Off-line programming track generation method and two-robot-collaborative assembly system based on method
A trajectory generation and offline programming technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of unsuitable operation requirements of industrial robots, failure to realize offline programming, and lack of visual processing units, so as to improve programming efficiency and work Precision, Adaptability, and Scalable Effects
Active Publication Date: 2019-05-17
XI AN JIAOTONG UNIV
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Problems solved by technology
Due to its complex operation and low efficiency, the traditional teaching method is no longer suitable for the current operating requirements of industrial robots.
Due to the lack of visual processing unit in the existing offline programming software, the human error introduced in the workpiece calibration process cannot be avoided
At the same time, the existing off-line programming technology for the assembly action with angle twisting also needs to be combined with teaching to determine the rotation angle to complete, and it has not realized off-line programming in a complete sense
Method used
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[0035] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings and examples.
[0036] Such as figure 1 As shown, for a trajectory generation method based on offline programming proposed in this paper, the model reconstruction algorithm flow is introduced in detail in combination with an example of workpiece assembly. The specific steps are as follows:
[0037] (a) STEP model file reading, for the STEP model file saved in the form of strings, the effective information is extracted line by line and stored in the computer memory, and the corresponding character segmentation algorithm is selected according to the STEP file format for each line The string is split to extract valid entity information. The specific operation is, starting from the data segment of the STEP file, for each line of strings, extract the numbers between "#" and "=" to represent the entity number, and extract the strings between "=" and "(" to use...
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The invention discloses an off-line programming track generation method and a two-robot-collaborative assembly system based on the method. The system involves a two-robot workpiece assembly area witha visual unit, computers, and a wireless module used for communication. The two-robot-collaborative assembly system is started, the visual unit is triggered to collect an image of a workpiece to be assembled, and the two computers are used for obtaining a track required by assembling the workpiece and a code corresponding to the track through running off-line programming software and using the track generation method. Through running the code, in a mutual communication state, two robots can complete single-machine independent assembly work, and can also complete two-machine-collaborative assembly work. According to the system, the simulated and actual assembly processes of two-robot-collaborative assembly work under the offline programming software environment can be safely and stably realized, so that the whole assembly process is safe, reliable, high in precision, and high in robustness; and the system is suitable for the assembly environments of various types of workpieces, so thatthe application requirements of two-robot-collaborative assembly can be met.
Description
technical field [0001] The invention belongs to the technical field of intelligent manufacturing and robots, and in particular relates to an off-line programming trajectory generation method and a dual-robot collaborative assembly system based on the method. Background technique [0002] With the rapid development of China's manufacturing industry, automation technology has been widely used, and industrial robots are also playing an increasingly important role. Due to some of its own limitations, a single robot is often unable to complete more complex tasks. Dual-industrial robots have the advantages of strong adaptability and good flexibility, and are an effective way to realize intelligent manufacturing. However, issues such as collaborative path planning, collaborative position calibration, and path error compensation of dual industrial robots are key technical issues that need to be solved urgently in the process of robot application and promotion in industrial environm...
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IPC IPC(8): B25J9/16
Inventor 吕红强郝乐乐韩九强郑辑光
Owner XI AN JIAOTONG UNIV
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