CN-121995857-A - Machining programming method and device for multilayer multi-pass surfacing dovetail angle robot

CN121995857ACN 121995857 ACN121995857 ACN 121995857ACN-121995857-A

Abstract

A method and a device for processing and programming a multilayer multi-pass surfacing dovetail angle robot. The method comprises the steps of obtaining three-dimensional point cloud data of a dovetail angle area of a workpiece to be processed to obtain target three-dimensional point cloud data, correcting a preset standard digital model of the workpiece to be processed to generate a corrected three-dimensional digital model, separating weld joint area information and base metal surface information to generate a target processing geometric model, performing pose matching and Boolean operation on the target processing geometric model and the corrected three-dimensional digital model to judge whether the target processing geometric model is completely covered by the corrected three-dimensional digital model, generating a robot processing tool path according to the target processing geometric model when the target processing geometric model is completely covered by the corrected three-dimensional digital model, and converting the robot processing tool path into a robot motion track program which can be executed by a robot of a specific model according to a kinematics model and a program grammar. By implementing the technical scheme provided by the application, the problem of inconsistent shape caused by welding deformation is effectively solved.

Inventors

ZHAN HONGHUI
YANG HAITAO
SU YONGCHUN
LIU XINGKUN
Xing Daizun

Assignees

华中科技大学无锡研究院
江苏华屹源创科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260114

Claims (10)

1.A method of multi-layer, multi-pass build-up welding dovetail angle robot tooling programming, applied to a server, the method comprising: acquiring three-dimensional point cloud data of a dovetail angle area of a workpiece to be processed, and preprocessing the three-dimensional point cloud data to obtain target three-dimensional point cloud data; Correcting a preset standard digital model of the workpiece to be processed according to the target three-dimensional point cloud data to generate a corrected three-dimensional digital model, wherein the corrected three-dimensional digital model reflects the actual geometric shape of the workpiece to be processed; separating weld joint region information and base metal surface information from the corrected three-dimensional digital model, and generating a target machining geometric model of the dovetail angle region by combining preset dovetail angle standard design parameters; Performing pose matching and Boolean operation on the target machining geometric model and the corrected three-dimensional digital model to judge whether the target machining geometric model is completely covered by the corrected three-dimensional digital model; When the target machining geometric model is completely covered by the corrected three-dimensional digital model, generating a robot machining tool path according to the target machining geometric model; And converting the robot machining tool path into a robot motion track program executable by the specific model robot according to a preset kinematic model and program grammar of the specific model robot.
2. The method of claim 1, wherein modifying the predetermined standard digital model of the workpiece to be processed according to the target three-dimensional point cloud data, the generating a modified three-dimensional digital model comprising: Dividing the target three-dimensional point cloud data into a base material plane point set with the normal vector change rate lower than a preset segmentation threshold value and a weld transition zone point set with the normal vector change rate higher than or equal to the preset segmentation threshold value according to the normal vector change rate of each data point in the target three-dimensional point cloud data; Executing a preset plane fitting algorithm on the base metal plane point set to generate a geometric plane, executing a preset curved surface reconstruction algorithm on the weld transition region point set to generate a geometric curved surface, and stitching the geometric plane and the geometric curved surface to obtain a target region solid model; calculating a coordinate transformation matrix from the target region solid model to the preset standard digital model through a preset iterative nearest point algorithm, and registering the target region solid model by applying the coordinate transformation matrix; And replacing the corresponding geometric area in the preset standard digital model by using the registered target area solid model through Boolean operation to obtain the corrected three-dimensional digital model.
3. The method of claim 1, wherein separating weld zone information and base material surface information from the modified three-dimensional digital-to-analog, and generating a target machining geometry model for the dovetail zone in combination with preset dovetail standard design parameters comprises: Calculating the nearest distance between each point on the corrected three-dimensional digital-analog surface and the preset standard digital-analog surface, and dividing the corrected three-dimensional digital-analog surface into the weld joint area information and the base material surface information according to the comparison result of the nearest distance and a preset tolerance threshold; Processing the surface information of the base material through a preset random sample consistency algorithm, determining a dovetail angle root plane, and extracting a dovetail angle center path from the preset standard digital model; Constructing a two-dimensional sketch plane perpendicular to the dovetail angle center path at the starting point of the dovetail angle center path, and drawing a two-dimensional section outline on the two-dimensional sketch plane according to the dovetail angle standard design parameters; And moving the two-dimensional cross-sectional profile along the dovetail angle center path, and keeping the two-dimensional cross-sectional profile always perpendicular to the tangential direction of the dovetail angle center path in the moving process so as to generate the target machining geometric model.
4. The method of claim 1, wherein generating a robotic machining tool path from the target machining geometry model comprises: analyzing the geometric topological structure and curvature distribution of the target processing geometric model, and identifying a plurality of processing areas with different geometric features in the target processing geometric model; According to the geometric characteristics of the processing areas, respectively matching preset processing strategies for the processing areas, wherein the processing strategies comprise a contour processing strategy, a plane processing strategy and a streamline processing strategy; Configuring processing parameters for the processing strategy, wherein the processing parameters comprise a layer distance parameter, a step distance parameter, a feeding speed and a cutter posture control parameter; and calculating and generating the robot machining tool path according to the machining strategy and the machining parameters.
5. The method according to claim 1, wherein the converting the robot machining tool path into the robot motion trail program executable by the specific model robot according to the preset kinematics model and program grammar comprises: Analyzing a cutter center point coordinate and a cutter shaft direction vector from the robot machining cutter path; constructing a target pose homogeneous transformation matrix of the end effector of the robot with the specific model based on the coordinate of the cutter center point, the cutter shaft direction vector and a preset tool coordinate system; Inputting the target pose homogeneous transformation matrix into the kinematic model to obtain one or more groups of joint angle solutions; screening the one or more groups of joint angle solutions according to a preset minimum joint travel principle to determine an optimal joint angle solution; And converting the optimal joint angle solution sequence into the robot motion trail program conforming to the program grammar.
6. The method of claim 5, wherein after said converting said optimal joint angle solution sequence to said robot motion trajectory program conforming to said program syntax, said method further comprises: Loading the robot motion trail program, the corrected three-dimensional model and the three-dimensional model of the robot with the specific model in a preset virtual simulation environment; executing the simulation running of the robot motion trail program, and performing collision detection, singular point analysis and joint limit inspection in the simulation running process; generating a simulation verification report according to the collision detection, the singular point analysis and the joint limit check result; And when the simulation verification report indicates that the robot motion trail program has preset safety risks, readjusting the robot motion trail program.
7. The method according to claim 1, wherein the method further comprises: Acquiring the actual clamping pose of the workpiece to be processed; calculating a pose deviation matrix between the actual clamping pose and a theoretical pose preset in the robot motion track program; Dynamically compensating the robot motion track program according to the pose deviation matrix to generate a dynamically compensated robot motion track program; And controlling the robot of the specific model to execute the robot motion track program after the dynamic compensation.
8. An electronic device comprising a processor, a memory, a user interface, and a network interface, the memory for storing instructions, the user interface and the network interface each for communicating with other devices, the processor for executing instructions stored in the memory to cause the electronic device to perform the method of any of claims 1-7.
9. A computer readable storage medium storing instructions which, when executed, perform the method of any one of claims 1-7.
10. A computer program product, characterized in that the computer program product, when run on an electronic device, causes the electronic device to perform the method of any of claims 1-7.

Description

Machining programming method and device for multilayer multi-pass surfacing dovetail angle robot Technical Field The application relates to the technical field of robot automation, in particular to a processing programming method and device of a multilayer multi-pass surfacing dovetail angle robot. Background Aiming at the finish machining of complex curved surfaces (such as dovetail angles) formed after multi-layer and multi-channel overlaying, the existing robot automatic programming method mainly comprises teaching programming and off-line programming. The teaching programming refers to that an operator holds a demonstrator, manually guides a robot end effector on the surface of an actual workpiece, and collects path points point by point along a desired processing contour, so as to generate an executable motion trail program. In computer aided manufacturing (Computer Aided Manufacturing, CAM) software, an ideal machining tool path is planned in a virtual environment based on a theoretical standard three-dimensional model of a workpiece, and then a tool path file is converted into executable program codes of a robot of a specific model through a post processor. However, the above prior art has significant technical challenges in handling workpieces that are geometrically non-uniform due to the welding process. The off-line programming is performed based on a theoretical model, and the generated track completely ignores welding deformation and dimensional deviation of an actual workpiece caused by factors such as uneven heat input, residual stress and the like, so that the theoretical track is seriously inconsistent with the actual surface to be processed, and overstock, missed processing or collision are extremely easy to cause. The teaching programming is operated for actual workpieces, but because of individual differences of the shapes of all workpieces, the teaching program generated for one workpiece cannot be reused for other workpieces, the meaning of automatic mass production is lost, and meanwhile, for complex curved surfaces, the manual teaching process is extremely time-consuming and the precision is difficult to guarantee. Disclosure of Invention In order to solve the technical problems, the application provides a processing programming method and device for a multilayer multi-pass surfacing dovetail angle robot. In a first aspect of the application, a processing programming method of a multilayer multi-pass surfacing dovetail angle robot is provided, and the following technical scheme is adopted: acquiring three-dimensional point cloud data of a dovetail angle area of a workpiece to be processed, and preprocessing the three-dimensional point cloud data to obtain target three-dimensional point cloud data; Correcting a preset standard digital model of the workpiece to be processed according to the target three-dimensional point cloud data to generate a corrected three-dimensional digital model, wherein the corrected three-dimensional digital model reflects the actual geometric shape of the workpiece to be processed; separating weld joint region information and base metal surface information from the corrected three-dimensional digital model, and generating a target machining geometric model of the dovetail angle region by combining preset dovetail angle standard design parameters; Performing pose matching and Boolean operation on the target machining geometric model and the corrected three-dimensional digital model to judge whether the target machining geometric model is completely covered by the corrected three-dimensional digital model; When the target machining geometric model is completely covered by the corrected three-dimensional digital model, generating a robot machining tool path according to the target machining geometric model; And converting the robot machining tool path into a robot motion track program executable by the specific model robot according to a preset kinematic model and program grammar of the specific model robot. By adopting the technical scheme, the three-dimensional point cloud data of the actual workpiece is acquired to correct the preset standard digital model, the corrected three-dimensional digital model which accurately reflects the geometric characteristics of the individual workpiece is generated, the problem of inconsistent shape caused by welding deformation is effectively solved, the follow-up programming is completely based on the actual shape of the workpiece, the risk of over-cutting, machining omission or collision caused by inconsistent theoretical tracks and actual surfaces in off-line programming is fundamentally avoided, furthermore, the feasibility and safety of a machining path are ensured by automatically generating a target machining geometric model on the model and carrying out cladding verification, the time-consuming and limited-precision manual teaching programming is replaced, the machining precision is ensured, the unique shape of each w