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Off-line programming post-code conversion method and dual-robot collaborative intelligent manufacturing system and method based on the method

A technology of code conversion and offline programming, which is applied in the field of dual-robot collaborative intelligent manufacturing systems, can solve the problems of lack of dual-robot simulation and collaborative control functions, inability to coordinate trajectory planning and offline programming of dual-robots, and inability to achieve efficient collaborative intelligent manufacturing. Achieve the effects of improving work accuracy and programming efficiency, high adaptability, and high work efficiency

Active Publication Date: 2022-01-11
XI AN JIAOTONG UNIV
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Problems solved by technology

Due to the lack of dual-robot simulation and collaborative control functions, the existing offline programming software cannot perform collaborative trajectory planning and offline programming of dual robots, nor can it realize efficient collaborative intelligent manufacturing based on offline programming

Method used

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  • Off-line programming post-code conversion method and dual-robot collaborative intelligent manufacturing system and method based on the method
  • Off-line programming post-code conversion method and dual-robot collaborative intelligent manufacturing system and method based on the method
  • Off-line programming post-code conversion method and dual-robot collaborative intelligent manufacturing system and method based on the method

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Embodiment Construction

[0055] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0056] refer to figure 1 , post-code conversion after offline programming is to perform corresponding Euler angle transformation on the trajectory of the simulated robot and convert it into a corresponding instruction set according to the actual robot brand model used, so as to control the physical robot to complete the processing; and then perform post-code Editing and communication, that is, perform command editing, modification operations, file access on the post-code, and establish communication with multiple robots, so that the collaborative intelligent manufacturing in the simulation environment can be reproduced in the actual working environment.

[0057] Such as figure 1 As shown, combined with the example of workpiece processing, the post-code conversion of the present invention adopts the trajectory attitude information conversion met...

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Abstract

The off-line programming post-code conversion method and the dual-robot collaborative intelligent manufacturing system and method based on this method import the solid models of the simulation robot, processing tools and parts into the simulation system, and rationally layout and calibrate the system according to the processing requirements to generate processing trajectory; simulation checks whether the trajectory points are reachable, and adjusts abnormal trajectory points such as unreachable and axis overruns; uses the post-code conversion algorithm to convert the adjusted trajectory points into the running code of the corresponding model of the physical robot, two Under the conditions of mutual communication, the physical robot can complete single-machine processing, dual-machine synchronous independent processing, and dual-machine collaborative processing by running the code. The whole system is safe and reliable, with high precision and strong robustness, and it is suitable for different brands of robots and various types of processing requirements, and can meet the application of dual-robot collaborative intelligent manufacturing.

Description

technical field [0001] The invention belongs to the field of intelligent manufacturing and robot technology, and in particular relates to a post-code conversion method for off-line programming and a dual-robot collaborative intelligent manufacturing system and method based on the method. Background technique [0002] With the rapid development of industry, the application of industrial robots has become more popular. Traditionally, the actions of robots are designed by repeated teaching, but this method is very inefficient, and for some complex tasks, it is difficult to meet the requirements through teaching. . At the same time, a single robot is often unable to complete more complex tasks due to its own limitations. 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, system calibration, trajectory error compensation, and c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F8/30G06N3/08B25J9/16
CPCG06F8/30G06N3/084B25J9/16B25J9/1656B25J9/1664
Inventor 吕红强周小勇韩九强郑辑光
Owner XI AN JIAOTONG UNIV
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