Robot gluing program simulation verification method based on CATIA secondary development

Abstract

The invention relates to the field of simulation verification, in particular to a robot gluing program simulation verification method based on CATIA secondary development. According to the method, a robot gluing program is textualized and analyzed, process point positions such as a gluing point, a gun starting point and a gun closing point are automatically recognized, and three-dimensional coordinates of the process point positions are obtained. And in combination with a vehicle body workpiece coordinate system, conversion of a process point position from a robot coordinate system to a CATIA digital-analog coordinate system is realized. And extracting a gluing process parameter in the program, and converting the gluing process parameter into the geometric dimension of the adhesive tape according to a preset parameter conversion table. In a CATIA environment, according to a point position vector direction and surrounding environment data input by a user, process point positions are accurately projected to the surface of the part, and automatic line connection is carried out to generate a gluing track; and creating a three-dimensional model of the gluing adhesive tape by utilizing a sweeping function. And finally, comparing the generated gluing three-dimensional track with product design gluing data, calculating position, size and shape deviations, identifying difference points and outputting a problem list.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of simulation verification, in particular to a robot glue coating program simulation verification method based on CATIA secondary development. BACKGROUND

[0002] Glue coating, that is, spraying glue to a specific position by a glue gun, wherein the path of the gun nozzle movement is called a trajectory, and the start point, intermediate point and end point of glue coating in the trajectory are called the gun opening point, glue coating point and gun closing point, and the remaining points are called transition points. With the development of automation technology, glue coating technology has also made great progress, and basically realizes robot automatic glue coating. The process of robot glue coating trajectory point compilation is called trajectory debugging. Currently, the logic of mainstream glue coating robots in the industry is basically the same, and the process is that engineers use robot simulation software or robot teach pendants to control the robot to a specific position and set it as a gun opening point, glue coating point, gun closing point or transition point. In actual application, each robot manufacturer has its own operating system and software, and the robot glue coating program can only run in its own system and software, which has strong confidentiality and independence. The glue coating data of Hongqi vehicles is stored in the form of CATIA data, and CATIA data and robot program cannot be displayed in any software at the same time. In the actual trajectory debugging process, after the compilation of the robot glue coating trajectory is completed, the robot program cannot be exported in any software, and it is also impossible to directly compare and verify the rationality of the glue coating trajectory with the CATIA glue coating data. The only way to verify is through the real vehicle spraying effect. This problem directly affects the cycle of vehicle glue coating trajectory debugging and verification, and therefore a feasible solution is urgently needed to verify through digital means, save the verification vehicle and shorten the verification time. SUMMARY

[0003] The purpose of the present application is to provide a robot glue coating program simulation verification method based on CATIA secondary development, which solves the problem that the robot glue coating trajectory program cannot be directly compared with the glue coating design data in CATIA, and can only be verified by real vehicle spraying.

[0004] The present application provides the following scheme:

[0005] According to one aspect of the present application, a robot glue coating program simulation verification method based on CATIA secondary development is provided, comprising:

[0006] Saving the robot glue coating program as a text format and deconstructing it to identify all process points, including glue coating points, gun opening points and gun closing points;

[0007] Sorting according to the order of process points in the program and obtaining the three-dimensional coordinates of each process point;

[0008] Obtain the workpiece coordinates of the vehicle body, and use the workpiece coordinates to convert the process points from the robot gluing coordinate system to the CATIA digital model coordinate system, and generate the coordinate values ​​of the process points in the CATIA digital model coordinate system.

[0009] Extract the glue application process parameters from the robot's glue application program, and convert the glue application process parameters into glue strip geometry dimensions according to the parameter conversion rules;

[0010] Import the converted process points into CATIA, and project the process points onto the surface of the part based on the vector direction of the points and the surrounding environment data input by the user.

[0011] The projected process points are automatically connected, with the gun-opening point as the starting point and the gun-closing point as the ending point. A three-dimensional model of the glue application trajectory is generated along the connecting line based on the geometric dimensions of the glue strip.

[0012] The 3D model of the adhesive application trajectory is compared and calculated with the adhesive application data of the product design in CATIA to identify the differences between the two, and the problem list is displayed in the interface list.

[0013] Preferably, identifying all process points includes:

[0014] All process points are identified by recognizing specific statement identifiers in the program. Statements starting with DispL represent glue application points, statements starting with DispL\On represent gun-on points, and statements starting with DispL\Off represent gun-off points.

[0015] Preferably, the coordinate values ​​of the generated process points in the CATIA digital model coordinate system include:

[0016] The workpiece coordinates are established using a visual positioning system; these workpiece coordinates represent the vehicle body's position in the robot coordinate system.

[0017] The position and its mapping relationship with the CATIA digital model coordinate system;

[0018] Assign the workpiece coordinates to the process points in the robot's glue application program, and obtain the coordinate transformation relationship.

[0019] The coordinates of the process points in the CATIA digital model coordinate system.

[0020] Preferably, the parameter conversion rule is based on a preset parameter conversion table, which describes the correspondence between adhesive application process parameters and adhesive strip geometry.

[0021] Preferably, projecting the process points onto the surface of the part includes:

[0022] After importing the converted process points into CATIA, create a set of geometric figures according to the program segmentation principle and store them in a standardized manner.

[0023] The projection direction is determined based on the normal vector information of the process point in the robot program. Combined with the surrounding environment data input by the user, the process point is projected onto the surface of the part along the vector direction.

[0024] Preferably, generating the three-dimensional model of the adhesive application trajectory includes:

[0025] The projected process points are automatically connected in sequence using the polyline command, with the gun opening point as the starting point and the gun closing point as the ending point, to form the glue application trajectory line.

[0026] The cross-sectional dimensions are determined based on the geometric dimensions of the adhesive strip. The CATIA sweep function is used to generate a three-dimensional model of the adhesive application trajectory along the application trajectory line. The length direction of the three-dimensional model of the adhesive application trajectory extends along the trajectory, and the normal direction is perpendicular to the spatial vector of the process point.

[0027] Preferably, identifying the differences between the two includes:

[0028] The adhesive application process is divided into segments, and the trajectory model of each segment is compared with the corresponding design adhesive application data.

[0029] Based on the standard cross-section and model data, calculate the positional deviation, dimensional deviation, and shape deviation between the three-dimensional model of the adhesive application trajectory and the adhesive application data of the product design;

[0030] The system determines the difference points based on the preset deviation threshold and displays the location information, deviation type, and deviation value of the difference points in the interface list.

[0031] According to two aspects of the present invention, a robot glue application program simulation and verification system based on CATIA secondary development is provided, comprising:

[0032] The process point acquisition module is used to save the robot glue application program as a text format and deconstruct it to identify all process points, including glue application points, gun opening points and gun closing points.

[0033] The point coordinate acquisition module is used to sort the process points according to their order in the program and obtain the three-dimensional coordinates of each process point.

[0034] The CATIA digital model coordinate acquisition module is used to acquire the workpiece coordinates of the vehicle body. It uses the workpiece coordinates to convert the process points from the robot gluing coordinate system to the CATIA digital model coordinate system and generates the coordinate values ​​of the process points in the CATIA digital model coordinate system.

[0035] The glue application process parameter acquisition module is used to extract the glue application process parameters in the robot glue application program and convert the glue application process parameters into glue strip geometric dimensions according to the parameter conversion rules.

[0036] The data projection module is used to import the converted process points into CATIA and project the process points onto the surface of the part based on the vector direction of the points and the surrounding environment data input by the user.

[0037] The 3D trajectory generation module is used to automatically connect the projected process points, with the gun opening point as the starting point and the gun closing point as the ending point, and generate a 3D model of the glue application trajectory along the connecting line according to the geometric dimensions of the glue strip.

[0038] The data comparison and calculation module is used to compare and calculate the glue application trajectory 3D model with the product design glue application data in CATIA, identify the differences between the two, and display the problem list in the interface list.

[0039] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0040] The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of a robot glue application program simulation verification method based on CATIA secondary development.

[0041] According to four aspects of the present invention, a computer-readable storage medium is provided, comprising: storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device performs the steps of a robot glue application program simulation verification method based on CATIA secondary development.

[0042] The above solution achieves the following beneficial technical effects:

[0043] This invention achieves the identification of glue application points, gun-starting points, and gun-closing points through textual parsing and automatic deconstruction of the robot glue application program. It also automatically converts the robot coordinate system to the CATIA digital model coordinate system by combining workpiece coordinates. Furthermore, through glue application parameter conversion rules, the program parameters are transformed into the geometric dimensions of the glue strip, and then a 3D glue application trajectory model is automatically generated using CATIA's secondary development interface. Unlike traditional methods that rely on actual vehicle spraying verification, this invention can directly generate a visualized glue strip within CATIA, enabling digital judgment of trajectory defects.

[0044] This invention overcomes the problem that traditional robot programs cannot be displayed and verified in the CATIA environment. It establishes a universal conversion mechanism between robot glue application programs and CATIA product design data, enabling data interoperability between the two. Through point projection, trajectory reconstruction, and glue strip sweeping modeling, the trajectory verification process can be completed entirely within CATIA, avoiding reliance on on-site vehicle painting and significantly shortening the verification cycle. Attached Figure Description

[0045] Figure 1 This is a flowchart of a robot glue application program simulation verification method based on CATIA secondary development, provided by one or more embodiments of the present invention.

[0046] Figure 2 This is a text format portion of the glue application procedure data provided in a specific embodiment of the present invention.

[0047] Figure 3 This is a list of three-dimensional coordinates of robot glue application points provided in a specific embodiment of the present invention.

[0048] Figure 4 This is a robot parameter conversion table provided in a specific embodiment of the present invention.

[0049] Figure 5 This is a structural diagram of a robot glue application program simulation and verification system based on CATIA secondary development, provided by one or more embodiments of the present invention. Detailed Implementation

[0050] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Figure 1 This is a flowchart of a robot glue application program simulation verification method based on CATIA secondary development, provided by one or more embodiments of the present invention.

[0052] like Figure 1 The simulation verification method for a robot glue application program based on CATIA secondary development, as shown, includes:

[0053] S1. Save the robot glue application program as a text format and deconstruct it to identify all process points, including glue application points, gun opening points and gun closing points.

[0054] In this embodiment, identifying all process points includes:

[0055] All process points are identified by recognizing specific statement identifiers in the program. Statements starting with DispL represent glue application points, statements starting with DispL\On represent gun-on points, and statements starting with DispL\Off represent gun-off points.

[0056] Specifically, the robot glue application program will be explained using the ABB robot program as an example. First, save the ABB robot's glue application program file in .txt format to your computer. For example... Figure 2 As shown, after opening the text-format program file, you can see that the program contains various statement types:

[0057] In the program, statements starting with DispL represent glue application statements, and the P** following this statement represents the glue application point number; statements starting with DispL\On are gun-firing commands, and the P** following this statement represents the gun-firing point; statements starting with DispL\Off are gun-firing commands, and the P** following this statement represents the gun-off point. Besides these glue application point, gun-firing point, and gun-off point identifiers, other identifiers are also included. For example, statements starting with MoveL represent transition statements, and the P** following this statement represents the transition point; statements starting with ! indicate that the statement is commented out.

[0058] By setting up an automatic identification program, the system automatically reads and extracts glue application points, gun opening points, and gun closing points, excluding transition points and masking statements. After identification, the necessary points are identified and a point list is generated.

[0059] S2. Sort the process points according to their order in the program and obtain the three-dimensional coordinates of each process point.

[0060] Specifically, the identified process points are arranged in the following order according to their appearance in the program: P40 (gun opening point) → P50 (glue application point) → P60 (transition point) → P70 (transition point) → P80 (glue application point) → P90 (gun closing point). These points are then filtered, selecting only those relevant to the process, and assigned numbers (e.g., 1-5) to ensure a clear and consistent correspondence between the point numbers and their order, type, and 3D coordinates within the program.

[0061] After the point numbers and sorting are locked, the standard three-dimensional coordinates of all points are output using the coordinate transformation function of the robot software. Specifically, the following steps are taken: Open the glue application program in the robot software, select all identified process points, and the system automatically outputs the three-dimensional coordinates of each point in the robot coordinate system, along with the coordinate transformation matrix.

[0062] S3. Obtain the workpiece coordinates of the vehicle body, and use the workpiece coordinates to convert the process points from the robot gluing coordinate system to the CATIA digital model coordinate system, and generate the coordinate values ​​of the process points in the CATIA digital model coordinate system.

[0063] In this embodiment, the coordinate values ​​of the generated process points in the CATIA digital model coordinate system include:

[0064] Workpiece coordinates are established using a visual positioning system. These workpiece coordinates represent the position of the vehicle body in the robot coordinate system and its mapping relationship with the CATIA digital model coordinate system.

[0065] Assign the workpiece coordinates to the process points in the robot's glue application program, and obtain the coordinate values ​​of the process points in the CATIA digital model coordinate system through coordinate transformation.

[0066] Specifically, before the robotic glue-applying workstation goes into production, the vehicle body needs to be positioned using a vision positioning system. The vision system identifies feature points or markers on the vehicle body to determine its actual position and orientation in the robot coordinate system, and generates workpiece coordinates. The workpiece coordinates are essentially a coordinate transformation matrix, representing the spatial mapping relationship between the CATIA digital model coordinate system (vehicle design coordinate system) and the robot's on-site coordinate system. For example... Figure 3 As shown, the workpiece coordinates include: position information, namely the X, Y, and Z coordinates of the vehicle body origin in the robot coordinate system; and attitude information RX, RY, and RZ, namely the rotation angles of the vehicle body coordinate system relative to the robot coordinate system.

[0067] After obtaining the workpiece coordinates, the coordinates of the process points in the robot's glue application program need to be transformed. Since the point coordinates in the robot program are defined relative to the workpiece coordinate system, and this embodiment requires obtaining the coordinate values ​​of these points in the CATIA digital model coordinate system, a coordinate system transformation is necessary using the workpiece coordinates. The specific method for coordinate transformation is as follows:

[0068] The position and orientation information of the workpiece coordinates are used to construct a transformation matrix;

[0069] For each process point coordinate, matrix operations are used to obtain the coordinates of that point in the CATIA digital model coordinate system;

[0070] At the same time, the normal vectors at each point are subjected to the same rotation transformation to ensure that the vector direction remains correct after the coordinate system transformation.

[0071] After coordinate transformation, a list of process points in the CATIA digital model coordinate system is generated. The format of this list is similar to that in S2, but the coordinate values ​​have been converted to values ​​in the CATIA coordinate system. It should be noted that the workpiece coordinates of different glue application workstations are different. Therefore, for a production line with multiple glue application workstations, it is necessary to obtain the workpiece coordinates of each workstation separately and perform coordinate transformation on the process points of each workstation separately.

[0072] S4. Extract the glue application process parameters from the robot's glue application program, and convert the glue application process parameters into glue strip geometric dimensions according to the parameter conversion rules.

[0073] In this embodiment, the parameter conversion rule is based on a preset parameter conversion table, which is used to describe the correspondence between the glue coating process parameters and the geometric dimensions of the glue strip.

[0074] Specifically, the main parameters of the adhesive application process include application speed and application flow rate. Application flow rate refers to the amount of adhesive dispensed from the nozzle per unit time, measured in cc / s (cubic centimeters per second); application speed refers to the robot's operating speed, measured in mm / s (millimeters per second). These two parameters have a significant impact on both the width and thickness of the adhesive application.

[0075] The parameter conversion rules are based on a preset parameter conversion table. For example... Figure 4 As shown, this parameter conversion table was established by actual measurement of the adhesive strip width and thickness under different combinations of coating process parameters, recording the correspondence between coating speed, coating flow rate, and adhesive strip width and thickness. This table establishes a quantitative correspondence between robot coating speed, coating flow rate, and adhesive strip geometry (spray width, film thickness). The specific process of parameter conversion is as follows:

[0076] Extract the speed and flow rate parameters of a certain glue application section from the robot program, for example, speed 430mm / s, flow rate 18cc / s;

[0077] Find the record in the parameter conversion table that matches the speed and flow rate, and find the corresponding spray width of 18mm and film thickness of 2400-2600μm;

[0078] Take the median value of the film thickness as the thickness value, for example, 2500μm (i.e. 2.5mm).

[0079] The converted adhesive strip width of 18mm and thickness of 2.5mm were recorded for subsequent 3D model generation.

[0080] Through parameter transformation, the process parameters in the robot program are quantified into geometric dimensional parameters that can be used for 3D modeling, providing the necessary data foundation for generating a 3D model of the adhesive application trajectory in CATIA.

[0081] S5. Import the converted process points into CATIA, and project the process points onto the surface of the part according to the vector direction of the points and the surrounding environment data input by the user.

[0082] In this embodiment, projecting the process points onto the surface of the part includes:

[0083] After importing the converted process points into CATIA, create a set of geometric figures according to the program segmentation principle and store them in a standardized manner.

[0084] The projection direction is determined based on the normal vector information of the process point in the robot program. Combined with the surrounding environment data input by the user, the process point is projected onto the surface of the part along the vector direction.

[0085] Specifically, the import operation is implemented through a CATIA secondary development program. The program reads the list of process point coordinates (including point number, type, X / Y / Z coordinates, transformation matrix, etc.) and creates corresponding geometric sets in CATIA according to the program's segmentation principle. For example, for the first coating segment (from the opening point P40 to the closing point P90), a geometric set named "Segment_01" is created; for the second coating segment, a geometric set named "Segment_02" is created, and so on. Within each geometric set, CATIA point elements are created according to the point order, and these points are given standardized names. For example, "P40_Start" represents the opening point, "P50_Weld" represents the coating point, and "P90_End" represents the closing point. This standardized data organization and naming method facilitates subsequent automated processing and data traceability.

[0086] After importing the process points into CATIA, a projection operation is required to project these points onto the surface of the actual part. This is because the points in the robot program are defined in space and may be some distance from the actual part surface. The projection operation ensures that the generated adhesive application trajectory is consistent with the positional relationship of the actual part surface. The specific process of the projection operation is as follows:

[0087] Determine the projection direction: The projection direction is determined based on the normal vector information of the process point in the robot program. The normal vector is obtained in S2 and transformed in S3 to represent the orientation of the glue gun at that point. The projection direction is the direction of this normal vector.

[0088] Inputting ambient data: The user selects the surface of the part to be projected within the CATIA interface. The ambient data includes the surface geometry of the part, such as the curved surface model of a body panel. In the CATIA secondary development program, the user selects the geometric object of the target part's surface.

[0089] Perform projection: Using CATIA's projection function, project the point onto the nearest part surface along the vector direction of the process point. For example, for point P40, its normal vector is (0,0,-1), which means vertically downward. Then, project P40 onto the nearest part surface below along this direction to obtain the projected point P40'.

[0090] S6. Automatically connect the projected process points, taking the gun-opening point as the starting point and the gun-closing point as the ending point, and generate a three-dimensional model of the glue application trajectory along the connecting line according to the geometric dimensions of the glue strip.

[0091] In this embodiment, generating the three-dimensional model of the adhesive application trajectory includes:

[0092] The projected process points are automatically connected in sequence using the polyline command, with the gun opening point as the starting point and the gun closing point as the ending point, to form the glue application trajectory line.

[0093] The cross-sectional dimensions are determined based on the geometric dimensions of the adhesive strip. The CATIA sweep function is used to generate a three-dimensional model of the adhesive application trajectory along the application trajectory line. The length direction of the three-dimensional model of the adhesive application trajectory extends along the trajectory, and the normal direction is perpendicular to the spatial vector of the process point.

[0094] Specifically, using CATIA's polyline or spline command, the projected process points are automatically connected sequentially. During connection, the point where the glue gun is opened is used as the starting point, and the point where the gun is closed is used as the ending point, forming a continuous glue application trajectory line. For example, for the first glue application segment, the projected point sequence is: P40 (opening point) → P50' (applying point) → P80 (applying point) → P90' (closing point). The connection operation connects these four points sequentially, forming a polyline or smooth spline curve, which serves as the trajectory line Curve_01 for that glue application segment.

[0095] After connecting the lines, a 3D model of the adhesive application trajectory needs to be generated along the lines based on the width and thickness values ​​of the adhesive strip. A rectangular cross-sectional profile is created based on the width and thickness values ​​of the adhesive strip obtained in S4. For example, for an adhesive strip with a width of 18mm and a thickness of 2.5mm, an 18mm × 2.5mm rectangle is created. The center point of this rectangle is located at the starting point of the trajectory line (the opening point). The long side direction (width direction) of the rectangle is perpendicular to the tangent direction of the trajectory line, and the short side direction (thickness direction) of the rectangle is consistent with the normal vector direction of the process point. Using CATIA's sweep function, with the created rectangular cross-section as the profile and the adhesive application trajectory line as the guide line, a sweep operation is performed to generate a 3D solid model of the adhesive application trajectory. During the sweep process, the rectangular cross-section moves along the trajectory line, forming a cuboid-shaped 3D solid.

[0096] S7. Compare and calculate the 3D model of the adhesive application trajectory with the adhesive application data of the product design in CATIA, identify the differences between the two, and display the problem list in the interface list.

[0097] In this embodiment, identifying the differences between the two includes:

[0098] The adhesive application process is divided into segments, and the trajectory model of each segment is compared with the corresponding design adhesive application data.

[0099] Based on the standard cross-section and model data, calculate the positional deviation, dimensional deviation, and shape deviation between the three-dimensional model of the adhesive application trajectory and the adhesive application data of the product design;

[0100] The system determines the difference points based on the preset deviation threshold and displays the location information, deviation type, and deviation value of the difference points in the interface list.

[0101] Specifically, product design adhesive application data refers to the adhesive application path and adhesive strip specifications designed in CATIA during the product development phase. This design data typically exists in the CATIA model as a 3D curve or 3D solid, identifying the ideal adhesive application location, path, and strip size. The purpose of comparative verification is to identify the differences between the trajectory model generated by the robot's actual adhesive application program and the product design requirements, ensuring that the adhesive application quality meets design standards.

[0102] The glue application process is divided into segments, and the trajectory model of each segment is compared with the corresponding design glue application data. For example, the first glue application segment of the robot program corresponds to a certain glue application path in the design data, and the two are paired and compared.

[0103] Based on the standard cross-section and model data, the differences between the 3D model of the adhesive application trajectory and the adhesive application data in the product design are calculated, mainly including:

[0104] Positional Deviation: Calculate the spatial distance between the robot's adhesive application trajectory and the designed adhesive application path. The specific method is as follows: take sampling points at certain intervals (e.g., every 10mm) along the adhesive application trajectory, calculate the shortest distance from each sampling point to the designed path, and record the maximum and average deviation values. For example, the average positional deviation between the trajectory of Segment_01 and DesignPath_01 is 1.2mm, and the maximum deviation is 3.5mm.

[0105] Dimensional deviation: Compare the width and thickness of the adhesive strip. The adhesive strip width obtained from the robot parameters is 18mm and the thickness is 2.5mm, while the design requirement for the adhesive strip width is 20mm and the thickness is 3.0mm. Therefore, the width deviation is -2mm and the thickness deviation is -0.5mm.

[0106] Shape deviation: Compare the three-dimensional shape of the adhesive application trajectory. For example, if the designed path is a smooth curve, while the robot trajectory is a broken line, there may be differences in shape. The degree of shape deviation is assessed by calculating the curvature, inflection points, and other geometric features of the trajectory line.

[0107] Differences are identified based on preset deviation thresholds. For example, the positional deviation threshold is set to ±2mm, and the dimensional deviation threshold is set to ±1mm. If the positional deviation of a certain adhesive-coated section exceeds 2mm, or the dimensional deviation exceeds 1mm, then that adhesive-coated section is marked as a difference point. After the comparison and verification are completed, the program can also automatically generate a verification report, which records in detail the comparison results of all adhesive-coated sections, a list of differences, deviation statistics, etc., for easy archiving and subsequent traceability.

[0108] Figure 5 This is a structural diagram of a robot glue application program simulation and verification system based on CATIA secondary development, provided by one or more embodiments of the present invention.

[0109] like Figure 5 The robot glue application program simulation and verification system based on CATIA secondary development, shown below, includes:

[0110] The process point acquisition module is used to save the robot glue application program as a text format and deconstruct it to identify all process points, including glue application points, gun opening points and gun closing points.

[0111] The point coordinate acquisition module is used to sort the process points according to their order in the program and obtain the three-dimensional coordinates of each process point.

[0112] The CATIA digital model coordinate acquisition module is used to acquire the workpiece coordinates of the vehicle body. It uses the workpiece coordinates to convert the process points from the robot gluing coordinate system to the CATIA digital model coordinate system and generates the coordinate values ​​of the process points in the CATIA digital model coordinate system.

[0113] The glue application process parameter acquisition module is used to extract the glue application process parameters in the robot glue application program and convert the glue application process parameters into glue strip geometric dimensions according to the parameter conversion rules.

[0114] The data projection module is used to import the converted process points into CATIA and project the process points onto the surface of the part based on the vector direction of the points and the surrounding environment data input by the user.

[0115] The 3D trajectory generation module is used to automatically connect the projected process points, with the gun opening point as the starting point and the gun closing point as the ending point, and generate a 3D model of the glue application trajectory along the connecting line according to the geometric dimensions of the glue strip.

[0116] The data comparison and calculation module is used to compare and calculate the glue application trajectory 3D model with the product design glue application data in CATIA, identify the differences between the two, and display the problem list in the interface list.

[0117] It is worth noting that although this system / device only discloses the process point acquisition module, point coordinate acquisition module, CATIA digital model coordinate acquisition module, adhesive coating process parameter acquisition module, data projection module, three-dimensional trajectory generation module, and data comparison calculation module, it does not mean that this device is limited to the above-mentioned basic functional modules. On the contrary, what this invention intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system / device is open rather than closed. It should not be assumed that the scope of protection of the claims of this invention is limited to the above-disclosed basic functional modules just because this embodiment only discloses a few basic functional modules.

[0118] In one specific embodiment, taking the trajectory import and debugging of a glue-applying robot for a new Hongqi model as an example, the interior of this model involves 120 glue-applying areas, with over 200 robot trajectories and over 2000 trajectory points. Manual instruction is required at each point, followed by test spraying. Based on the test spraying results, trajectory optimization is then performed. A single robot trajectory optimization takes approximately 40 hours per round, with about 5-7 rounds during the production preparation period.

[0119] After using this function, install the relevant plugins in CATIA. Once the robot trajectory simulation or on-site teaching is complete, convert the robot trajectory as described above. After conversion, use this function in CATIA to generate adhesive strips. Compare these strips with the original adhesive strips on the vehicle body model in a unified coordinate system. This helps identify whether the adhesive strips applied by the robot on-site are missing or in place, significantly improving debugging efficiency. This method effectively solves the difficulties of real-vehicle verification of adhesive-applying robots and the necessity of online verification, improving overall debugging efficiency by more than 15%.

[0120] This application also provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0121] The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps of a robot glue application program simulation verification method based on CATIA secondary development.

[0122] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program is run on the electronic device, it causes the electronic device to perform the steps of a robot glue application program simulation verification method based on CATIA secondary development.

[0123] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0124] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0125] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0126] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0127] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0128] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0129] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0130] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0131] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot gluing program simulation verification method based on CATIA secondary development, characterized in that, The method comprises: Saving a robot gluing program in a text format and deconstructing, identifying all process points, the process points including gluing points, gun opening points and gun closing points; According to the order of process points in the program, sorting and obtaining the three-dimensional coordinates of each process point; Obtaining the workpiece coordinates of the vehicle body, converting the process points from the robot gluing coordinate system to the CATIA numerical model coordinate system by using the workpiece coordinates, and generating the coordinate values of the process points in the CATIA numerical model coordinate system; Extracting the gluing process parameters in the robot gluing program, and converting the gluing process parameters into glue strip geometric dimensions according to the parameter conversion rule; Importing the converted process points into CATIA, projecting the process points onto the part surface according to the vector direction of the points and the peripheral environment data input by the user; Connecting the projected process points automatically, taking the gun opening point as the starting point and the gun closing point as the ending point, and generating a gluing track three-dimensional model along the connecting line according to the glue strip geometric dimensions; Comparing the gluing track three-dimensional model with the product design gluing data in CATIA, identifying the difference points of the two, and displaying the problem list in the interface list.

2. The robot gluing program simulation verification method based on CATIA secondary development according to claim 1, characterized in that, The identification of all process points comprises: Identifying all process points by identifying specific statement identifiers in the program, wherein the statement starting with DispL represents a gluing point, the statement starting with DispL\On represents a gun opening point, and the statement starting with DispL\Off represents a gun closing point.

3. The robot gluing program simulation verification method based on CATIA secondary development according to claim 1, characterized in that, The generation of the coordinate values of the process points in the CATIA numerical model coordinate system comprises: Establishing the workpiece coordinates by a visual positioning system, the workpiece coordinates representing the position of the vehicle body in the robot coordinate system and the mapping relationship with the CATIA numerical model coordinate system; Assigning the workpiece coordinates to the process points in the robot gluing program, and obtaining the coordinate values of the process points in the CATIA numerical model coordinate system through the coordinate transformation relationship. The parameter conversion rule is based on a preset parameter conversion table, which is used to describe the corresponding relationship between the gluing process parameters and the glue strip geometric dimensions. The projection of the process points onto the part surface comprises:

4. The robot gluing program simulation verification method based on secondary development of CATIA according to claim 1, characterized in that, After importing the converted process points into CATIA, creating a geometric graphics set according to the program segmentation principle and storing it regularly; 5. The robot gluing program simulation verification method based on secondary development of CATIA according to claim 1, characterized in that, According to the normal vector information of the process points in the robot program, determining the projection direction, combining the peripheral environment data input by the user, and projecting the process points onto the part surface along the vector direction. The generation of the gluing track three-dimensional model comprises: Using the polyline command to automatically connect the projected process points in order, taking the gun opening point as the starting point and the gun closing point as the ending point, and forming a gluing track line; 6. The robot gluing program simulation verification method based on secondary development of CATIA according to claim 1, characterized in that, According to the cross-sectional size determined according to the glue strip geometric dimensions, generating a gluing track three-dimensional model along the gluing track line by using the sweeping function of CATIA, the length direction of the gluing track three-dimensional model extending along the track, and the normal direction being perpendicular to the spatial vector of the process point. The identification of the difference points of the two comprises: According to the gluing program segmentation, comparing the track model of each gluing segment with the corresponding design gluing data respectively; 7. The robot gluing program simulation verification method based on secondary development of CATIA according to claim 1, characterized in that, ​ ​ According to the specification section and model data, the positional deviation, dimensional deviation and shape deviation between the three-dimensional model of the gluing track and the product design gluing data are calculated; According to the preset deviation threshold, the difference points are determined, and the position information, deviation type and deviation value of the difference points are displayed in the interface list.

8. A robot gluing program simulation verification system based on CATIA secondary development, characterized in that, The system comprises: A process point acquisition module is configured to save the robot gluing program in a text format and deconstruct the robot gluing program to identify all process points, wherein the process points include gluing points, gun opening points and gun closing points; A point coordinate acquisition module is configured to sort the process points according to the sequence of the process points in the program and acquire three-dimensional coordinates of the process points; A CATIA numerical model coordinate acquisition module is configured to acquire workpiece coordinates of the vehicle body, convert the process points from a robot gluing coordinate system to a CATIA numerical model coordinate system by using the workpiece coordinates, and generate coordinate values of the process points in the CATIA numerical model coordinate system; A gluing process parameter acquisition module is configured to extract gluing process parameters in the robot gluing program, and convert the gluing process parameters into geometric dimensions of the glue strip according to a parameter conversion rule; A data projection module is configured to import the converted process points into CATIA, project the process points onto a surface of a part according to a vector direction of the points and peripheral environment data input by a user, and generate a three-dimensional model of a gluing track according to the geometric dimensions of the glue strip along the connecting line with the gun opening point as a starting point and the gun closing point as an ending point; A three-dimensional track generation module is configured to automatically connect the projected process points, take the gun opening point as a starting point and the gun closing point as an ending point, and generate a three-dimensional model of a gluing track according to the geometric dimensions of the glue strip along the connecting line; A data comparison and calculation module is configured to compare and calculate the three-dimensional model of the gluing track with product design gluing data in CATIA, identify difference points of the two, and display a problem list in an interface list.

9. An electronic device, comprising: The system comprises: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the robot gluing program simulation verification method based on CATIA secondary development according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The memory stores a computer program executable by the electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the robot gluing program simulation verification method based on CATIA secondary development according to any one of claims 1 to 7.

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