Method of Realizing Offline Programming of Industrial Robots Based on 3D Modeling Software
An industrial robot, software implementation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of manually setting teaching points, unable to select the best attitude data, long time, etc., to achieve fast offline programming work , to achieve offline programming work, the effect of short time
Active Publication Date: 2014-10-29
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology
[0004] This method has the following defects: the virtual teaching point is a setting method, and the position and attitude of the teaching point must be manually set, and the teaching data includes a large number of teaching points, so it takes a long time to generate the teaching data
The attitude data of the virtual teaching point is the data of the selected point, and the best attitude data cannot be selected
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[0040] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.
[0041] figure 1 Among them, the computer device for realizing the method includes a computer main body 16 and a display, a keyboard 17 for data input, and a mouse 18 for pointing.
[0042]The computer main body 16 is a personal computer, which has a three-dimensional modeling environment 2. The CPU used as the main control and calculation reads and executes the three-dimensional modeling environment, and generates curve starting point and feature point data, calculates trajectory point data and processes and generates The actual robot controller can execute the program file 11, which is transmitted to the actual robot system 15 through TCP / IP or USB, and the data in the file is used for the operation of the actual robot system 15.
[0043] Suppose to figure 2 The general-purpose six-degree-of-freedom serial robot 20 is an offline progra...
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The invention discloses a method for achieving industrial robot off-line programming based on three-dimensional modeling software. The principle of the method is that a three-dimensional modeling software application programming interface (API) which is suitable for COM or object linking and embedding (OLE) and the like is used in the three-dimensional modeling software environment, model and space matrix data in the three-dimensional modeling software are obtained, a robot virtual body model and a mathematical model are built, and a virtual robot motion control system is realized; discretization from a curve to a point is conducted through obtained space line data, and therefore a motion trail of a robot is generated, actual robot operation is simulated; and an industrial robot controller operational procedure generating module is built, an actual controller executable file is generated and lead out so as to be operated in an actual robot controller, and industrial robot off-line programming can be achieved. The method can achieve off-line programming operation rapidly and generate optimal gesture of corresponding points automatically, time for generating training data is short, and a space curve trail can be achieved conveniently and rapidly, wherein a basis of the space curve trail is difficult to find in reality to conduct teaching.
Description
technical field [0001] The invention relates to a method for realizing off-line programming of an industrial robot. Background technique [0002] With the continuous increase of labor costs, the application of industrial robots is becoming more and more popular; conventional robot application programming is manual teaching, but in some special occasions, such as the site environment is very harsh, the processing accuracy is very high, laser welding or cutting, For spraying, glazing, grinding or other requirements for spatial curve paths, manual teaching can no longer meet the application requirements, and a non-online programming technology is needed, that is, offline programming technology. As a key technology in the application of industrial robots, the off-line programming technology of industrial robots has gradually matured. [0003] The Chinese invention patent application "Robot Offline Teaching Method" (publication number CN102004485A) discloses a method for realizi...
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IPC IPC(8): B25J9/16
Inventor 严律王杰高韩邦海
Owner NANJING ESTUN ROBOTICS CO LTD