Robot job task generation method based on workpiece model

A task and robot technology, applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve the problems of high computer performance requirements, low software openness, limited types of robots, etc., to reduce the error rate, flexible and efficient settings, large Versatile and flexible effects

Active Publication Date: 2016-10-26
SOUTHEAST UNIV
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Problems solved by technology

However, this solution has the following disadvantages: ①The types of robots supported are very limited; ②CAD software requires high compu

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  • Robot job task generation method based on workpiece model
  • Robot job task generation method based on workpiece model
  • Robot job task generation method based on workpiece model

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[0025] In the following, the present invention will be further explained in conjunction with the embodiments.

[0026] The method for generating robot task tasks based on the workpiece model in the present invention, such as figure 1 As shown, by extracting the processing trajectory data from the CAD model of the workpiece to be processed, and then using the three-dimensional simulation space, the target trajectory of the robot is set according to the processing trajectory data, and the motion posture of the robot is set according to the three-dimensional solid model of the workpiece to be processed. The target trajectory and motion pose data are solved by the robot kinematics equation to obtain the robot motion data, and finally the job file is generated according to the motion data. It includes the following steps:

[0027] (1) Obtain processing track data in the workpiece model

[0028] 1) Analyze the processing track data contained in the DXF file

[0029] DXF is an open vector d...

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Abstract

The invention discloses a robot job task generation method based on a workpiece model. The movement track of a robot is displayed through a three-dimensional simulation space by extracting machining track data of a workpiece to be machined; the movement track and pose data of the robot are set through a man-machine interactive means; then a robot kinematic model is established, and robot movement data are solved according to the pose data; and finally, a robot job file is generated according to the robot movement data. By means of the robot job task generation method, the industrial robot job file can be rapidly generated, the models of the robot and the workpiece can be vividly and flexibly displayed, supported robot kinds are not limited, multi-robot programming can be supported, complex curve programming commonly seen in the industry can also be supported, and the industrial production efficiency can be greatly improved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a method for generating robot tasks based on workpiece models. Background technique [0002] The generation of robot job tasks is generally to obtain robot motion trajectory data from the CAD model of the workpiece to be processed, and then use intelligent programming to automatically generate robot job files from the background program. The general idea is to establish a simulated three-dimensional space first, which is used to display the models of the workpiece and the robot, and at the same time provide a way for the user to set the robot's motion pose. Most of the existing robot task generation methods adopt an intuitive solution: use mature 3D CAD software such as AutoCAD, SolidWorks and other software to provide 3D scenes, and write kinematic algorithms for several fixed robots to solve robot motion data . However, this solution has the following disadvantages:...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664G05B2219/40519
Inventor 甘亚辉戴先中邢继生王政伟郭哲
Owner SOUTHEAST UNIV
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