Robot stacking program generating method, storage medium and demonstrator

Abstract

The invention discloses a robot stacking program generating method, a storage medium and a demonstrator. The robot stacking program generating method comprises the steps that the designation, conducted by a user, of stacked product parameters, tray parameters, stack type parameters and position coordinates of a stack starting material placement position is received; position coordinates of multiple material placement positions, except the stack starting material placement position, of a stack are calculated; the joint angle of a stacking robot is calculated according to the position coordinates of the multiple material placement positions of the stack, the value of the calculated joint angle and a preset joint angle limiting threshold value are compared, and if the value of the calculatedjoint angle is larger than the joint angle limiting threshold value, prompting information which prompts the user to modify the designation is sent out; and if the value of the calculated joint angleis smaller than or equal to the joint angle limiting threshold value, a stacking program is generated. By the adoption of the robot stacking program generating method, the stacking program of the robot can be automatically generated under the condition that the user does not need to conduct the complex demonstration process.

Description

technical field [0001] The invention relates to robot palletizing technology, in particular to a method and device for generating a robot palletizing program. Background technique [0002] Palletizing industrial robots are widely used in food, 3C, parts processing and other fields. Different applications have different requirements for robot palletizing. The realization of the palletizing scheme that can customize parameters plays a vital role in the feasibility of the robot application scheme, and it can be used flexibly no matter which industry it is used in. [0003] For the programming of industrial robots, the method of teaching and reproduction is usually used. This method requires the debugging engineer to teach each robot coordinate point, including the robot's xyz coordinates and attitude parameters. The problem with this is that the workload is complicated. It is heavy, and as long as there is an inaccurate teaching point, it will affect the effect of robot pallet...

AI Technical Summary

Problems solved by technology

[0003] For the programming of industrial robots, the method of teaching and reproduction is usually used. This method requires the debugging engineer to teach each robot coordinate point, including the robot's xyz coordinates and attitude parameters. The problem with this is that the workload is complicated. It is heavy, and as long as there is an inaccurate teaching point, it will affect the effect of robot palletizing. In recent years, offline programming technology has widely appeared in the field of industrial robots. World-leading robot companies such as ABB and Fanuc have developed robots like RobotStudio , RobotGuide and other excellent offline programming software, the advantage of this technology is that it allows engineers to simulate the operation mode of the robot on the computer, and use the mouse and keyboard to write the code, without the need for on-site debugging in the early stage

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