A method of robot job task generation based on workpiece model

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

Active Publication Date: 2018-03-20
SOUTHEAST UNIV
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  • Abstract
  • Description
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  • Application Information

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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 computer performance and takes a long time to run; ③Using a third-party platform for development will lead to a low degree of software openness

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  • A method of robot job task generation based on workpiece model
  • A method of robot job task generation based on workpiece model
  • A method of robot job task generation based on workpiece model

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Embodiment Construction

[0025] Below in conjunction with embodiment the present invention will be further described.

[0026] In the present invention, the robot operation task generation method based on the workpiece model, such as figure 1As shown, by extracting the processing trajectory data from the CAD model of the workpiece to be processed, and then using the 3D 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 3D solid model of the workpiece to be processed, and then the robot is used to The target trajectory and motion pose data are obtained by solving the robot kinematic equations to obtain the motion data of the robot, and finally the job file is generated according to the motion data. Specifically include the following steps:

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

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

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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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Patent Type & Authority Patents(China)
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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