Method and device for modifying operation track program text of FANUC industrial robot

Abstract

The invention discloses an FANUC industrial robot operation track program text modification method and device, and belongs to the technical field of industrial robots. The modification method comprises the following steps: displaying a to-be-modified robot operation program old text in a first text display box; modifying the modified text target line of the to-be-modified old text of the robot operation program through the basic control, changing old operation content in the modified text target line of the to-be-modified old text of the robot operation program into new operation content, and obtaining a new text of the robot operation program; displaying the obtained new text of the robot operation program in a second text display box, and checking the modified operation content in the obtained new text of the robot operation program; and taking the new text of the robot operation program passing the checking of the modified operation content as a new robot operation program. According to the modification method, the operation track program of the FANUC industrial robot can be quickly modified, and the program modification efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a method and device for modifying the text of an operation trajectory program of a FANUC industrial robot. Background Art

[0002] At present, with the continuous promotion of automation, intelligence and Internet of Things technologies in the industrial field, the demand for industrial robots in industries such as automobile manufacturing, electronics manufacturing, food and beverage, pharmaceutical manufacturing, and logistics warehousing is also increasing, and industrial robot programs are an important part of intelligent manufacturing.

[0003] Furthermore, industrial robot programs may need to be modified due to changes in working conditions and other factors. One main way to obtain industrial robot programs in the prior art is to use a physical industrial robot to generate an initial program through teaching, and then reversely guide it back to the relevant software for editing, modification and testing to generate the final program. Another main way to obtain industrial robot programs in the prior art is to manually write them in the program editing software, and most programs are stored in the corresponding trajectory points. When editing, it is necessary to open the instruction editor of the trajectory points in turn, and then select the corresponding instruction format for writing, and it can only be written one point at a time. Both of the above two methods of obtaining industrial robot programs have the problem of large workload and prone to errors.

[0004] Furthermore, for FANUC industrial robots, FANUC industrial robot programs can also be obtained through the above two methods of obtaining industrial robot programs, but the offline modification of FANUC industrial robot operation trajectory programs has strict requirements on text format. After the operator modifies the operation trajectory parameters offline, it is easy to cause format errors, which makes the program file unable to be imported into the controller of the FANUC industrial robot, reducing the efficiency of program modification. Therefore, a method is urgently needed to facilitate the rapid modification of FANUC industrial robot operation trajectory programs and improve the efficiency of program modification. Summary of the invention

[0005] The object of the present invention is to overcome at least one of the shortcomings of the above-mentioned prior art and to provide a method for modifying the text of a FANUC industrial robot's operating trajectory program, which is conducive to quickly modifying the FANUC industrial robot's operating trajectory program and improving the efficiency of program modification; in addition, a device for modifying the text of a FANUC industrial robot's operating trajectory program is also provided.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: According to one aspect of the present application, a method for modifying a FANUC industrial robot operation trajectory program text is provided, comprising: Display the old text of the robot operation program to be modified in the first text display box; Modify the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through the basic control, so as to change the old operation content in the modification text target line of the old text of the robot operation program to be modified into the new operation content, and obtain the new text of the robot operation program; Displaying the obtained new text of the robot operation program in the second text display box, and checking the modified operation content in the obtained new text of the robot operation program, wherein the modified operation content is the part in which the old operation content in the modified text target line of the old text of the robot operation program to be modified is changed into the new operation content; The new text of the robot operation program that has been verified after the modified operation content is used as the new robot operation program.

[0007] The beneficial effects of the present invention are as follows: in this embodiment, the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified through the basic control, which narrows the modification scope of the old text of the robot operation program by the program modifier, and is conducive to reducing the changes in the program parts that do not need to be modified, thereby reducing the errors caused by the modification of the robot operation program text; further, the new operation content is input through the basic control to replace the old operation content in the modification text target line, which is conducive to constraining the input content and format through the basic control, excluding the content and format that do not comply with the input rules, reducing the erroneous modifications caused by human factors of the program modifier, and is conducive to quickly modifying the old text of the robot operation program to obtain the new text of the robot operation program, which is conducive to quickly modifying the FANUC industrial robot operation trajectory program and improving the program modification efficiency; further, in this embodiment, the old text of the robot operation program to be modified is displayed in the first text display box, and the obtained new text of the robot operation program is displayed in the second text display box, which is conducive to checking the modified program content part and improving the accuracy of replacing the old operation content in the modification text target line with the new operation content.

[0008] In addition, based on the above technical solution, the present invention can also make the following improvements and can also have the following additional technical features.

[0009] According to one embodiment of the present application, the modified operation content in the new text of the robot operation program obtained by checking includes: By comparing the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box, the comparison control is used to compare the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box. Different operation text lines with different contents are obtained, wherein the line numbers of the text lines where the modified new operation contents are located are respectively the same as the line numbers of the text lines where the old operation contents are located; The obtained difference operation text line is marked and highlighted, and the new operation content in the marked and highlighted difference operation text line in the new text of the robot operation program obtained after modification is checked.

[0010] In this embodiment, the old text of the robot operation program and the new text of the robot operation program are compared line by line through a comparison control to obtain different operation text lines with different contents, which is helpful for program modifiers to determine the changed contents of the program text, so as to check whether the changed contents of the program text are the changed contents that need to be modified, and to eliminate other erroneous modifications or erroneous changes; in addition, the obtained different operation text lines are marked and highlighted, which is helpful for program modifiers to quickly identify and check the changed contents and modification positions of the program text, thereby improving the efficiency of checking the program modification contents.

[0011] According to one embodiment of the present application, the FANUC industrial robot operation trajectory program text modification method further includes: The difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequential order, wherein the text lines where the modified new job content is located are recorded and displayed in parallel with the text lines where the old job content is located with the same line number, and the text lines where the new job content is located and the text lines where the old job content is located with the same line number are located on the same line of text.

[0012] In this embodiment, the difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequential order, and the text lines where the new job content and the text lines where the old job content are located with the same line number are located in the same line of text. This is conducive to counting and recording the modified program text lines and the modified content, and is beneficial for program modifiers to understand the old job content that has been changed in the old text of the robot job program, and to quickly check the new job content in the new text of the robot job program.

[0013] According to an embodiment of the present application, the modifying text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified by the basic control to change the old operation content in the modifying text target line of the old text of the robot operation program to be modified to the new operation content, including: Setting a reference line, wherein the reference line is a reference line preliminarily selected as the target line of the modified text at the line number position, and the reference line has at least one line; Setting a characteristic line, wherein the characteristic line is used to specify a reference line that is ultimately used as a reference line for the target line of the modified text from the set reference lines; The modification is performed by adopting a program modification method, by inputting a relative position value in a target line input box, and specifying the target line of the modified text to be modified based on the reference line that is ultimately designated as the reference line of the target line of the modified text, wherein the relative position value is the number of lines that the target line of the modified text to be modified differs from the line where the reference line that is ultimately designated as the reference line of the target line of the modified text is located; Enter the old feature parameters in the target line of the modified text that needs to be modified in the original text input box; Entering new feature parameters in the new text input box for changing the old feature parameters in the selected target line of the modification text that needs to be modified; By clicking the Save button, the old characteristic parameters input in the original text input box are changed to the new characteristic parameters input in the new text input box, and the changed new characteristic parameters are saved in the register; The new characteristic parameters saved in the current register are moved to the specified variable by pressing the OK button.

[0014] In this embodiment, by setting the reference row, it is helpful to preliminarily screen the reference row used as the target row of the modified text in the row number position. Furthermore, by setting the feature row, it is helpful to specify the reference row that is ultimately used as the target row of the modified text from the set reference rows. By specifying the reference row that is ultimately used as the target row of the modified text as the target row of the modified text, a designated reference is provided, which facilitates locking the target row of the modified text that needs to be modified. Furthermore, by inputting the old feature parameters of the selected target row of the modified text that needs to be modified in the original text input box, and inputting the new feature parameters for changing the old feature parameters of the selected target row of the modified text that needs to be modified in the new text input box, and changing the old feature parameters to the new feature parameters through the Save button and the OK button, it is helpful to accurately change the old job content in the target row of the modified text of the old text of the robot operation program to be modified to the new job content.

[0015] According to one embodiment of the present application, the old characteristic parameters and the new characteristic parameters respectively include multiple or all of the motion type, position data, feed speed, positioning path and additional motion instructions; the motion type includes linear motion, circular motion and joint motion; the position data includes position information and posture information; the feed speed is used to specify the motion feed speed of the robot movement, and the unit of the motion feed speed depends on the motion type currently adopted; the positioning path is used to specify the trajectory form of adjacent trajectories in the middle, and the positioning path includes precise connection and circular arc transition; the additional motion is used to specify additional execution instructions of the robot during the movement process, and the additional motion instructions include acceleration ratio and incremental instructions, wherein the acceleration ratio is used to specify the acceleration ratio of the robot during the movement process, and the incremental instruction is used to use the position data of the current instruction line in the motion instruction as the increment of the robot movement for movement.

[0016] The old characteristic parameters and the new characteristic parameters in this embodiment respectively include multiple or all of the motion type, position data, feed speed, positioning path and additional motion instructions, which is helpful to meet the needs of industrial robot operation trajectory modification.

[0017] According to one embodiment of the present application, the program modification includes text modification, data modification and overall modification; The text modification includes modifying a text target line and modifying a data target line; When the target text row to be modified is selected, a relative position value is input through the target row input box to specify the target text row to be modified; Enter the old feature parameters to be modified in the original text input box, and enter the new feature parameters required in the new text input box, change the old feature parameters entered in the original text input box to the new feature parameters entered in the new text input box by clicking the Save button, save the changed new feature parameters to the register by clicking the Save button, and move the new feature parameters saved in the current register to the specified variable by clicking the Confirm button; The modification items of the data modification include absolute value modification and relative value modification. The absolute value modification is to replace the original data with new data, and the relative value modification is to add or subtract new data on the basis of the original data. The modification position of the data modification is X, Y, X, W, P, R of the robot operation program point. The modification value obtained after the modification position is modified is a signed floating point number; When the target row for modifying data is selected, a relative position value is input through the target row input box to specify the target row for modifying text that needs to be modified; Select the modification item of the data that needs to be modified currently through the modification mode selection box, select the robot operation program point that needs to be modified currently through the modification position selection box, and enter the value through the data input box, and then save the modified text target line to the register through the save button, and move the new feature parameter saved in the current register to the specified variable through the confirm button; The modification functions of the overall modification include removing spaces, removing blank lines, adding spaces, adding blank lines, adding characters to specific positions, deleting characters at specific positions, and changing characters at specific positions; When the overall modification is selected, for the removal of spaces, the removal of blank lines, the addition of spaces and the addition of blank lines in the modification functions of the overall modification, select the currently required modification function through the function selection box and confirm through the OK button; for the addition of characters to the specific position, the deletion of characters to the specific position and the change of characters to the specific position in the modification function of the overall modification, specify the specific position to be modified through the position designation box, enter the characters to be changed in the character input box, and then confirm through the OK button.

[0018] The program modification in this embodiment includes text modification, data modification and overall modification. Setting the text modification, data modification and overall modification separately is conducive to simplifying the control setting and making it convenient for program modifiers to select appropriate program modification methods according to the content that currently needs to be modified.

[0019] According to one embodiment of the present application, setting a reference line includes: By inputting reference character one in reference point input box one, inputting reference character two in reference point input box two, inputting reference character three in reference point input box three, and confirming by clicking the confirm button, the reference character one, the reference character two and the reference character three are recorded in the program, wherein the reference character one, the reference character two and the reference character three are located in the same row; The text line where the reference character 1, the reference character 2 and the reference character 3 are located is used as a reference line, and the reference line has at least one line; The setting feature line includes: Selecting a characteristic text line from multiple text lines of the old text of the robot operation program, and determining a relative line number value of the selected characteristic text line relative to a reference line; Input the relative row number value through the characteristic row designation input box; By inputting the feature character one in the feature text line specified by the relative line number value into the feature point input box one, inputting the feature character two in the feature text line specified by the relative line number value into the feature point input box two, and inputting the feature character three in the feature text line specified by the relative line number value into the feature point input box three, confirming by clicking the Save button, recording the line number parameters of the relative line number value and the string parameters of the feature character one, the feature character two and the feature character three in the register, and confirming by clicking the OK button, moving the position parameters of the relative line number value and the string parameters of the feature character one, the feature character two and the feature character three recorded in the current register to the specified variable, wherein the feature text line and the reference line are located in different lines.

[0020] In this embodiment, the reference character one, reference character two and reference character three located in the same line are input and recorded in the program, which is convenient for screening out text lines that have reference character one, reference character two and reference character three at the same time; further, the relative line number value is input through the feature line designation input box, and the string parameters of feature character one, feature character two and feature character three located in the feature text line specified by the relative line number value are moved to the specified variable, which is beneficial for specifying the reference line that is ultimately used as the reference line for modifying the target line of the text through the relative line number value, feature character one, feature character two and feature character three.

[0021] According to one embodiment of the present application, the FANUC industrial robot operation trajectory program text modification method further includes: By inputting a first character in a first character input text box, the start position of the text search is limited based on the first character, and by inputting a second character in a second character input text box, the end position of the text search is limited based on the second character, thereby limiting the text search range and the text change range.

[0022] In this embodiment, the text search start position is limited based on the first character, and the text search end position is limited based on the second character, thereby limiting the text search range and the text change range. This is beneficial for narrowing the scope of modification of the old text of the robot operation program by the program modifier, reducing or avoiding changes to the program content outside the scope of modification, thereby reducing errors caused by modifications to the robot operation program text; in addition, it is also convenient for the program modifier to quickly retrieve the target line of the modified text to be modified.

[0023] According to an embodiment of the present application, the modifying text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified by the basic control to change the old operation content in the modifying text target line of the old text of the robot operation program to be modified to the new operation content, including: Modification is performed in a data table manner, by changing the old operation data to be modified to the new operation data at the position to be modified in the table, and by using the import button, importing the file containing the new operation data into the data table interface for display; The data content in the data table interface is converted into a robot operation program text by a text conversion button to obtain a new robot operation program text; The obtained new text of the robot operation program is displayed in a fourth text display box, wherein the fourth text display box is arranged in parallel with the data table interface.

[0024] In this embodiment, by changing the old job data to be modified to the new job data at the position to be modified in the table, it is beneficial to change multiple old job data that need to be changed into new job data in the table in turn, thereby improving the modification efficiency; further, the file containing the new job data is imported into the data table interface for display through the import button, which is beneficial to verify the modification results in the table; further, the data content in the data table interface is converted into the robot operation program text through the text conversion button, which is beneficial to convert the data content in the data table interface into the robot operation program text, and obtain the new text of the robot operation program.

[0025] According to another aspect of the present application, there is also provided a FANUC industrial robot operation trajectory program text modification device, comprising: An acquisition module, used for acquiring an old text of the robot operation program to be modified; A display module, used for displaying the obtained old text of the robot operation program to be modified in a first text display box, and for displaying the obtained new text of the robot operation program in a second text display box; A modification module, used for modifying the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through a basic control, so as to change the old operation content in the modification text target line of the old text of the robot operation program to be modified into the new operation content, and obtain the new text of the robot operation program; a text comparison module, used for comparing the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box line by line, and obtaining different operation text lines with different contents between the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box; The text saving module is used to save the new text of the robot operation program that has been verified and modified.

[0026] The modification module in this embodiment modifies the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through the basic control, thereby narrowing the modification scope of the old text of the robot operation program by the program modifier, which is beneficial to reduce the changes in the program parts that do not need to be modified, thereby reducing the errors caused by the modification of the robot operation program text; further, the display module in this embodiment can display the old text of the robot operation program to be modified in the first text display box, and the display module can display the obtained new text of the robot operation program in the second text display box. In addition, the text comparison module in this embodiment can compare the old text of the robot operation program and the new text of the robot operation program line by line to obtain different operation text lines with different content, which is beneficial for the program modifier to determine the content of the program text that has changed, so as to verify whether the content of the program text that has changed is the changed content that needs to be modified, and to eliminate other erroneous modifications or erroneous changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of the arrangement of basic controls, multiple text input boxes and multiple text display boxes for implementing the modification method in an embodiment of the present invention; Figure 2 A schematic diagram of setting a reference row and setting a characteristic row in an embodiment of the present invention; Figure 3 A schematic diagram of marking and highlighting different job text lines in an embodiment of the present invention; Figure 4 A schematic diagram of data modification in an embodiment of the present invention; Figure 5 It is a schematic diagram of overall modification in an embodiment of the present invention; Figure 6 A schematic diagram of table modification in an embodiment of the present invention; Figure 7 A schematic diagram of a new text of a robot operation program obtained by table modification and a program text obtained by text conversion in an embodiment of the present invention; Figure 8 It is a structural block diagram of a FANUC industrial robot operation trajectory program text modification device in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0030] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0033] According to one aspect of the present application, a method for modifying a FANUC industrial robot operation trajectory program text is provided, such as Figures 1 to 3 As shown, the method includes: Display the old text of the robot operation program to be modified in the first text display box; The target text line of the modified text of the old text of the robot operation program to be modified displayed in the first text display box is modified by the basic control, so that the old operation content in the target text line of the modified text of the old text of the robot operation program to be modified is changed to the new operation content, and the new text of the robot operation program is obtained; Displaying the obtained new text of the robot operation program in the second text display frame, and checking the modified operation content in the obtained new text of the robot operation program, wherein the modified operation content is the part where the old operation content in the modified text target line of the old text of the robot operation program to be modified is changed into the new operation content; The new text of the robot operation program that has been modified and verified is used as the new robot operation program.

[0034] In this embodiment, if Figures 1 to 3As shown, the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified through the basic control, which narrows the modification scope of the old text of the robot operation program by the program modifier, and is conducive to reducing the changes in the program parts that do not need to be modified, thereby reducing the errors caused by the modification of the robot operation program text; further, the new operation content is input through the basic control to replace the old operation content in the modification text target line, which is conducive to constraining the input content and format through the basic control, excluding the content and format that do not meet the input rules, reducing the erroneous modifications caused by human factors of the program modifier, and is conducive to quickly modifying the old text of the robot operation program to obtain the new text of the robot operation program, which is conducive to quickly modifying the FANUC industrial robot operation trajectory program and improving the program modification efficiency; further, in this embodiment, the old text of the robot operation program to be modified is displayed in the first text display box, and the obtained new text of the robot operation program is displayed in the second text display box, which is conducive to checking the modified program content part and improving the accuracy of replacing the old operation content in the modification text target line with the new operation content.

[0035] In this embodiment, if Figure 1 and Figure 2 As shown, the program modification panel in this embodiment is set as a basic control layout area, a first text display area and a second text display area. The basic control layout area is located on the left side of the interface, the second text display area is on the right side of the interface, and the first text display area is set between the basic control layout area and the second text display area.

[0036] In this embodiment, if Figure 1 and Figure 2 As shown, before displaying the old text of the robot operation program to be modified in the first text display box, the FANUC industrial robot operation trajectory program text modification method also includes: reading the old text of the robot operation program to be modified by a read text button to obtain the old text of the robot operation program to be modified.

[0037] Furthermore, in this embodiment, if Figure 1 and Figure 2As shown, the read text button is set at the top of the basic control layout area. By clicking the read text button, the software automatically reads the program text including the old text of the robot operation program. The program modifier can select the old text of the robot operation program to be modified to be read, obtain the old text of the robot operation program to be modified, and display the obtained old text of the robot operation program to be modified in the first text display box, and the file path where the program text is read is displayed in the file path display box in front of the read text button. Furthermore, the old text of the robot operation program can also be pasted into the first text display box by copying and pasting, so as to obtain the old text of the robot operation program to be modified; in addition, the first text display box in this embodiment is a multi-line text box.

[0038] In this embodiment, the old operation content in the modification text target line of the old text of the robot operation program to be modified is changed to the new operation content, wherein the new operation content is adjusted and determined by the program modification personnel according to the operation trajectory requirements of the industrial robot before the program text is modified; further, in this embodiment, the obtained new text of the robot operation program is displayed in the second text display box. In addition, the second text display box in this embodiment is a multi-line text box.

[0039] In this embodiment, if Figures 1 to 3 As shown, in the present embodiment, a file path button, a file path display box and a save button are provided at the bottom of the basic control layout area. The file path obtains the folder path, which can be entered manually or the file path can be obtained by clicking the file path. By clicking the save button, a text name for the current time will be automatically generated, and the new text of the robot operation program obtained in the second text display box can be saved. In the present embodiment, an original text button is provided above the first text display area, and a new text button is provided above the second text display area. When it is necessary to save the new text of the robot operation program obtained in the second text display box, click the new text button, select the new text, and then click the save button at the bottom left of the program modification interface to save the new text of the robot operation program obtained in the second text display box, and the selected file is displayed in the front side of the save button.

[0040] It should be noted that the new text of the robot operation program is displayed in the second text display box, and the old text of the robot operation program is displayed in the first text display box. It is the program text before modification. The content in the old text of the robot operation program has not changed. The difference between the new text of the robot operation program and the old text of the robot operation program is that the new text of the robot operation program has changed the new operation content input through the basic control to replace the old operation content in the target line of the modified text. In addition, every time you need to modify it again after each modification, you can import the old text of the robot operation program and the new text of the robot operation program respectively by clicking the original text button and the new text button on the main interface.

[0041] An embodiment of the present application, such as Figure 1 and Figure 3 As shown, check the modified operation content in the new text of the robot operation program obtained, including: By comparing the old text of the robot operation program to be modified displayed in the first text display box and the new text of the obtained robot operation program displayed in the second text display box, the comparison control is used to compare the old text of the robot operation program to be modified displayed in the first text display box and the new text of the obtained robot operation program displayed in the second text display box. Different operation text lines with different contents are obtained, wherein the line numbers of the text lines where the modified new operation contents are located are respectively the same as the line numbers of the text lines where the old operation contents changed by them are located; The obtained different operation text lines are marked and highlighted, and the new operation content in the marked and highlighted different operation text lines in the new text of the robot operation program obtained after the modification is checked.

[0042] In this embodiment, if Figure 3 As shown, the old text of the robot operation program and the new text of the robot operation program are compared line by line through the comparison control to obtain different operation text lines with different contents, which is helpful for program modification personnel to determine the changed contents of the program text, so as to check whether the changed contents of the program text are the changed contents that need to be modified, and to eliminate other erroneous modifications or erroneous changes; in addition, the obtained different operation text lines are marked and highlighted, which is helpful for program modification personnel to quickly identify and check the changed contents and modification positions of the program text, thereby improving the efficiency of checking the program modification contents.

[0043] In this embodiment, if Figure 3As shown, in this embodiment, by marking the different job text lines with red coloring, the text lines where the old job content to be modified in the old text of the robot job program to be modified is located and the text lines where the new job content after the change in the new text of the robot job program is located are both marked with red coloring, so that the program modification personnel can quickly identify and check the changed content and modification position of the program text; in addition, other methods can also be used to mark the different job text lines with different content.

[0044] Further, such as Figure 3 As shown, in this embodiment, the old text of the robot operating program to be modified displayed in the first text display box and the obtained new text of the robot operating program displayed in the second text display box are configured to scroll together, and the old text of the robot operating program and the new text of the robot operating program can be scrolled synchronously by pulling the corresponding scroll bar, so that the program modifier can determine the content of the program text that has changed.

[0045] In this embodiment, if Figure 1 and Figure 3 As shown, a text positioning box is provided at the lower side of the first text display box and the second text display box. By entering the number of rows and columns and clicking the positioning button, the text will jump to the specified position. In addition, a real-time position display box is provided at the bottom of the first text display area, and the real-time position display box is used to display the row and column where the cursor is located in real time.

[0046] An embodiment of the present application, such as Figure 3 As shown, the FANUC industrial robot operation trajectory program text modification method also includes: The difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequential order, wherein the text lines where the modified new job content is located are recorded and displayed in parallel with the text lines where the old job content is located with the same line number, and the text lines where the new job content is located and the text lines where the old job content is located with the same line number are located on the same line of text.

[0047] In this embodiment, if Figure 3 As shown, the difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequential numbering, and the text lines where the new job content and the text lines where the old job content are located with the same line number are located in the same line of text, which is conducive to counting and recording the modified program text lines and the modified content, and is conducive to program modification personnel to understand the old job content that has been changed in the old text of the robot operation program, and to quickly check the new job content in the new text of the obtained robot operation program.

[0048] Further, such as Figure 3As shown, the difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequence. The total number of modified lines can be determined by the number, and the position of the modification can be determined by the position of the displayed line number; in addition, the third text display box in this embodiment is a multi-line text box.

[0049] An embodiment of the present application, such as Figure 1 and Figure 2 As shown, the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified through the basic control to change the old operation content in the modification text target line of the old text of the robot operation program to be modified to the new operation content, including: Set a reference line, wherein the reference line is a reference line that is initially screened as a target line for modifying text at a line number position, and the reference line has at least one line; Setting a characteristic line, wherein the characteristic line is used to specify a reference line from the set reference lines that is ultimately used as a reference line for modifying a target line of a text; The modification is performed by program modification, by inputting a relative position value in the target line input box, and specifying the target line of the modified text to be modified based on the reference line that is ultimately designated as the reference line of the modified text target line, wherein the relative position value is the number of lines that the target line of the modified text to be modified differs from the line where the reference line that is ultimately designated as the reference line of the modified text target line is located; Enter the old feature parameters in the target line of the selected modified text that needs to be modified in the original text input box; Enter new characteristic parameters in the new text input box to change the old characteristic parameters in the selected modification text target line that needs to be modified; By clicking the Save button, the old characteristic parameters entered in the original text input box are changed to the new characteristic parameters entered in the new text input box, and the changed new characteristic parameters are saved to the register; Click the OK button to move the new characteristic parameters saved in the current register to the specified variable.

[0050] In this embodiment, if Figure 1 and Figure 2As shown, by setting the reference row, it is helpful to preliminarily screen the reference row used as the target row of the modified text in the row number position. Further, by setting the feature row, it is helpful to specify the reference row that is ultimately used as the target row of the modified text from the set reference rows. By specifying the reference row that is ultimately used as the target row of the modified text as the target row of the modified text, a designated reference is provided, which facilitates locking the target row of the modified text that needs to be modified. Further, by inputting the old feature parameters of the selected target row of the modified text that needs to be modified in the original text input box, and inputting the new feature parameters used to change the old feature parameters of the selected target row of the modified text that needs to be modified in the new text input box, and changing the old feature parameters to the new feature parameters through the Save button and the OK button, it is helpful to accurately change the old job content in the target row of the modified text of the old text of the robot operation program to be modified to the new job content.

[0051] In one embodiment of the present application, the old characteristic parameters and the new characteristic parameters respectively include multiple or all of the motion type, position data, feed speed, positioning path and additional motion instructions; the motion type includes linear motion, circular motion and joint motion; the position data includes position information and posture information; the feed speed is used to specify the motion feed speed of the robot movement, and the unit of the motion feed speed depends on the motion type currently adopted; the positioning path is used to specify the trajectory form of adjacent trajectories in the middle, and the positioning path includes precise connection and circular arc transition; additional motion is used to specify additional execution instructions of the robot during the movement process, and the additional motion instructions include acceleration ratio and incremental instructions, wherein the acceleration ratio is used to specify the acceleration ratio of the robot during the movement process, and the incremental instruction is used to use the position data of the current instruction line in the motion instruction as the increment of the robot movement for movement.

[0052] In this embodiment, the old characteristic parameters and the new characteristic parameters in this embodiment respectively include multiple or all of the motion type, position data, feed speed, positioning path and additional motion instructions, which is conducive to meeting the requirements of industrial robot operation trajectory modification.

[0053] An embodiment of the present application, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, program modifications include text modifications, data modifications, and overall modifications; Text modification includes modifying the text target line and modifying the data target line; When the target row for modifying text is selected, enter the relative position value in the target row input box to specify the target row for modifying text that needs to be modified; Enter the old feature parameters that need to be modified in the original text input box, and enter the required new feature parameters in the new text input box. Click the Save button to change the old feature parameters entered in the original text input box to the new feature parameters entered in the new text input box, and click the Save button to save the changed new feature parameters to the register. Click the OK button to move the new feature parameters saved in the current register to the specified variable. The modification items of data modification include absolute value modification and relative value modification. Absolute value modification is to replace the original data with new data, and relative value modification is to add or subtract new data on the basis of the original data. The modification position of data modification is X, Y, X, W, P, R of the robot operation program point. The modification value obtained after the modification position is modified is a signed floating point number. When selecting the target row for modifying data, enter the relative position value in the target row input box to specify the target row for modifying text; Select the modification item of the data that needs to be modified through the modification mode selection box, select the robot operation program point that needs to be modified through the modification position selection box, and enter the value through the data input box, and then save the modified text target line to the register through the save button, and move the new feature parameters saved in the current register to the specified variable through the confirm button; The modification functions of overall modification include removing spaces, removing blank lines, adding spaces, adding blank lines, adding characters to a specific position, deleting characters at a specific position, and changing characters at a specific position; When overall modification is selected, for the modification functions of removing spaces, removing blank lines, adding spaces and adding blank lines in the overall modification, select the currently required modification function through the function selection box and confirm with the OK button; for adding characters to specific positions, deleting characters to specific positions and changing characters to specific positions in the modification functions of overall modification, specify the specific positions to be modified through the position designation box, enter the characters to be changed in the character input box, and then confirm with the OK button.

[0054] In this embodiment, if Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the program modification in this embodiment includes text modification, data modification and overall modification. Setting the text modification, data modification and overall modification separately is conducive to simplifying the control setting and making it convenient for program modifiers to select a suitable program modification method according to the content that currently needs to be modified.

[0055] In this embodiment, if Figure 1 and Figure 2As shown, the text modification panel, data modification panel and overall modification panel in this embodiment are arranged at the lower side of the feature row setting area. The text modification panel in this embodiment is provided with a target row input box, an original text input box and a new text input box from top to bottom, and a save button, a clear button and an OK button are also provided at the lower side of the new text input box; by pressing the save button, the register will save the three parameters in the target row input box, the original text input box and the new text input box, and the records and saves can be recorded and saved multiple times continuously; by pressing the OK button, the software will move the parameters in the current register to the specified variable; by pressing the clear button, the register will automatically delete the latest set of parameters, and the deletion can be continued until there is no data in the register; further, a seventh text display box is also provided on the right side of the text modification panel, and the seventh text display box is used to record and display the parameters set in the target row input box, the original text input box and the new text input box; in addition, the seventh text display box in this embodiment belongs to a multi-line text box.

[0056] In this embodiment, if Figure 2 As shown, in this embodiment, the text line where "101: LP

[148] 200mm / secCNT100" is finally designated as the reference line; if the relative position value is 1 in the target line input box, the text line where "102: LP

[149] 180mm / sec CNT100" is the modified text target line; further, "CNT100" is entered in the original text input box, "CNT80" is entered in the new text input box, and the text is saved by clicking the Save button, and then the text is confirmed by clicking the Confirm button. Then, "CNT100" in "102: LP

[149] 180mm / sec CNT100" is changed to "CNT80", and "102: LP

[149] 180mm / sec CNT100" is changed to "102: LP

[149] 180mm / sec CNT80". Further, if the relative position value is -1 in the target line input box, the modified text target line is the line above the reference line finally designated, and so on.

[0057] Further, such as Figure 1 and Figure 2 As shown, in this embodiment, the lower part of the basic control setting area is provided with a real-time information display box, which is used to record the file reading results, the start scan line and end scan line of the program scan, the text line limit range and other information in real time, and to view the text operation process, set parameters, and text update status in real time. It should be noted that Figure 2 In order to better display the program modification module, only part of the program modification module is displayed. Figure 2 The parts not shown are Figure 1 same.

[0058] In this embodiment, if Figure 4 As shown, the data modification panel in this embodiment is provided with a target row input box, a modification position selection box and a data input box from top to bottom; further, a save button, a clear button and an OK button are provided at the bottom of the data input box. When the OK button is pressed, the software will move the parameters in the current register to the specified variable; when the clear button is pressed, the register will automatically delete the latest set of parameters, and can be deleted continuously until there is no data in the register; in addition, a display box is provided on the right side of the data modification panel, and the display box is used to record and display the set parameters.

[0059] In this embodiment, if Figure 5 As shown, in the overall modification panel of this embodiment, a function selection box and a confirmation button are provided, and a position specification box is provided at the lower side of the function selection box, through which the relative position of the modification position from the starting point can be set; in addition, a display box for recording and displaying the completion status is provided on the right side of the overall modification panel.

[0060] An embodiment of the present application, such as Figure 1 and Figure 2 As shown, setting the reference line includes: By inputting reference character 1 in reference point input box 1, inputting reference character 2 in reference point input box 2, inputting reference character 3 in reference point input box 3, and confirming by clicking the confirm button, reference character 1, reference character 2 and reference character 3 are recorded in the program, wherein reference character 1, reference character 2 and reference character 3 are located in the same row; The text lines where reference character 1, reference character 2 and reference character 3 are located are used as reference lines, and there is at least one reference line; Setting the feature line includes: Selecting a characteristic text line from multiple text lines of the old text of the robot operation program, and determining a relative line number value of the selected characteristic text line with respect to a reference line; Enter the relative row number value through the characteristic row specification input box; By inputting feature character one in the feature text line specified by the relative line number value into feature point input box one, inputting feature character two in the feature text line specified by the relative line number value into feature point input box two, and inputting feature character three in the feature text line specified by the relative line number value into feature point input box three, confirming with the Save button, recording the line number parameters of the relative line number value and the string parameters of feature character one, feature character two and feature character three in the register, and confirming with the OK button, moving the position parameters of the relative line number value recorded in the current register and the string parameters of feature character one, feature character two and feature character three to the specified variable, wherein the feature text line and the reference line are located in different lines.

[0061] In this embodiment, if Figure 1 and Figure 2 As shown, the reference character one, reference character two and reference character three located in the same line are input and recorded in the program, which is convenient for screening out text lines that have the reference character one, reference character two and reference character three at the same time; further, the relative line number value is input through the feature line designation input box, and the string parameters of the feature character one, feature character two and feature character three located in the feature text line specified by the relative line number value are moved to the specified variable, which is conducive to specifying the reference line that is ultimately used as the reference line for modifying the target line of the text through the relative line number value, feature character one, feature character two and feature character three.

[0062] In this embodiment, if Figure 1 and Figure 2 As shown, a reference row setting area is provided in the middle and upper part of the basic control layout area in this embodiment, and reference row setting area is provided with reference point input box one, reference point input box two, and reference point input box three arranged from left to right, and a clear button and a confirm button are also provided in the reference row setting area; in the process of setting the reference row, the save button is pressed, the register records 4 parameters, and the records can be made multiple times in succession, and the clear button is pressed, the register will automatically delete the latest set of parameters, and the deletion can be continued until there is no data in the register.

[0063] In this embodiment, if Figure 1 and Figure 2 As shown, a feature row setting area is provided at the lower side of the reference row setting area in this embodiment, and a feature row designation input box, a feature point input box one, a feature point input box two and a feature point input box three are provided in the feature row setting area from left to right. Specifically, the feature row designation input box in this embodiment is a selection box, and the feature row designation input box can also be set as a text input box; a save button, a clear button and an OK button are also provided in the feature row setting area; in the process of setting the reference row, press the OK button, and the set reference point parameters will be recorded internally by the software; after pressing the Clear button, the relevant setting parameters will be deleted, and there will be no characters in the text input box.

[0064] Further, such as Figure 1 and Figure 2 As shown, a fifth text display box is provided on the right side of the reference row setting area and the feature row setting area in this embodiment, and the fifth text display box is used to record and display the content input in the reference row setting area and the feature row setting area; in addition, the fifth text display box in this embodiment is a multi-line text box.

[0065] In this embodiment, if Figure 2As shown, in this embodiment, the reference character 1 is ":L", the reference character 2 is "200mm / s", and the reference character 3 is "CNT100". The text lines matching the reference condition are "101:LP

[148] 200mm / sec CNT100", that is, Figure 2 The fourth line of text displayed completely from top to bottom in the figure also matches the reference condition: "133: LP

[179] 200mm / sec CNT100 GO[27: ABG1_force]=R

[197] ", i.e. Figure 2 The last text line displayed completely from top to bottom in , there are two text lines that match the reference condition.

[0066] Further, such as Figure 2 As shown, in this embodiment, the value entered in the feature line designation input box is 1, the feature character 1 in this embodiment is ":L", the reference character 2 is "180mm / s", and the reference character 3 is "CNT100", that is, the text line where "102:LP

[149] 180mm / sec CNT100" is located is selected as the feature text line, and the text line where "101:LP

[148] 200mm / sec CNT100" is located is finally designated as the reference line; when the relative position value entered in the target line input box is 1, the text line where "102:LP

[149] 180mm / sec CNT100" is located is the modified text target line. Further, if the value entered in the feature line designation input box is -1, the feature line is the previous line of the reference line finally designated, and so on.

[0067] An embodiment of the present application, such as Figure 1 and Figure 2 As shown, the FANUC industrial robot operation trajectory program text modification method also includes: By entering the first character in the first character input text box, the starting position of the text search is limited based on the first character, and by entering the second character in the second character input text box, the ending position of the text search is limited based on the second character, thereby limiting the text search range and the text change range.

[0068] In this embodiment, if Figure 1 and Figure 2 As shown, the text search start position is limited based on the first character, and the text search end position is limited based on the second character, thereby limiting the text search range and the text change range. This is beneficial to narrowing the modification scope of the old text of the robot operation program by the program modifier, reducing or avoiding changes to the program content outside the modification scope, thereby reducing errors caused by modifications to the robot operation program text; in addition, it is also convenient for the program modifier to quickly retrieve the target line of the modification text to be modified.

[0069] In this embodiment, if Figure 1 and Figure 2 As shown, the upper side of the reference row setting area in this embodiment is provided with a first character input text box and a second character input text box, the first character is used to input characters that limit the starting position of the text search, and the second character is used to input characters that limit the ending position of the text search; further, the characters input in the first character input text box and the second character input text box are recorded and displayed in the fifth text display box; in addition, when no valid characters are entered in the first character input text box and the second character input text box, the entire program text is retrieved by default.

[0070] An embodiment of the present application, such as Figure 6 As shown, the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box is modified through the basic control to change the old operation content in the modification text target line of the old text of the robot operation program to be modified to the new operation content, including: Modification is performed in the form of a data table. The old job data to be modified is changed to the new job data at the position to be modified in the table. The file containing the new job data is imported into the data table interface for display through the import button. Use the text conversion button to convert the data content in the data table interface into the robot operation program text to obtain the new robot operation program text; The obtained new text of the robot operation program is displayed in a fourth text display box, wherein the fourth text display box is arranged in parallel with the data table interface.

[0071] In this embodiment, if Figure 6 As shown, by changing the old job data to be modified into the new job data at the position to be modified in the table, it is beneficial to change multiple old job data that need to be changed into the new job data in the table in turn, thereby improving the modification efficiency; further, by using the import button, the file containing the new job data is imported into the data table interface for display, which is beneficial to verifying the modification results in the table; further, by using the text conversion button, the data content in the data table interface is converted into the robot operation program text, which is beneficial to convert the data content in the data table interface into the robot operation program text, and obtain the new text of the robot operation program.

[0072] In this embodiment, if Figure 6As shown, a list box is provided on the left side of the data table interface in this embodiment, and an import button, a data conversion button and an export button are provided on the lower side of the list box; further, a sixth text display box is provided on the right side of the data table interface, and a text conversion button is provided on the lower side of the sixth text display box. Further, the data import in this embodiment can be imported into formats including txt, csv, and xlsx, the data export in this embodiment can be exported into formats including txt, csv, and xlsx, and the data text format export can be exported into formats including txt.

[0073] Further, such as Figure 6 As shown, the data in the list box can be converted to obtain the new text of the robot operating program by using the text conversion button set at the bottom of the sixth text display box. The obtained new text of the robot operating program can be saved and exported, and the obtained new text of the robot operating program can be imported into the second text display box by selecting the new text button set above the second text display area, while the old text of the robot operating program before modification can be imported into the first text display box by selecting the old text button set above the first text display area, and then the old text of the robot operating program and the new text of the robot operating program can be compared through the comparison control.

[0074] Further, such as Figure 6 As shown, the total number of table rows can be displayed after the data is imported. After selecting a cell, the table position is displayed in the row and column box below; click the data import button, a file path search interface will appear, select the corresponding file, and import the data content into the table.

[0075] In this embodiment, if Figure 7 As shown, click the text conversion button below, and the content in the table will be converted into the FANUC industrial robot program. This function is applicable to the imported table content format of FANUC program format.

[0076] According to another aspect of the present application, a FANUC industrial robot operation trajectory program text modification device is also provided, such as Figure 8 As shown, including: An acquisition module 80 is used to acquire an old text of the robot operation program to be modified; A display module 81, used for displaying the old text of the robot operation program to be modified in a first text display box, and for displaying the new text of the robot operation program in a second text display box; A modification module 82 is used to modify the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through the basic control, so as to change the old operation content in the modification text target line of the old text of the robot operation program to be modified into the new operation content, and obtain the new text of the robot operation program; The text comparison module 83 is used to compare the old text of the robot operation program to be modified displayed in the first text display box and the new text of the obtained robot operation program displayed in the second text display box line by line, and obtain the different operation text lines with different contents between the old text of the robot operation program to be modified displayed in the first text display box and the new text of the obtained robot operation program displayed in the second text display box; The text saving module 84 is used to save the new text of the robot operation program that has been verified and modified.

[0077] In this embodiment, if Figure 8 As shown, the modification module 82 in this embodiment modifies the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through the basic control, thereby narrowing the modification scope of the old text of the robot operation program by the program modifier, which is beneficial to reduce the changes in the program parts that do not need to be modified, thereby reducing the errors caused by the modification of the robot operation program text; further, the display module 81 in this embodiment can display the old text of the robot operation program to be modified in the first text display box, and the display module 81 can display the obtained new text of the robot operation program in the second text display box. In addition, the text comparison module 83 in this embodiment can compare the old text of the robot operation program and the new text of the robot operation program line by line to obtain different operation text lines with different contents, which is beneficial for the program modifier to determine the content of the program text that has changed, so as to verify whether the content of the program text that has changed is the changed content that needs to be modified, and to eliminate other erroneous modifications or erroneous changes.

[0078] In this embodiment, the modification device in this embodiment can be a computer or other host computer, using the WINDOWS operating system. After the program software is installed, you can directly click the corresponding icon to enter the operation interface for operation; in addition, the other modules included in the modification device in this embodiment can refer to the program modification device in the prior art, and will not be repeated here.

[0079] In addition, in addition to the technical solutions disclosed in this embodiment, the functional implementation of the FANUC industrial robot, basic controls and related buttons in the present invention can refer to the conventional technical solutions in this technical field, and these conventional technical solutions are not the focus of the present invention, and the present invention will not describe them in detail.

[0080] It should be noted that the term "including" and its variations used in the embodiments of the present invention are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0081] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0082] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for modifying the program text of a FANUC industrial robot operation trajectory, characterized in that: The method comprises: Display the old text of the robot operation program to be modified in the first text display box; Modify the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through the basic control, so as to change the old operation content in the modification text target line of the old text of the robot operation program to be modified into the new operation content, and obtain the new text of the robot operation program; Displaying the obtained new text of the robot operation program in the second text display box, and checking the modified operation content in the obtained new text of the robot operation program, wherein the modified operation content is the part in which the old operation content in the modified text target line of the old text of the robot operation program to be modified is changed into the new operation content; The new text of the robot operation program that has been verified after the modified operation content is used as the new robot operation program.

2. The method according to claim 1, characterized in that: The modified operation content in the new text of the robot operation program obtained by checking includes: By comparing the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box, the comparison control is used to compare the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box. Different operation text lines with different contents are obtained, wherein the line numbers of the text lines where the modified new operation contents are located are respectively the same as the line numbers of the text lines where the old operation contents are located; The obtained difference operation text line is marked and highlighted, and the new operation content in the marked and highlighted difference operation text line in the new text of the robot operation program obtained after modification is checked.

3. The method according to claim 2, characterized in that The method further comprises: The difference job text lines obtained by the comparison control are recorded and displayed in the third text display box in sequential order, wherein the text lines where the modified new job content is located are recorded and displayed in parallel with the text lines where the old job content is located with the same line number, and the text lines where the new job content is located and the text lines where the old job content is located with the same line number are located on the same line of text.

4. The method according to claim 1, characterized in that The step of modifying the target text line of the old text of the robot operation program to be modified displayed in the first text display box by using the basic control to change the old operation content in the target text line of the old text of the robot operation program to be modified into the new operation content includes: Setting a reference line, wherein the reference line is a reference line preliminarily selected as the target line of the modified text at the line number position, and the reference line has at least one line; Setting a characteristic line, wherein the characteristic line is used to specify a reference line that is ultimately used as a reference line for the target line of the modified text from the set reference lines; The modification is performed by adopting a program modification method, by inputting a relative position value in a target line input box, and specifying the target line of the modified text to be modified based on the reference line that is ultimately designated as the reference line of the target line of the modified text, wherein the relative position value is the number of lines that the target line of the modified text to be modified differs from the line where the reference line that is ultimately designated as the reference line of the target line of the modified text is located; Enter the old feature parameters in the target line of the modified text that needs to be modified in the original text input box; Entering new feature parameters in the new text input box for changing the old feature parameters in the selected target line of the modification text that needs to be modified; By clicking the Save button, the old characteristic parameters input in the original text input box are changed to the new characteristic parameters input in the new text input box, and the changed new characteristic parameters are saved in the register; The new characteristic parameters saved in the current register are moved to the specified variable by pressing the OK button.

5. The method according to claim 4, characterized in that The old characteristic parameters and the new characteristic parameters respectively include multiple or all of the motion type, position data, feed speed, positioning path and additional motion instructions; the motion type includes linear motion, circular motion and joint motion; the position data includes position information and posture information; the feed speed is used to specify the motion feed speed of the robot movement, and the unit of the motion feed speed depends on the current motion type adopted; the positioning path is used to specify the trajectory form of adjacent trajectories in the middle, and the positioning path includes precise connection and circular arc transition; the additional motion is used to specify the additional execution instructions of the robot during the movement process, and the additional motion instructions include acceleration ratio and incremental instructions, wherein the acceleration ratio is used to specify the acceleration ratio of the robot during the movement process, and the incremental instruction is used to use the position data of the current instruction line in the motion instruction as the increment of the robot movement for movement.

6. The method according to claim 4, characterized in that The program modification includes text modification, data modification and overall modification; The text modification includes modifying a text target line and modifying a data target line; When the target text row to be modified is selected, a relative position value is input through the target row input box to specify the target text row to be modified; Enter the old feature parameters to be modified in the original text input box, and enter the new feature parameters required in the new text input box, change the old feature parameters entered in the original text input box to the new feature parameters entered in the new text input box by clicking the Save button, save the changed new feature parameters to the register by clicking the Save button, and move the new feature parameters saved in the current register to the specified variable by clicking the Confirm button; The modification items of the data modification include absolute value modification and relative value modification. The absolute value modification is to replace the original data with new data, and the relative value modification is to add or subtract new data on the basis of the original data. The modification position of the data modification is X, Y, X, W, P, R of the robot operation program point. The modification value obtained after the modification position is modified is a signed floating point number; When the target row for modifying data is selected, a relative position value is input through the target row input box to specify the target row for modifying text that needs to be modified; Select the modification item of the data that needs to be modified currently through the modification mode selection box, select the robot operation program point that needs to be modified currently through the modification position selection box, and enter the value through the data input box, and then save the modified text target line to the register through the save button, and move the new feature parameter saved in the current register to the specified variable through the confirm button; The modification functions of the overall modification include removing spaces, removing blank lines, adding spaces, adding blank lines, adding characters to specific positions, deleting characters at specific positions, and changing characters at specific positions; When the overall modification is selected, for the removal of spaces, the removal of blank lines, the addition of spaces and the addition of blank lines in the modification functions of the overall modification, select the currently required modification function through the function selection box and confirm through the OK button; for the addition of characters to the specific position, the deletion of characters to the specific position and the change of characters to the specific position in the modification function of the overall modification, specify the specific position to be modified through the position designation box, enter the characters to be changed in the character input box, and then confirm through the OK button.

7. The method according to claim 4, characterized in that The setting reference line includes: By inputting reference character one in reference point input box one, inputting reference character two in reference point input box two, inputting reference character three in reference point input box three, and confirming by clicking the confirm button, the reference character one, the reference character two and the reference character three are recorded in the program, wherein the reference character one, the reference character two and the reference character three are located in the same row; The text line where the reference character 1, the reference character 2 and the reference character 3 are located is used as a reference line, and the reference line has at least one line; The setting feature line includes: Selecting a characteristic text line from multiple text lines of the old text of the robot operation program, and determining a relative line number value of the selected characteristic text line relative to a reference line; Input the relative row number value through the characteristic row designation input box; By inputting the feature character one in the feature text line specified by the relative line number value into the feature point input box one, inputting the feature character two in the feature text line specified by the relative line number value into the feature point input box two, and inputting the feature character three in the feature text line specified by the relative line number value into the feature point input box three, confirming by clicking the Save button, recording the line number parameters of the relative line number value and the string parameters of the feature character one, the feature character two and the feature character three in the register, and confirming by clicking the OK button, moving the position parameters of the relative line number value and the string parameters of the feature character one, the feature character two and the feature character three recorded in the current register to the specified variable, wherein the feature text line and the reference line are located in different lines.

8. The method according to any one of claims 4 to 7, characterized in that: The method further comprises: By inputting a first character in a first character input text box, the start position of the text search is limited based on the first character, and by inputting a second character in a second character input text box, the end position of the text search is limited based on the second character, thereby limiting the text search range and the text change range.

9. The method according to claim 1, characterized in that: The step of modifying the target text line of the old text of the robot operation program to be modified displayed in the first text display box by using the basic control to change the old operation content in the target text line of the old text of the robot operation program to be modified into the new operation content includes: Modification is performed in a data table manner, by changing the old operation data to be modified to the new operation data at the position to be modified in the table, and by using the import button, importing the file containing the new operation data into the data table interface for display; The data content in the data table interface is converted into a robot operation program text by a text conversion button to obtain a new robot operation program text; The obtained new text of the robot operation program is displayed in a fourth text display box, wherein the fourth text display box is arranged in parallel with the data table interface.

10. A FANUC industrial robot operation trajectory program text modification device, characterized in that: include: An acquisition module, used for acquiring an old text of the robot operation program to be modified; A display module, used for displaying the obtained old text of the robot operation program to be modified in a first text display box, and for displaying the obtained new text of the robot operation program in a second text display box; A modification module, used for modifying the modification text target line of the old text of the robot operation program to be modified displayed in the first text display box through a basic control, so as to change the old operation content in the modification text target line of the old text of the robot operation program to be modified into the new operation content, and obtain the new text of the robot operation program; a text comparison module, used for comparing the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box line by line, and obtaining different operation text lines with different contents between the old text of the robot operation program to be modified displayed in the first text display box and the new text of the robot operation program obtained displayed in the second text display box; The text saving module is used to save the new text of the robot operation program that has been verified and modified.

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