding fixture digital model and the reference coordinate system, modeling is performed in a simulation environment and the position of the robot is corrected; Obtain the robot offline program, calibrate the robot position again through the offline program, and finally obtain the target position data for on-site debugging.

2. The symmetrical automatic welding tool positioning method for automobile production line according to claim 1 is characterized in that: The method for obtaining the position information of the measuring point includes: Select several measuring points on the robot and the other side platform, and determine at least two reference points from the measuring points; The absolute coordinate zero value in the digital model of the reference platform is used as the measurement reference value of the robot and the platform on the other side to measure the actual position of the reference point.

3. The symmetrical automatic welding tool positioning method for automobile production line according to claim 2 is characterized in that: The construction method of the reference plane digital model is as follows: Use measurement tools to obtain measured position data of preset reference points on the reference platform; Connecting the preset reference point and the reference point into a reference plane and projecting it onto a reference platform to obtain a projection angle value; Reference plane modeling is performed based on the preset benchmark points and the measured position data of the reference points.

4. The symmetrical automatic welding tool positioning method for automobile production line according to claim 3 is characterized in that: Determining the position of the other side platform and the robot base includes: Use the parallel constraint to adjust the target surface of the robot base or the other side platform to be parallel to the reference plane; Use distance constraints to make the measurement point on the robot base or the other side platform coincide with a corresponding reference point; then use the coincident current reference point as the center of the circle and use the projection angle value to rotate the robot base or the other side platform to make other reference points coincide with the corresponding measurement points.

5. The symmetrical automatic welding tool positioning method for automobile production line according to claim 1 is characterized in that: The obtaining of the robot offline program includes: compiling the offline program after the simulation environment is modeled and before the position is corrected, or pre-compiled offline program; wherein the offline program includes preset initial coordinates of the robot welding position.

6. The symmetrical automatic welding tool positioning method for automobile production line according to claim 5 is characterized in that: The method for determining the robot position of the welding tool includes: Correct the robot's position in the simulation environment based on the actual measurement data represented by the digital model; Generate new robot welding site coordinates according to the robot position change value during calibration; The offline program is continuously run in the simulation environment, and the robot position is corrected again in combination with the new robot welding site coordinates.

7. The symmetrical automatic welding tool positioning method for automobile production line according to any one of claims 1 to 6, characterized in that: The step of constructing a reference coordinate system based on the reference platform digital model and making the coordinate system of the measuring tool consistent with the reference coordinate system comprises: Using the preset standard plane, modify the original coordinates of the digital model of the reference platform to obtain the reference coordinate system; The digital model of the reference platform in the reference coordinate system is imported into the measuring tool, and the coordinate system of the measuring tool is adjusted.

8. A symmetrical automatic welding tool positioning device for automobile production line, characterized in that: The device comprises: A coordinate system module 1, which is used to select a platform on one side of the welding tool as a reference platform, construct a reference coordinate system based on the digital model of the reference platform, and make the coordinate system of the measuring tool consistent with the reference coordinate system; The measured data acquisition module is used to obtain the position information of the measuring points measured by the measuring tool after determining the measuring points of the robot of the welding tool and the platform on the other side; A reference plane modeling module is used to construct a reference plane digital model representing the actual plane of the robot base or the other side platform using the reference platform and the measurement points; A complete tooling digital model acquisition module is used to determine the position of the other side platform and the robot base according to the reference plane digital model, and obtain the welding tooling digital model; A simulation correction module, used to model and correct the robot position in a simulation environment based on the welding tooling digital model and the reference coordinate system; The offline program correction module is used to obtain the robot's offline program, correct the robot's position again through the offline program, and finally obtain the target position data for on-site debugging.

9. An electronic device, characterized in that: include: One or more processors, a memory and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the electronic device, enable the electronic device to execute the symmetrical automatic welding tool positioning method for an automobile production line as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the symmetrical automatic welding tool positioning method for an automobile production line described in any one of claims 1 to 7 is implemented.

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