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Multi-axis robot offline programming method

A multi-axis robot and programming technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as errors and large operating errors, and achieve the effects of reducing difficulty, small relative errors, and enhancing reliability

Active Publication Date: 2021-01-15
南京梅森自动化科技有限公司
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Problems solved by technology

[0004] However, because offline programming is based on the 3D model, there will inevitably be errors, resulting in large operating errors after the compiled program is downloaded to the robot.

Method used

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  • Multi-axis robot offline programming method

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Embodiment 1

[0037] Such as figure 1 As shown, the multi-axis robot offline programming method disclosed in the present invention includes the following steps:

[0038] Step 1, establish the robot 3D model of the multi-axis robot and the task 3D model of the task, which can be obtained by scanning the multi-axis robot and the task through the existing 3D scanning technology, and approximate the model of the robot 3D model and the task 3D model The real-time point cloud data of 3D scanning is converted into the point cloud data format supported by AutoCAD through AutodeskReCap software, and then the 3D modeling is completed through the plug-in PointShape modeling tool of AutoCAD;

[0039] Step 2, after the model approximation verification is passed, the angular displacement of each joint point in the robot's 3D model is formulated according to the task 3D model, and the angular displacement duration of each joint point is determined; when formulating the angular displacement and angular dis...

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Abstract

The invention discloses a multi-axis robot offline programming method. The method comprises the following steps that a robot three-dimensional model of a multi-axis robot and a task three-dimensionalmodel of an operation task are established, and the degree of approximation of the models are verified; a corresponding angular displacement of each joint point in the robot three-dimensional model isformulated according to the task three-dimensional model, and a corresponding angular displacement duration of each joint point is determined; all the joint points are programmed independently one byone, and debugging and verifying are carried out to control respective error proportion requirements; and combination joint debugging and verifying are carried out on each joint point, and finally anoverall error proportion is controlled. According to the multi-axis robot offline programming method, the high similarity can be ensured through verification of the degree of approximation, the reliability of offline programming is enhanced, programming is performed independently in a one-by-one mode, the difficulty of combination joint debugging in the next step can be reduced, and error causedby combination can be controlled by utilizing the combination joint debugging and verifying.

Description

technical field [0001] The invention relates to an off-line programming method, in particular to an off-line programming method for a multi-axis robot. Background technique [0002] As the robot application field becomes wider and wider, the traditional programming method of teaching programming becomes very inefficient in some occasions, so offline programming emerges as the times require, and its application is becoming more and more popular. [0003] The advantages of offline programming are: to reduce the downtime of the robot, when programming the next task, the robot can still work on the production line; keep the programmer away from the dangerous working environment and improve the programming environment; the offline programming system is widely used, It can program various robots; it can realize optimized programming conveniently; it can program complex tasks; it can intuitively observe the working process of robots, and judge errors including overtravel, collision...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1656B25J9/1605
Inventor 武文明张岳珅孙文美
Owner 南京梅森自动化科技有限公司
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