CN113635281A - Robot automatic scribing method, system and device based on position error compensation - Google Patents

Robot automatic scribing method, system and device based on position error compensation Download PDF

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Publication number
CN113635281A
CN113635281A CN202110820008.2A CN202110820008A CN113635281A CN 113635281 A CN113635281 A CN 113635281A CN 202110820008 A CN202110820008 A CN 202110820008A CN 113635281 A CN113635281 A CN 113635281A
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Prior art keywords
scribing
robot
profile
profile data
cubic spline
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要义勇
汤玉天
赵丽萍
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Xian Jiaotong University
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Xian Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H7/00—Marking-out or setting-out work
    • B25H7/04—Devices, e.g. scribers, for marking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H7/00—Marking-out or setting-out work
    • B25H7/04—Devices, e.g. scribers, for marking
    • B25H7/045—Devices, e.g. scribers, for marking characterised by constructional details of the marking elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a robot automatic scribing method, system and device based on position error compensation; the method comprises the following steps: and receiving the measured profile data of the profile to be scribed, processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed, and sending the obtained position information to the programmable logic controller so as to drive the robot to complete scribing movement. The invention can replace manual marking and improve the production efficiency. Meanwhile, the upper computer substitutes the measured data into a coordinate error compensation algorithm, so that the scribing accuracy is improved, and the wrong scribing is avoided.

Description

Robot automatic scribing method, system and device based on position error compensation
Technical Field
The invention belongs to the technical field of machining processes, and relates to a robot automatic scribing method, system and device based on position error compensation.
Background
The industrial fields such as airplanes and ships have high requirements on large-sized sectional materials, and the production and processing requirements of the large-sized sectional materials are naturally high. In the processing process, one of the basic processes required to be completed by a manufacturing enterprise is the marking and cutting of the section bar, namely, components in various shapes are cut from large-size raw materials, and information such as holes, characters, assembly lines and the like is marked on each component, so that riveting or welding is carried out in the subsequent process according to the component information until the components are assembled. The scribing is one of important processes of mechanical processing, can well determine the processing allowance of the section bar, saves the correction time, can timely find and process unqualified blanks, and avoids loss caused after processing. The processing difficulty of the large-scale section is relatively high, and an accurate marking process needs to be completed before processing, so that the accurate marking of the large-scale section is very important. The large-sized section bar is easy to bend and deform in the processes of production, transportation, storage and the like, although the deformation angle is possibly small, for the large-sized section bar, when the deformation size is too large to be ignored, the section bar cannot be simply and roughly scribed according to the size information under the original standard condition, but the contour information of the section bar needs to be known, and the scribing position is reasonably calculated and accurately positioned.
At present, the marking process of a large section with a simple outer contour in a factory is mainly operated by the manual operation of workers, and the huge section causes the work to have high labor intensity and low production efficiency; if the large-sized section bar is seriously bent and deformed, the manual scribing inevitably causes extremely poor dimensional precision of subsequent processing; aiming at large-scale sectional materials with complex outlines, some factories select to apply a visual photography three-dimensional measurement technology, namely, an industrial camera is used for obtaining images of the large-scale sectional materials from a plurality of specific directions, operations such as positioning and segmentation are carried out, three-dimensional coordinates and statistical information of each measurement point are obtained, and then a computer is used for processing and analyzing, so that accurate scribing position coordinates are obtained. However, the photographic three-dimensional measurement system has high measurement speed and high measurement density, but the system is only suitable for measuring small-size workpieces, if a global image of a large-size section bar is required to be obtained, the resolution of a camera of the system cannot meet the requirement, and the finally obtained size precision cannot be guaranteed; if the different positions of the sectional material are captured for multiple times in each direction, the resolution can approximately meet the requirement, but the computer needs to accurately splice a large number of images, the process needs a long time to be completed, and therefore the real-time performance of the whole processing process cannot be guaranteed.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a robot automatic scribing method, system and device based on position error compensation, which can replace manual scribing, reduce the manual labor intensity and improve the production efficiency. Meanwhile, the upper computer substitutes the measured data into a coordinate error compensation algorithm, so that the scribing accuracy is greatly improved, and the error scribing caused by the problems of personnel operation method error or force control and the like is avoided.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the robot automatic scribing method based on the position error compensation comprises the following steps:
receiving measured profile data of a profile to be scribed;
processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed;
and sending the obtained position information to a programmable logic controller to drive the robot to complete the scribing movement.
The invention further improves the following steps:
the profile data is obtained by measuring by a displacement sensor and is sent to an upper computer.
The profile data is the coordinates of a series of discrete points.
The specific way to process the received contour data is as follows:
and respectively fitting the abscissa and the ordinate of the profile data to generate a cubic spline curve, and respectively integrating the cubic spline curve to obtain the abscissa and the ordinate of the profile to be scribed.
The specific way to process the abscissa and ordinate of the profile data is as follows:
fitting the abscissa of the contour data to generate a cubic spline curve, and fitting coordinate values (x, z) of the contour data along the x-axis direction to generate the cubic spline curve;
the cubic spline function expression is expressed in the form of the following formula (1):
Figure BDA0003171525660000031
where s (x) is a spline function, where x represents the abscissa of the discrete point; let xiIs the abscissa, z, of the ith discrete pointiIs the vertical coordinate of the ith discrete point; h isiIs the distance between the ith discrete point and the (i-1) th discrete point in the x-axis direction, i.e. hi＝xi-xi-1，s”(xi-1) representing the second derivative of a cubic spline function at xi-a function value at 1, s "(x)i) Second derivative at x representing a cubic spline functioniThe function value of (c);
s”(xi-1) And s "(x)i) Is expressed as
Figure BDA0003171525660000032
Wherein the content of the first and second substances,
Figure BDA0003171525660000033
Figure BDA0003171525660000034
and fitting the ordinate of the profile data to generate a cubic spline curve, changing the independent variable x in the formula (1) into y, and obtaining coordinate values (y, z) of the profile data along the y-axis direction to generate the cubic spline curve in a fitting manner.
The position information includes the moving coordinates of the robot, the rotation angle of the robot arm, and the start and end coordinates of the scribe line.
And the programmable logic controller receives the position information and sends a scribing instruction to the robot to finish the scribing movement.
Automatic marking system of robot based on position error compensation includes:
the receiving module is used for receiving the measured profile data of the profile to be scribed;
the information processing module is used for processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed;
and the sending module is used for sending the obtained position information to the programmable logic controller so as to drive the robot to complete the scribing movement.
A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the above method when executing said computer program.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a robot automatic lineation method, system and device based on position error compensation, which uses a displacement sensor to collect profile data of a section to be lineated, processes the profile data to obtain position information of the section to be lineated, and finally a programmable logic controller drives a robot to complete lineation movement, thereby realizing that robot lineation replaces manual lineation, increasing production efficiency, and simultaneously greatly avoiding safety accidents.
Drawings
In order to more clearly explain the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of a robot automatic scribing method based on position error compensation according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a robot automatic scribing system based on position error compensation according to an embodiment of the present invention;
FIG. 3 is an overall top view of an embodiment of the present invention;
fig. 4 is a structural view of a joint robot according to an embodiment of the present invention;
FIG. 5 is a structural diagram of a movable carriage and a fixed rail according to an embodiment of the present invention;
FIG. 6 is a view showing the structure of a scribing needle according to the embodiment of the present invention;
FIG. 7 is a block diagram of a displacement sensor according to an embodiment of the present invention;
fig. 8 is a structural view of the entire table according to the embodiment of the present invention.
Wherein: 1-articulated robot, 2-mobile trolley, 3-fixed track, 4-scribing needle, 5-displacement sensor, 6-workbench, 11-box, 12-one shaft, 13-driving arm, 14-two shafts, 15-big arm, 16-three shaft, 17-small arm, 18-five shafts, 19-tail end, 20-six shafts, 21-bottom plate, 22-supporting foot, 23-angular contact ball bearing, 24-wheel, 25-driving motor, 26-small gear, 27-big gear, 28-wheel shaft, 31-transverse rail, 32-sleeper, 41-cylinder, 42-spring, 43-scribing needle, 51-shell, 52-probe, 61-workbench and 62-conveyor belt, 63-pillar, 64-section bar, 111-box base, 112-box side flange, 121-first shaft servo motor, 122-big box flange, 123-small box flange, 141-second shaft servo motor, 142-second shaft flange, 143-second shaft crank, 144-second shaft connecting rod, 161-four shaft servo motor, 162-four shaft flange, 163-four shaft, 251-motor rear end cover, and 252-motor support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the present invention is used, the description is merely for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the term "horizontal", if present, does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 discloses an automatic robot scribing method based on position error compensation, which includes the following specific steps:
and S101, receiving the measured profile data of the profile to be scribed.
The profile data are obtained by measuring through a displacement sensor, the profile data are coordinates of a series of discrete points, and the displacement sensor transmits digital signals converted from voltage signals to an upper computer.
And S102, processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed.
And respectively fitting the abscissa and the ordinate of the profile data to generate a cubic spline curve, and respectively integrating the cubic spline curve to obtain the abscissa and the ordinate of the profile to be scribed.
Fitting the abscissa of the contour data to generate a cubic spline curve, and fitting coordinate values (x, z) of the contour data along the x-axis direction to generate the cubic spline curve;
the cubic spline function expression is expressed in the form of the following formula (1)
Figure BDA0003171525660000071
Where s (x) is a spline function, where x represents the abscissa of the discrete point; let xiIs the abscissa, z, of the ith discrete pointiIs the vertical coordinate of the ith discrete point; h isiIs the distance between the ith discrete point and the (i-1) th discrete point in the x-axis direction, i.e. hi＝xi-xi-1，s”(xi-1) representing the second derivative of a cubic spline function at xi-a function value at 1, s "(x)i) Second derivative at x representing a cubic spline functioniFunction value of (c)；
s”(xi-1) And s "(x)i) Is expressed as
Figure BDA0003171525660000081
Wherein the content of the first and second substances,
Figure BDA0003171525660000082
Figure BDA0003171525660000083
and fitting the ordinate of the profile data to generate a cubic spline curve, changing the independent variable x in the formula (1) into y, and obtaining coordinate values (y, z) of the profile data along the y-axis direction to generate the cubic spline curve in a fitting manner.
And S103, sending the obtained position information to a programmable logic controller to drive the robot to complete the scribing movement.
And the programmable logic controller receives the position information sent by the upper computer, sends a scribing instruction to the robot and finishes scribing movement. The position information includes the moving coordinates of the robot, the rotation angle of the robot arm, and the start and end coordinates of the scribe line. Meanwhile, the size of the scribing force can be set for the programmable logic controller, so that the clear scribing traces are ensured.
Referring to fig. 2, fig. 2 discloses a robot automatic scribing system based on position error compensation, comprising:
the receiving module is used for receiving the measured profile data of the profile to be scribed;
the information processing module is used for processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed;
and the sending module is used for sending the obtained position information to the programmable logic controller so as to drive the robot to finish the scribing movement.
Referring to fig. 3, fig. 3 is an overall top view of an embodiment of the present invention, including: the robot comprises a joint robot 1, a movable trolley 2, a fixed track 3, a marking needle 4, a displacement sensor 5, a workbench 6 and a marking needle head 43.
The movable trolley 2 moves rapidly in the transverse direction on the fixed rail 3 and does not move longitudinally, the scribing needle 4 is fixedly connected with the tail end of the articulated robot 1 so as to enable the scribing needle head 43 to be perpendicular to the processing plane of the section all the time, and the displacement sensor 5 is connected with the tail end of the articulated robot 1 and is arranged perpendicular to the scribing needle 4 to complete the function of measuring the profile of the section; the worktable 6 is positioned in front of the scribing robot 1 and parallel to the fixed rail 3 for placing the profile 64.
Referring to fig. 4, fig. 4 is a structural view of a joint robot according to an embodiment of the present invention; the method comprises the following steps: the box base 111 is fixedly connected with the bottom plate 21 so as to fix the scribing robot 1 on the movable trolley 2; the joint robot box body 11 is connected with a driving arm 13 in a matched mode through a vertical shaft 12, the driving arm 13 is connected with a large arm 15 in a matched mode through a second shaft 14, the large arm 15 is connected with a small arm 17 in a matched mode through a third shaft 16 and a fourth shaft 16, and the small arm 17 is connected with a tail end 19 in a matched mode through a fifth shaft 18 and a sixth shaft 20; the first shaft 12 and the second shaft 14 are respectively provided with a first shaft servo motor 121 and a second shaft servo motor 141, and the third shaft 16 and the fourth shaft 163 are driven by a servo motor 161 together and are used for driving the robot to complete set posture change. And after calculating the compensated scribing coordinate, the upper computer sends the scribing coordinate to the programmable logic controller. The programmable logic controller controls the axes of the servo motors to rotate by corresponding angles according to the coordinate values, so that the scribing needle 43 reaches the target coordinate values. The side face of the box body 11 is provided with a box body side flange 112 which is used for fixing a worm in the box body, and a box body large flange 122 and a box body small flange 123 are used for connecting a shaft 12 and the box body 11; the first shaft 12 is driven by a first shaft servomotor 121 through a worm gear mechanism inside the case 11. Meanwhile, a crank 143 is connected to the two-axis servo motor 141, the crank 143 is connected to the connecting rod 144, and the components form a crank rocker mechanism to drive the small arm to complete the up-and-down swing relative to the large arm.
Referring to fig. 5, fig. 5 is a structural view of a moving trolley and a fixed rail according to an embodiment of the present invention; the method comprises the following steps:
the x-axis direction having the left-to-right direction of the lateral rail 31 as the coordinate and the z-axis direction having the upward direction perpendicular to the rectangular platform as the coordinate are defined, and the y-axis direction having the direction perpendicular to xoz surface as the coordinate is determined according to the right-hand rule. The main body of the movable trolley is a bottom plate, two support legs 22 are respectively arranged on two sides of the bottom plate, the support legs 22 are connected with a wheel shaft 28 through angular contact ball bearings 23, the wheel shaft 28 is connected with wheels 24, the wheels 24 are clamped on a transverse rail 31, a driving motor 25 is arranged on one side of the upper surface of the bottom plate 21, the output end of the driving motor 25 is connected with a small gear 26, the small gear is meshed with a large gear 27, the large gear 27 is fixedly connected with the wheel shaft 28, and a motor rear end cover 251 is used for determining the space position of a motor rotor and fixing a rotor bearing; the motor support 252 is fixedly coupled to the base plate 21 for supporting and fixing the driving motor 25. And after the upper computer calculates the compensated scribing coordinates, the coordinate values are sent to the programmable logic controller. The programmable logic controller controls the driving motor 25 according to the coordinate value of the x axis, so that the driving motor 25 drives the movable trolley 2 to move from the current position to the target position at the speed of 0.5m/s, and finally, the projection points of the center of the joint robot 1 and the initial marking position on the x axis are the same, so that the subsequent joint robot 1 can complete corresponding pose transformation operation conveniently.
Referring to fig. 6, fig. 6 is a structural view of a scribing needle according to an embodiment of the present invention; the method comprises the following steps:
the marking needle 4 is mainly a cylindrical barrel 41 and is connected with the tail end joint of the joint robot 1, a spring 42 is fixed in the cylindrical barrel 41, the spring 42 is connected with a marking needle head 43, and the marking needle head 43 is clamped by the tail end of the cylindrical barrel 41, so that the marking needle head can move along the axis in the cylindrical barrel 41 and cannot fall out. The spring 42 added to the scribing needle 4 can make the scribing cutter 43 scribe more uniform lines when scribing on the plane with uneven profile. The shape of the scribing line is set in advance in the upper computer, and the programmable logic controller can reasonably plan the displacement of the movable trolley 2 and the pose of each axis of the joint robot 1 only by determining the initial coordinate of the scribing line and moving along the preset track in the upper computer, so that the scribing process can be completed.
Referring to fig. 7, fig. 7 is a structural view of a displacement sensor according to an embodiment of the present invention; the method comprises the following steps: a housing 51 and a probe 52.
After the profile has been transported to the working table 6, the displacement sensor 5 is put into operation. The profile is ideally a large-size rectangular steel plate, but actually undergoes bending deformation in different degrees in the processes of transportation, storage and the like, and if the profile is directly scribed according to coordinate values under ideal conditions without adopting the displacement sensor 5 to measure the profile, an error will be generated. Therefore, a series of discrete points are measured on the profile by using the displacement sensor 5, the obtained coordinate data of the discrete points are sent to the upper computer, the upper computer performs spline interpolation fitting on the coordinate data of the discrete points, and the fitted curve is basically consistent with the original contour line due to more discrete data. And then, an upper computer is used for calculating the integral of the length of the curve, and when the integral value is equal to the coordinate value of the underline position in the ideal situation, the obtained coordinate value on the curve is the compensated real underline coordinate value.
The displacement sensors 5 will be used to measure the degree of bending deformation of the profile in the x-axis direction and in the y-axis direction, respectively. Since the dimensions of the profile in the x-axis and y-axis directions are much larger than in the z-axis direction, the degree of bending deformation of the profile along the z-axis is negligible. The operation and principle of the measurement along the x-axis and along the y-axis are substantially the same, and therefore only the operation of the displacement sensor in which the xoy plane is measured will be described in detail. In an initial state, the movable trolley 2 carries the joint robot 1 along the fixed track 3 to be transported to a position where the geometric center of the joint robot box body 11 is 250mm away from the left end face of the workbench in the x-axis direction, the tail end 19 of the joint robot moves to a position 0mm away from the left end face of the section bar, and the distance from the tail end face depends on the y coordinate value of an initial scribing line in an ideal state. The axis of the displacement sensor 5 and the plane of the workbench 6 are always kept vertical, at the moment, the joint robot 1 drives the displacement sensor 5 to slowly descend until the displacement sensor contacts with the xoy surface of the sectional material, and at the moment, displacement data measured by the displacement sensor 5 are transmitted to an upper computer and converted into coordinate data to be stored for subsequent calculation. In order to prevent damage caused by scratching of the profile by the tip of the displacement sensor 5 when the joint robot 1 moves, after displacement measurement is completed, the tail end 19 drives the displacement sensor 5 to rise quickly and move to a position 50mm away from the left end face. The above process was repeated until the left end face was moved 500mm away. At the moment, the upper computer sends an instruction to the controller, the controller controls the driving motor to enable the moving trolley 2 to move 500mm towards the positive direction of the x axis, and then the tail end 19 repeats the process. Finally, when the displacement measured by the displacement sensor 5 is 0mm, the displacement sensor 5 starts to contact with the workbench, namely the measurement is finished, the upper computer deletes the displacement data at the moment, and sends a task waiting instruction to the controller, and the controller controls the joint robot 1 to pause.
The upper computer fits and generates a cubic spline curve according to the coordinate values (x, z) of a series of discrete points measured along the x-axis direction, and the actual curve on the surface of the profile is continuous and smooth, no singular points exist, and the taken discrete points are dense, so that the error of the generated cubic spline curve is within an allowable range, and the actual size characteristic of the profile can be expressed. After the spline curve is generated, the upper computer integrates the curve from 0 to a variable x, and makes an integrated value containing an independent variable x equal to a coordinate value of an initial position x axis of an ideal state underline in a non-deformed state of the section bar, thereby obtaining a value of the independent variable x, namely a coordinate value of the initial position x axis of an actual state underline. At this time, the upper computer sends the obtained x-axis coordinate value to the controller, and the controller controls the driving motor 25 to move the moving trolley 2 to a proper position, so that the x-axis coordinate value of the geometric center of the articulated robot box body 11 is the same as the obtained x-axis coordinate value.
At this time, the coordinate value measurement of the discrete point in the above manner is started along the y-axis direction, and the upper computer also performs the same operation, and finally obtains the y-axis coordinate value of the actual initial scribing position. The marking-out operation can be started from the obtained coordinates, the specific content of the marking-out is determined by the actual processing requirement, the coordinate values of the key points of the tail end 19 of the joint robot, which need to move, are input into an upper computer according to the processing requirement, the upper computer generates a series of instructions to be sent to a controller, and the controller controls the joint robot 1 to complete the specified action. After the scribing operation is finished, the controller controls the articulated robot tip 19 to retract, and then controls the mobile carriage 2 to return to the initial position for the arrival of the next section bar.
Referring to fig. 8, fig. 8 is a structural view of the entire table according to the embodiment of the present invention.
The working platform 6 is 0.5m high, 5m long and 1.5m wide, and the main body of the working platform is a working platform frame 61, a conveyor belt 62 for conveying the section bars is arranged on the working platform frame 61, the section bars 64 are arranged on the conveyor belt, and the rectangular platform 61 is supported by a plurality of supporting columns 63. The table 6 is integrally formed with the left and right side equipment in one production line: the profile 64 is transported from the left side of the line via the conveyor belt 62 to the work station at a speed of 0.1m/s, and the conveyor belt 62 is halted while the profile 64 is being transported to the right position. At this time, the scribing needle 4 on the articulated robot 1 moves on the left side of the profile 64, and when the cylindrical surface of the scribing needle head 43 contacts the profile 64, a signal is transmitted to the upper computer, and the x-axis coordinate of the position is marked as 0. The marking of the y-axis coordinate is the same as the method, and the description is omitted, and then the measurement and the compensation calculation are carried out. After the marking needle 43 has marked and the processing is completed, the section bar 64 is carried out by the conveyor 62 at the same speed for the subsequent processing or assembly process, and then the process is repeated while waiting for the next section bar to arrive at the proper position of the working table 6, and so on.
An embodiment of the present invention provides a schematic diagram of a terminal device. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor realizes the steps of the above-mentioned method embodiments when executing the computer program. Alternatively, the processor implements the functions of the modules/units in the above device embodiments when executing the computer program.
The computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention.
The terminal device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The terminal device may include, but is not limited to, a processor, a memory.
The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
The memory may be used for storing the computer programs and/or modules, and the processor may implement various functions of the terminal device by executing or executing the computer programs and/or modules stored in the memory and calling data stored in the memory.
The terminal device integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-only memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The robot automatic scribing method based on the position error compensation is characterized by comprising the following steps of:
receiving measured profile data of a profile to be scribed;
processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed;
and sending the obtained position information to a programmable logic controller to drive the robot to complete the scribing movement.
2. The robot automatic lineation method based on the position error compensation is characterized in that the profile data are measured by a displacement sensor and sent to an upper computer.
3. The robotic automatic line marking method based on position error compensation of claim 1, wherein the profile data is coordinates of a series of discrete points.
4. The method for robot automatic lineation based on position error compensation according to claim 1, wherein the received contour data is processed in the following way:
and respectively fitting the abscissa and the ordinate of the profile data to generate a cubic spline curve, and respectively integrating the cubic spline curve to obtain the abscissa and the ordinate of the profile to be scribed.
5. The robot automatic scribing method based on the position error compensation according to claim 1, wherein the abscissa and the ordinate of the profile data are processed in the following way:
fitting the abscissa of the contour data to generate a cubic spline curve, and fitting coordinate values (x, z) of the contour data along the x-axis direction to generate the cubic spline curve;
the cubic spline function expression is expressed in the form of the following formula (1):
Figure FDA0003171525650000011
where s (x) is a spline function, where x represents the abscissa of the discrete point; let xiIs the abscissa, z, of the ith discrete pointiIs the vertical coordinate of the ith discrete point; h isiIs the distance between the ith discrete point and the (i-1) th discrete point in the x-axis direction, i.e. hi＝xi-xi-1，s”(xi-1) representing the second derivative of a cubic spline function at xi-a function value at 1, s "(x)i) Second derivative at x representing a cubic spline functioniThe function value of (c);
s”(xi-1) And s "(x)i) Is expressed as
Figure FDA0003171525650000021
Wherein the content of the first and second substances,
Figure FDA0003171525650000022
Figure FDA0003171525650000023
and fitting the ordinate of the profile data to generate a cubic spline curve, changing the independent variable x in the formula (1) into y, and obtaining coordinate values (y, z) of the profile data along the y-axis direction to generate the cubic spline curve in a fitting manner.
6. The robot automatic scribing method based on the position error compensation according to claim 1, wherein the position information comprises a moving coordinate of the robot, a rotation angle of the robot arm, and a start and end coordinate of the scribing.
7. The method of claim 1, wherein the plc receives position information and sends scribing instructions to the robot to complete the scribing motion.
8. Automatic marking off system of robot based on position error compensation, its characterized in that includes:
the receiving module is used for receiving the measured profile data of the profile to be scribed;
the information processing module is used for processing the received profile data based on a compensation algorithm to obtain the position information of the profile to be scribed;
and the sending module is used for sending the obtained position information to the programmable logic controller so as to drive the robot to complete the scribing movement.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
CN202110820008.2A 2021-07-20 2021-07-20 Robot automatic scribing method, system and device based on position error compensation Pending CN113635281A (en)

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