CN103955168A - Robot hole machining off-line programming method based on DELMIA simulation - Google Patents

Abstract

The invention discloses an off-line programming method for robot hole making and processing based on DELMIA simulation. In the off-line programming method, according to the geometric parameters of all holes, the holes are classified to obtain a reference hole class and several processing hole classes. For the processing hole class Determine the classification features according to the classification principle of "the same tool for the same hole type", and set the cutting process for each processed hole type according to the classification results, and use the DELMIA simulation module to perform path planning simulation according to the hole type to obtain all reference holes And the path simulation program of the machining hole, the path simulation program of the machining hole is corrected through the reference hole, and the corresponding cutting process will be loaded to obtain the final machining program of the machining hole. The holes in the invention correspond to one type of tool, which can effectively manage the hole making information, reduce the number of tool changes, improve the hole making efficiency, and adopt a position correction strategy for compensation to improve the hole making precision of the robot.

Description

Off-line programming method for robot hole-making process based on DELMIA simulation

technical field

The invention relates to the technical field and method of robot hole making and processing, in particular to an off-line programming method for robot hole making and processing based on DELMIA simulation. the

Background technique

As the most extensive flexible equipment, industrial robots have been widely used in many fields of the automobile industry since the 1980s. In recent years, with the successful application of robot technology in aviation companies such as Boeing and Airbus, domestic and foreign aviation manufacturing industries have begun to research and promote robot technology to meet the requirements of low-cost, high-quality, high-efficiency, and automated processing. The robot automatic hole-making system jointly designed by Electroimpact Company of the United States and Boeing is mainly used for drilling and spot-sinking of the Boeing F/A-18E/F Super Hornet trailing edge flap, Boeing 737 aileron and fuselage surface. German Baojie company designed a set of robot automatic drilling and nail insertion system with high positioning accuracy and multi-functional end effector, which realized the automatic drilling and riveting requirements of the cargo door structure. the

Robot programming mainly includes on-site teaching and offline programming. On-site teaching is driven by the operator holding the teaching pendant to drive the robot movement, recording each movement point and then obtaining a safe robot movement path. Since the motion path is generated according to the on-site environment, the teaching method is safer and more reliable, but it requires higher technical skills for the operator and is inefficient. With the increasingly complex working environment of robots and the improvement of work efficiency, the on-site teaching method is obviously unable to adapt, and offline programming of robots has emerged in response to the situation. By importing products, tooling, tools and robot models in the simulation environment, a virtual robot processing system is constructed, based on robot kinematics and dynamics models, a robot that is safe and collision-free and meets various performance indicators is generated under task-driven Exercise program. the

The offline programming system can greatly simplify the robot programming process and improve programming efficiency. It is a necessary software support system for system integration. Since the 1980s, university research institutions, scientific research institutes, and robot manufacturers in the United States, Japan, and Germany have conducted in-depth research on offline programming systems, and have achieved fruitful research results. Commercial offline programming software such as Workspace, ROBCAD, and IGRIP has been developed. . the

In addition, many robot manufacturers such as KUKA, ABB, and MOTOMAN have also launched their own offline programming systems for robots. The robot offline programming system independently developed in my country includes HOLPSS of Huazhong University of Science and Technology, HOLPSA of Tsinghua University, and welding offline programming system of Shanghai Jiaotong University. The offline programming system of arc welding robot proposed by Wang Kehong in "Journal of Welding Society" (2001, Vol.22, NO.4: 84-87), including geometric feature extraction and modeling module, welding posture planning module, welding parameter planning module, robot Program automatic generation module, robot simulation and communication module. The functional mode of the offline programming system is more in line with the construction ideas of most offline programming systems. It can be seen that the development process of the offline programming system includes the following key technologies: 1) extraction of robot processing information; 2) reverse solution of robot motion; 3) optimization and adjustment of robot trajectory; 4) Robot graphical simulation; 5) Robot program creation. In his dissertation "Research on 6-DOF Welding Robot Offline Programming System", based on the ADAMS simulation function, Yin Feng proposed a robot trajectory planning method that simultaneously considers the robot's kinematics and dynamics performance. the

In the process of practical application of offline programming software, the problem that the offline processing program cannot be directly applied to actual processing due to the inconsistency between the simulation environment and the on-site processing environment, a Chinese patent application with publication number 101973032A discloses a welding robot line structure The optical vision sensor off-line programming system and method guide the welding work of the robot through the collected on-site visual images, overcome various uncertain factors in the actual welding process, and improve the welding quality of the robot. In the US patent (0234994A1), JIANYING SHI also proposed a dynamic control method of the robot arm based on vision measurement to eliminate the position deviation of the robot caused by the position change of the workpiece. Zhang Kang’s Chinese patent (200810147853.2, 2009-5-20) introduced a method for seamlessly connecting robot offline programming and on-site debugging, eliminating the deviation between the software environment and the actual environment in the robot offline programming software, and improving the application of the robot offline programming software sex. Although robot offline programming technology has achieved fruitful results, the above-mentioned robot offline programming system and method have not been widely extended to various enterprises due to its application cost, strong technicality and software maturity limitations, which limits the robot Technology application and development. the

In addition, most of the above systems or methods aim at directly outputting programs recognizable by robots. This is more suitable for the case where the end effector of the robot is a fixed structure. However, when the end effector is a mechanism with one or more axes of motion, incorporating the movement of the end effector into the robot control system will increase the complexity of the system control and cause serious damage. Loss of application flexibility. In the actual construction of the system, a modular structure design is often used to construct an upper-level control system (robot processing control system) for the robot and the end-effector, and the upper-level control system controls the movement of the robot and the end-effector respectively. , only need to modify its interface and terminal effector module, so it is more universal and expandable. For the application of robot hole-making processing in the aircraft assembly process, based on the control mode of this robot processing system, the off-line programming and simulation system only needs to provide the robot motion path and complete cutting process, and the robot processing control system analyzes the processing program. After in place, call the corresponding commands of the terminal executor to complete functions such as tool cutting, cooling, lubrication, online position and normal vector correction. the

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides an off-line programming method for robot hole making and processing based on DELMIA simulation. the

An off-line programming method for robot hole-making processing based on DELMIA simulation, including:

(1) Extract the hole position and direction of each hole on the aircraft model, and input the geometric parameters of each hole, the geometric parameters include hole mode, hole type, aperture, material, depth, spot facing angle, spot spot diameter, hole The number of layers at the position and the material and thickness of each layer, and the basic data set of aircraft assembly is established according to the hole position and direction of each hole, as well as geometric parameters,

The hole patterns described are reference holes and machining holes;

(2) Determine the classification features according to the geometric parameters of the holes in the basic data set, divide the holes into a reference hole class and several processing hole classes according to the classification features, and determine the tool type and cutting tool type of each processing hole class. craft;

(3) For each hole type, according to the hole type, obtain the hole position and direction of each hole in the hole type from the basic data set, and convert the acquired hole position and direction into a data format that conforms to the DELMIA simulation module as The intermediate data file of the hole class;

(4) Use the DELMIA simulation module to perform path planning simulation according to the intermediate data files of each hole type, and obtain and output the path simulation program of the reference hole type and each processed hole type, specifically including:

(4-1) Establish the robot processing simulation environment under the DELMIA simulation module, and load the terminal effector, and establish the robot tool coordinate system and camera coordinate system;

(4-2) Import the intermediate data files corresponding to each hole type into the DELMIA simulation module, and perform path planning simulation for each processed hole type, set the station position of each processed hole type and the station position information of each station during the simulation process, Get the machining hole path simulation program under each station, and the reference hole path simulation program;

The described machining hole path emulation program includes several sub-path emulation programs corresponding to the machining hole class one by one;

(5) Generate the final processing program of the reference hole and the processing hole:

For the reference holes, the final processing program of the reference holes is formed according to the reference hole path simulation program under each station;

For the processing holes, for each station of the processing holes, according to the reference holes under each station, set the correction process of the current processing holes, and carry out the corresponding sub-path simulation program under each station according to the correction process Correction, according to the revised sub-path simulation program at each station and the cutting process corresponding to the current processing hole type, the final processing program for the processing hole type is generated;

(6) Output the final machining programs corresponding to the reference holes and each machining hole. the

The off-line programming method for robot hole-making processing based on DELMIA simulation of the present invention can actually be divided into a pre-processing part, a path planning simulation part and a post-processing part, and the pre-processing part is automatically extracted through the secondary development of CATIA software The algorithm obtains the position and direction information of all holes, and designs the hole geometric information input interface. The hole geometric information is manually input for a single hole or a hole set, and the basic data set of the hole is created based on the hole position, direction and geometric information of the hole. And classify the holes according to the geometric information of each hole, firstly divide them into reference holes and processed holes, and then determine the classification characteristics of the processed holes according to the classification principle of "same hole with the same tool", continue to classify, and According to the classification results, the cutting process of each machining hole is set. the

In the DELMIA simulation part, the path planning simulation is carried out according to the hole type through the DELMIA simulation module. During the simulation process, the station position of each hole type and the corresponding station information are set. After the simulation is completed, the output of each processed hole type under different stations path simulator. After the path simulation, the path simulation program is output according to the station position, which is highly readable and convenient for subsequent management. the

In the post-processing part, according to the simulation results and the cutting process of each processed hole, the final processing program of the reference hole and the processed hole is generated and output to complete the off-line programming of the robot hole-making process. the

In the present invention, based on the idea of "the same tool for the same type of hole", the classification features are established by the hole pattern, hole type, material consistency, hole diameter, countersink information and hole depth. Each type of feature can determine a unique type of tool, and different features The cutting tools used in the class are not interoperable, and the cutting process of machining holes is planned according to the class features; the hole class is created based on the basic data set of the hole, and each hole under the hole class inherits the position, direction and geometric information of the basic data set of the hole and stores them Cutting process information for each class. The classification features are set according to the actual situation. For example, when selecting processing holes, bolt holes, aluminum alloy, hole diameter 6mm, spot facing angle 100 degrees, spot spot diameter 6.8mm, and hole depth 10mm as the classification features, the classification features are automatically selected from the basic data set as The hole is searched in units, and the holes satisfying the classification feature in the basic data set are classified into one category. the

In the present invention, when planning reference holes and processing holes, it is guaranteed that all reference holes can be fully covered by the set station (that is, there will be no reference holes that are not covered by the station), so that it can be achieved after completing the path planning simulation. Get the path simulator for all datum holes. That is, when dividing stations for each processing hole in step (4-2), since each station is covered with reference holes, and all reference holes can be covered by stations, when planning paths according to stations A path simulation program for all reference holes and machining holes can be obtained. the

The intermediate data file in the present invention can be in txt format or xls format. the

The cutting process in the step (2) includes tool rotation speed, tool feed speed, number of feeds, cooling and residence time. the

The same tool type is used for a processing hole type, but due to the large difference in the number of hole layers and the thickness of each layer of each processing hole in this processing hole type, it is possible to set multiple sets of cutting processes for this processing hole type. the

The robot processing simulation environment in the step (4-1) includes the relative positional relationship between the product model, the tooling model and the robot model. the

According to the on-site coordinate system calibration results, establish the tool coordinate system and camera coordinate system in the simulation environment, and plan the robot station and motion path for all holes (reference holes and processing holes). The processing simulation environment can also be adjusted appropriately according to the on-site calibration situation. . the

The step (4-2) sets the stations according to the accessibility of the robot movement, ensuring that each station corresponds to at least two reference holes. the

According to the accessibility of the robot movement, each processing hole is divided into areas, and each area corresponds to a robot station. Ensure that the path simulation program at each station can be corrected. When dividing the area, try to ensure that there are enough reference holes in each area for the correction of the machining holes at the station. the

The station information includes the type and name of the terminal effector carried by the robot, the coordinate system of the robot base, the coordinate system of the tool and the camera, and the initial safe pose of the robot. the

According to the above constraints, the DELMIA simulation module simulates and obtains the simulation path program of the robot at each station. the

In the described step (5), for any processing hole class, the specific procedure for setting the correction process of the processing hole class is as follows:

(5-1) Divide the currently processed holes into several areas to be corrected according to the station position, and determine the reference holes corresponding to each area to be corrected;

(5-2) For each region to be corrected, a correction mode is set. the

When correcting, for the area corresponding to the same station, divide again according to the setting position of the reference hole to obtain several correction areas, and specify the reference hole for each correction area. For the same site, the reference hole may be reused. And the number of corrected areas obtained through division depends on the actual situation. the

In the actual processing process, the deviation between the measured value of the reference hole and the theoretical value is applied to the processed hole, which can compensate for the influence of the product assembly error, the calibration error of the robot base coordinate system and the error of the robot kinematics model, and improve the accuracy of the hole making position. the

Correction is based on the following principles:

Prefabricate the reference hole on the aircraft, load the visual measurement equipment on the end effector, plan the reference hole and formulate the position correction process for the processing hole, and apply the deviation between the reference hole measurement value and the theoretical value to the processing hole in the actual processing process, which can be compensated Including the influence of product assembly error, robot base coordinate system calibration error and robot kinematics model error, the position accuracy of hole making is improved. the

The correction mode in the present invention should be understood as only specifying the name or code of the correction mode, and calling the corresponding correction program according to the name or code, and the correction program itself does not belong to the content of the present invention. the

The step (6) outputs the final processing program in xml format. the

Recording organizational information in XML format has the advantages of clear structure, strong readability, and easy interpretation. the

The purpose of the present invention is based on the modeling function of general software CATIA and the robot simulation function of DELMIA software, it uses VB (Visual Basic language) to carry out secondary development to it and quickly builds the off-line programming and simulation frame facing robot processing application, overcomes foreign robot system The difficulties of offline programming software technology blockade and high cost provide the possibility for my country to deeply apply robotics in high-end assembly fields such as aircraft and automobiles. the

Compared with the prior art, the off-line programming method of robot hole-making processing based on DELMIA simulation of the present invention has the following advantages:

(1) Use tool features to classify and manage the basic data of holes. Each processing hole type corresponds to a tool type, and then the cutting process is set according to the characteristic information of each processing hole in each processing hole type, which can effectively manage the hole making information, reduce the number of tool changes, and improve the hole making efficiency;

(2) Aiming at the deviation that exists when using the simulation program to make holes caused by the inconsistency between the relative positional relationship between the product and the equipment in the simulation environment and the robot kinematics model, etc., use the reference hole and use the position correction strategy to compensate and improve the hole making Position (hole position) accuracy. the

Description of drawings

FIG. 1 is a flow chart of the off-line programming method for robot hole making and processing based on DELMIA simulation in this embodiment. the

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. the

An off-line programming method for robot hole-making processing based on DELMIA simulation, as shown in Figure 1, including:

(1) Extract the hole position and direction of each hole on the aircraft model, and input the geometric parameters of each hole, the geometric parameters include hole mode, hole type, aperture, material, depth, spot facing angle, spot spot diameter, hole The number of layers at the position and the material and thickness of each layer, and the basic data set of aircraft assembly is established according to the hole position and direction of each hole, as well as geometric parameters,

Among them, the hole mode is the reference hole and the processing hole;

(2) Determine the classification features according to the geometric parameters of the holes in the basic data set, divide the holes into a reference hole class and several processed hole classes according to the classification features, and determine the tool type and cutting process for each processed hole class. the

The cutting process includes tool speed, tool feed rate, number of feeds, cooling and dwell time, etc. the

(3) For each hole type, obtain the hole position and direction of each processed hole in the hole type from the basic data set, and convert the acquired hole position and direction into a data format that conforms to the DELMIA simulation module as the hole type intermediate data files. the

(4) Use the DELMIA simulation module to perform path planning simulation according to the intermediate data files of each hole type, and obtain and output the path simulation program of the reference hole type and each processed hole type, specifically including:

(4-1) Establish the robot processing simulation environment under the DELMIA simulation module, and load the terminal effector, and establish the robot tool coordinate system and camera coordinate system;

(4-2) Import the intermediate data files corresponding to each hole type into the DELMIA simulation module, and perform path planning simulation for each processed hole type, set the station position of each processed hole type and the station position information of each station during the simulation process, The processing hole path simulation program and the reference hole path simulation program at each station are obtained, and the obtained processing hole path simulation program includes several sub-path simulation programs corresponding to the processing hole types one by one. the

The station information includes the type and name of the end effector carried by the robot, the robot base coordinate system (pedestal coordinate system), the tool coordinate system and the camera coordinate system, and the initial safe pose of the robot. the

Before path simulation, first input the robot processing simulation environment, including the relative positional relationship between product model, tooling model and robot model. the

And in the simulation process, each processing hole is divided into several areas according to the accessibility of the robot movement. Each area corresponds to a station, and each station is guaranteed to correspond to at least two reference holes. the

When the DELMIA simulation module performs simulation, the station information is used as a constraint condition, and the processing paths of each processing hole and reference hole are obtained under the simulation environment. the

(5) For the reference holes, the final processing program of the reference holes is formed according to the reference hole path simulation program under each station,

For each machining hole type, perform the following operations:

For each station of the current machining hole, according to the reference hole under each station, set the correction process of the current processing hole, and correct the corresponding sub-path simulation program under each station according to the correction process, according to each station The corrected sub-path simulation program under the station and the cutting process corresponding to the current processing hole type generate the final processing program of the processing hole type. the

Among them, for each processing hole type, the specific procedure for setting the correction process is as follows:

(5-1) Divide the currently processed holes into several areas to be corrected according to the station position, and determine the reference holes corresponding to each area to be corrected;

(5-2) A correction mode is set for each correction area. the

(6) Output the final processing program corresponding to the reference hole type and each processing hole type in xml format. the

The above descriptions are only preferred implementations of the present invention, and the scope of protection of the present invention is not limited to the above-mentioned implementations. All technical solutions belonging to the principle of the present invention belong to the scope of protection of the present invention. For those skilled in the art, some improvements and modifications made without departing from the principles of the present invention should also be regarded as the protection scope of the present invention. the

Claims (7)

1. the processing of the robot hole based on a DELMIA emulation off-line programing method, is characterized in that, comprising:

(1) position, hole and the direction in each hole on extraction model aircraft, and input the geometric parameter in each hole, described geometric parameter comprises the number of plies at hole pattern, hole type, aperture, material, the degree of depth, counter boring angle, counter boring diameter, position, hole place and material and the thickness of each layer, and according to position, hole and the direction in each hole, and geometric parameter is set up the basic data collection of aircraft assembling

Described hole pattern is datum hole and machining hole;

(2) concentrate the geometric parameter in hole to determine characteristic of division according to described basic data, according to described characteristic of division, hole is divided into a datum hole class and several machining hole classes, and determine tool type and the Cutting Process of each machining hole class;

(3) for each hole class, to respectively concentrate from basic data position, hole and the direction of obtaining each hole this hole class according to hole class, and the position, hole obtaining and direction are converted into the data layout that meets DELMIA emulation module as the intermediate data file of this hole class;

(4) utilize DELMIA emulation module to carry out Path Planning Simulation according to the intermediate data file of each hole class, obtain and the path simulation program of output reference hole class and each machining hole class, specifically comprise:

(4-1) under DELMIA emulation module, set up processing of robots simulated environment, and load end effector, set up robot tool coordinate system and camera coordinates system;

(4-2) intermediate data file corresponding each hole class is imported to DELMIA emulation module, and each machining hole class is carried out to Path Planning Simulation, the erect-position information of erect-position and each erect-position of each machining hole class is set in simulation process, obtain the machining hole path simulation program under each erect-position, and datum hole path simulation program;

Described machining hole path simulation program comprises several and machining hole class subpath simulated program one to one;

(5) the final job sequence of generation datum hole class and machining hole class:

For datum hole class, form the final job sequence of datum hole class according to the datum hole path simulation program under each erect-position;

For machining hole class, to each erect-position of machining hole class, according to the datum hole under each erect-position, set the correction technique of current machining hole class, and according to revising technique, corresponding subpath simulated program under each erect-position is revised, generate the final job sequence of this machining hole class according to revised subpath simulated program under each erect-position and Cutting Process corresponding to current machining hole class;

(6) by datum hole class and final job sequence output corresponding to each machining hole class.

2. the processing of the robot hole based on DELMIA emulation off-line programing method as claimed in claim 1, is characterized in that, the Cutting Process in described step (2) comprises cutter rotating speed, tool feeding speed, feed number of times, the cooling and residence time.

3. the processing of the robot hole based on DELMIA emulation off-line programing method as claimed in claim 2, it is characterized in that, the processing of robots simulated environment in described step (4-1) comprises the relative position relation between product model, frock model and robot model.

4. the processing of the robot hole based on DELMIA emulation off-line programing method as claimed in claim 3, is characterized in that, described step (4-2) arranges erect-position according to robot motion's accessibility, ensures at least corresponding 2 datum holes of each erect-position.

5. the processing of the robot hole based on DELMIA emulation off-line programing method as claimed in claim 4, it is characterized in that, described erect-position information comprises end effector type and title, robot base coordinate sys-tem, tool coordinates system and camera coordinates system and the safe pose of robot initial that robot is entrained.

6. the robot hole based on DELMIA emulation as claimed in claim 5 processing off-line programing method, is characterized in that, in described step (5), for any one machining hole class, the concrete journey of correction technique of setting this machining hole class is as follows:

(5-1) according to erect-position, current machining hole class is divided into several and treats modification region, and definite each treated the datum hole that modification region is corresponding;

(5-2), for each modification region for the treatment of, set modification model.

7. the processing of the robot hole based on DELMIA emulation off-line programing method as claimed in claim 6, is characterized in that, described step (6) is with the final job sequence of xml formatted output.