Multi-industrial-robot virtual offline co-simulation system and method

An industrial robot and co-simulation technology, which is applied in control/regulation systems, instruments, motor vehicles, etc., can solve the problem of virtual off-line co-simulation methods and system implementation processes that do not involve multiple robots, and do not involve the movement of multiple robot systems. Simulation and other issues to achieve the effect of improving development efficiency, lowering technical threshold, and improving enterprise production efficiency

Inactive Publication Date: 2017-02-22
鹿龙 +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But most of them only involve the kinematics solution and simulation of a single robot, and do not involve the system motion simulation of multiple robots
Other studies only study the collaborative control path of robots and positioners or the offline programming of robot paths, but the current public results do not involve the virtual offline collaborative simulation method and system implementation process of multiple robots

Method used

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  • Multi-industrial-robot virtual offline co-simulation system and method
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  • Multi-industrial-robot virtual offline co-simulation system and method

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Experimental program
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Embodiment Construction

[0028] Such as figure 1 As shown, the multi-industrial robot virtual offline collaborative simulation system includes: a multi-robot path planning module, a multi-robot cooperative motion solution module, a robot code generation module, a motion simulation interference checking module and a file saving function module.

[0029] Such as figure 2 As shown, its method comprises the following working steps:

[0030] (1) Use the 3D modeling software core to import multiple robots, positioners and 3D digital models of workpieces to build a multi-robot virtual workstation;

[0031] (2) Use the workpiece digital model to extract the actual machining path of the robot, use the coordinates and orientation of the machining path to determine the path of a main robot relative to the absolute coordinate system, and use this path and the actual workpiece processing path to find the paths of other robots relative to the absolute coordinate system ;

[0032] (3) Robot kinematics analysis, ...

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Abstract

The invention discloses a multi-industrial-robot virtual offline co-simulation system and method. The system comprises a multi-robot path planning module, a multi-robot co-movement solving module, a robot code generating module, a movement simulation interference checking module and a file saving functional module. The method comprises the steps of: 1, constructing a multi-robot virtual workstation; 2, extracting an actual machining path of robots by using workpiece numerical simulation; 3, performing robot kinematics analysis; 4, performing discrete processing on the whole path, and simulating the movement in three-dimensional software by virtual assembly; 5, outputting movement control programs of the robots in the whole movement process according to code formats of different robots; 6, repeating step 4, performing interference checking, and if interference and collision occur, performing safety prompt; and 7, saving necessary information required in the whole co-movement process. The system and the method improve the development efficiency, reduce the technical threshold, and improve the production efficiency of enterprises.

Description

technical field [0001] The invention relates to the technical field of industrial robot collaborative simulation, in particular to a multi-industrial robot virtual offline collaborative simulation system and method. Background technique [0002] With the rapid development of industry, industrial robots are being promoted and applied more and more. There are two common methods of robot programming, manual teaching and offline programming. Manual teaching has many shortcomings such as poor accuracy and low efficiency. Virtual offline programming simulation based on workpiece and robot 3D digital model can overcome these shortcomings and realize robot complex. Rapid automatic programming of processes. Robot offline programming simulation is one of the development directions of robot technology. It realizes robot trajectory design, robot motion simulation, interference check and code output by importing robot and workpiece digital model, avoiding complicated manual teaching pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289G05D2201/0217
Inventor 鹿龙魏树生
Owner 鹿龙
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