Nonstandard robot modeling method

Abstract

The invention discloses a nonstandard robot modeling method which comprises the following steps: scanning a nonstandard robot to obtain a first module of the nonstandard robot; controlling a shaft arm of the nonstandard robot to move and recording the difference of pulse values received before and after motion by the shaft arm of the nonstandard robot; scanning the nonstandard robot after motion to obtain a second module of the nonstandard robot; obtaining rotation degree of the shaft arm of the nonstandard robot according to the first module and the second module; and carrying out calculating to obtain the shaft parameters of the shaft arm according to the difference of the pulse values received by the shaft arm before and after motion and the rotation degree of the shaft arm of the nonstandard robot, and setting the shaft parameters to the first module. According to the nonstandard robot modeling method, the model and the shaft parameters of the nonstandard robot can be obtained accurately, thereby helping to carry out simulation verification on the automation line with the nonstandard robot on simulation software.

Description

technical field [0001] The invention relates to the field of automatic lines, in particular to a non-standard robot modeling method. Background technique [0002] In the field of welding, there may be some non-standard robots in some imported automatic lines. These non-standard robots are usually patented products of automatic line manufacturers, and there are no corresponding 3D digital models and offline program production parameters on the simulation software. [0003] To introduce a new model in the welding field, it is necessary to verify the accessibility of the robot on the existing automatic line to determine whether the automatic line needs to be modified. If there are non-standard robots on the automatic line, the verification work on the computer will become difficult, and due to the parameters, it will make it impossible to make offline programs later. [0004] There are two main liberation solutions at present. One is to use a real vehicle to pass through the a...

AI Technical Summary

Problems solved by technology

The disadvantage of the first solution is that the real car of the new model can only be produced relatively late. If the problem is not discovered until the real car is inspected, it will affect the introduction schedule of the new model, and the on-site inspection will consume more manpower and material resources. In addition, because it cannot be produced in advance Offline program, on-site teaching non-standard robot cost is high

The disadvantage of the second solution is that since the technical departments of manufacturers of automatic lines with non-standard robots are usually located abroad, it takes a long time and high cost to entrust them to carry out automatic line inspections, so these two solutions cannot Meet the needs of use

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