Industrial robot program transplanting method based on process package mode

Abstract

The invention relates to the technical field of industrial robots, and particularly discloses an industrial robot program transplantation method based on a process package mode, which is used for solving the problem that frequent programming is needed during batch deployment and maintenance of robots in the prior art. Comprising the following steps that a demonstrator is used on a source robot to carry out process parameter structural body extraction on a written process program; packaging the process program and the process parameter structural body into a process package; copying the process package to a target robot controller; configuring a process interface template on a target robot demonstrator, reading parameters in the process parameter structural body through the process interface template, performing manual demonstration configuration and modification on an interface, and storing a new process parameter structural body; when the demonstrator is switched to the automatic mode, a new target robot process program can be automatically generated. According to the method, the industrial robot batch deployment process does not need programming, use is convenient, the requirement for an operator is lowered, and debugging and maintenance time can be well saved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly to a method for transplanting industrial robot programs based on a process package mode. Background Art

[0002] The transplantation of industrial robot programs is a valuable operation, which can help enterprises share programs between different robot devices and improve work efficiency. However, due to differences in robot parameters, tool parameters, workpiece positions, etc., the programs written on one robot cannot be directly copied and pasted for reuse on other robots.

[0003] The existing solution is for the batch deployment scenario of the same model of robots performing operations on the same specification of products: before copying the program on the source robot, coordinate transformation is performed on all the taught points in the program, and then after copying it to the target robot, the coordinate system is rebuilt for inverse transformation to achieve program transplantation.

[0004] However, this method is not applicable in an environment with poor workpiece consistency and cannot meet the program transplantation requirements of some enterprises for small-batch production of different specifications of products on different models of robots. At this time, only the method of manually rewriting parameters by delving into the program code or uploading the program to the cloud platform for offline parameter adjustment can be adopted. Since the process program not only includes a series of robot motion trajectory instructions executed in sequence, but also includes a large number of basic instructions, process instructions, function instructions, and logic instructions, it has high requirements for operators, is time-consuming and laborious, and is extremely error-prone, resulting in a significant increase in costs.

[0005] The purpose of the present invention is to reduce the batch deployment time and cost of industrial robots, and to propose a method for transplanting industrial robot programs based on a process package mode. Summary of the Invention

[0006] The purpose of the present invention is to provide a method for transplanting industrial robot programs based on a process package mode, which solves the problems in the prior art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A method for transplanting industrial robot programs based on a process package mode includes the following steps:

[0009] Step 1: Use a teach pendant on the source robot to extract the process parameter structure of the written process program, and encapsulate the process program and the process parameter structure to generate a process package;

[0010] Among them, the process parameter structure includes a motion trajectory parameter data structure, a control parameter data structure, and a process production parameter data structure.

[0011] Step 2: Configure a process interface template on the source robot. Read the parameters in the process parameter structure through the process interface template to confirm that the extraction of the process parameter structure is correct;

[0012] Step 3: Copy the process package to the target robot. Similarly, configure a process interface template on the target robot. Read the data in the process parameter structure in the process package through the process interface template, and then perform parameter configuration through the process interface according to the requirements of the target robot, and save to obtain a new process parameter structure;

[0013] Step 4: Switch the teach pendant to the automatic mode in the process interface. Then, based on the new process parameter structure, the process program in the process package automatically generates a new process program for the target robot;

[0014] The process parameter structure in Step 1 includes a motion trajectory parameter data structure, a control parameter data structure, and a process production parameter data structure, specifically:

[0015] (1) Motion trajectory parameter data structure

[0016] typedef struct_PointPara

[0017] {

[0018] ushort UserCoordinateId; / / User coordinate system ID

[0019] ushort PointNum; / / Number of trajectory points

[0020] QString PointName

[50] ; / / Custom name of the point

[0021] ushort PointId

[50] ; / / Point ID

[0022] uchar MotionType

[50] ; / / Motion type corresponding to the point

[0023] float Speed

[50] ; / / Speed corresponding to the point

[0024] float Flatness

[50] ; / / Smoothness corresponding to the point

[0025] bool IsSelected

[50] ; / / Whether the point is selected

[0026] }

[0027] (2) Control parameter data structure

[0028] typedef struct_ControlPara

[0029] {

[0030] ushort SignOutNum; / / Number of output signals

[0031] QString SignOutName

[20] ; / / Custom names for output signals

[0032] uchar SignOut

[20] ; / / Output signals

[0033] ushort SignInNum; / / Number of input signals

[0034] QString SignInName

[20] ; / / Custom names for input signals

[0035] uchar SignIn

[20] ; / / Input signals

[0036] ushort DelayTimeNum; / / Number of delay parameters

[0037] QString DelayTimeName

[20] ; / / Custom names for delays

[0038] float DelayTime

[20] ; / / Delay times

[0039] }

[0040] (3) Process production parameter data structure

[0041] typedef struct_ProcessPara

[0042] {

[0043] ushort ParaNum; / / Number of process parameters

[0044] QString ParaName

[20] ; / / Custom names for process parameters

[0045] float Para

[20] ; / / Process parameters

[0046] }}

[0047] Based on the above technical solutions, the present invention also provides the following alternative technical solutions:

[0048] In an alternative solution: For the extraction of the process parameter structure body from the programmed process using the teaching pendant in step 1, the specific steps are as follows:

[0049] Step S1: Locate the "Motion Curve" instruction in the process program, and enter the type "01" and the custom name of the point to which the motion reaches in the subsequent configuration column;

[0050] Step S2: Locate the instruction with "Output Signal" in the process program, and enter the type "02" and the custom name of the output signal in the subsequent configuration column;

[0051] Step S3: Locate the instruction with "Input Signal" in the process program, and enter the type "03" and the custom name of the input signal in the subsequent configuration column;

[0052] Step S4: Locate the instruction with "Delay" in the process program, and enter the type "04" and the custom name of the delay in the subsequent configuration column;

[0053] Step S5: Locate the instruction with "Process Parameters" in the process program, and enter the type "05" and the custom name of the process parameters in the subsequent configuration column;

[0054] Step S6: Select the user coordinate system used by this program, generate a process parameter structure body according to the information in the configuration column and the corresponding data of the program instructions, and save it to the controller, thus completing the extraction.

[0055] Wherein:

[0056] Type "01" corresponds to the relevant data in the motion trajectory parameter data structure body;

[0057] Types "02", "03" and "04" correspond to the relevant data in the control parameter data structure body;

[0058] Type "05" corresponds to the relevant data in the process production parameter data structure body.

[0059] In an alternative solution: The process interface templates in step 2 and step 3 can open different process packages, read the displayed data of the process parameter structure body therein, and save the modified data as a new process parameter structure body into the process package.

[0060] In an alternative solution: The process interface templates in step 2 and step 3 include a trajectory motion parameter interface, a control parameter interface and a process production parameter interface, which respectively correspond to the motion trajectory parameter data structure body, the control parameter data structure body and the process production parameter data structure body in the process parameter structure body. Wherein:

[0061] The trajectory motion parameter interface displays the data in the motion trajectory parameter data structure body in the form of a table;

[0062] The control parameter interface is divided into three columns, which respectively display the output signal, input signal, and delay parameter in the control parameter data structure;

[0063] The process production parameter interface displays the data in the process production parameter data structure.

[0064] In an alternative solution: the parameter configuration through the process interface according to the requirements of the target robot in step 3 specifically includes the following steps:

[0065] Step m1: Select the user coordinate system established by the target robot;

[0066] Step m2: Clear the trajectory point ID of the trajectory motion parameter interface through initialization, then according to the definition of the trajectory point, perform manual teaching again, fill in the corresponding positions, and adjust the speed according to the requirements;

[0067] Step m3: Connect the hardware of the target robot according to the input and output signal data of the control parameter interface;

[0068] Step m4: Adjust the data of the process production parameter interface according to the requirements.

[0069] In an alternative solution: the process program in the process package in step 4 automatically generates a new process program for the target robot based on the new process parameter structure, and the specific steps include:

[0070] Step n1: Compare whether the data displayed in the current process interface template is consistent with the corresponding process parameter structure data;

[0071] Step n2: If the data is inconsistent, display "Program generation failed", and the parameters need to be saved again in the process interface to make the data displayed in the current process interface consistent with the corresponding process parameter structure, and then jump to step n1; if the data is consistent, it means that the current process parameter structure data is the final interface confirmation data;

[0072] Step n3: Read the data in the process parameter structure and update the parameters in the corresponding instructions of the process program;

[0073] Step n4: Display the newly generated process program in the automatic mode interface of the teach pendant for operation.

[0074] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0075] 1. It expands the applicable scope of program transplantation, enabling application scenarios with the same process but poor consistency of products and operating environments to quickly deploy robots in batches through program transplantation, without programming or in-depth modification of the program internal, greatly saving time costs.

[0076] 2. The program written based on the teach pendant can be used by customers to independently create process packages, which is simple, convenient and fast. There is no need to customize from manufacturers, greatly reducing costs.

[0077] 3. Manage the program by creating a process package. When it is necessary to replace products, adjust input / output signal interfaces or correct process parameters in the future, there is no need to delve into the internal code of the program. Just modify it on the process interface to quickly generate a new process parameter structure, and then obtain a new process program. Description of the Drawings

[0078] Figure 1 It is the process program block diagram of the present invention.

[0079] Figure 2 It is the trajectory motion parameter interface diagram of the process interface template of the present invention.

[0080] Figure 3 It is the control parameter interface diagram of the process interface template of the present invention.

[0081] Figure 4 It is the process production parameter interface diagram of the process interface template of the present invention.

[0082] Figure 5 It is the trajectory point diagram of the initialization clear trajectory motion parameter interface of the present invention;

[0083] Figure 6 It is the new process program flow block diagram of the target robot generated in the automatic mode of the present invention. Detailed Embodiment

[0084] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0085] Figures 1-6 As shown, a method for transplanting an industrial robot program based on a process package mode is characterized by including the following steps:

[0086] Step 1: Use a teach pendant on the source robot to extract the process parameter structure of the written process program, and encapsulate the process program and the process parameter structure to generate a process package.

[0087] Among them, the process parameter structure includes a motion trajectory parameter data structure, a control parameter data structure, and a process production parameter data structure, specifically:

[0088] (1) Motion trajectory parameter data structure

[0089] typedef struct_PointPara

[0090] {

[0091] ushort UserCoordinateId; / / User coordinate system ID

[0092] ushort PointNum; / / Number of trajectory points

[0093] QString PointName

[50] ; / / Custom name of the point

[0094] ushort PointId

[50] ; / / Point ID

[0095]

[0096] As Figure 1 shown, the specific steps include:

[0097] Step S1: Find the "Motion Curve" instruction in the process program, and enter the type "01" and the custom name of the point to which the instruction moves in the subsequent configuration column;

[0098] Step S2: Find the instruction with "Output Signal" in the process program, and enter the type "02" and the custom name of the output signal in the subsequent configuration column;

[0099] Step S3: Find the instruction with "Input Signal" in the process program, and enter the type "03" and the custom name of the input signal in the subsequent configuration column;

[0100] Step S4: Find the instruction with "Delay" in the process program, and enter the type "04" and the custom name of the delay in the subsequent configuration column;

[0101] Step S5: Find the instruction with "Process Parameters" in the process program, and enter the type "05" and the custom name of the process parameters in the subsequent configuration column;

[0102] Step S6: Select the user coordinate system 10 used by this program, generate the process parameter structure zx_test01 according to the information in the configuration column and the data corresponding to the program instructions, and save it to the controller, thus completing the extraction.

[0103] Among them:

[0104] Type "01" corresponds to the relevant data in the motion trajectory parameter data structure;

[0105] Types "02", "03", and "04" correspond to the relevant data in the control parameter data structure;

[0106] Type "05" corresponds to the relevant data in the process production parameter data structure.

[0107] After the extraction is completed, click the [Process Package] button, name the process package "zx", and then save it. In the controller, the process program and the process parameter structure are encapsulated to generate a process package.

[0108] Step 2: Configure a process interface template on the source robot. Read the parameters in the process parameter structure through the process interface template and confirm that the extraction is correct.

[0109] Click Figure 1 the [Process Interface] button on it to enter the process interface template. As Figure 2 shown, the process interface template will display the process parameter structure data in the current process package.

[0110] The process interface template includes a trajectory motion parameter interface, a control parameter interface, and a process production parameter interface, which respectively correspond to the motion trajectory parameter data structure, the control parameter data structure, and the process production parameter data structure in the process parameter structure. Among them:

[0111] The trajectory motion parameter interface displays the data in the motion trajectory parameter data structure in the form of a table, as Figure 2 shown; in addition, it also displays the process package name, the program name, and the user coordinate system.

[0112] The control parameter interface is divided into three columns, which respectively display the output signal, the input signal, and the delay parameter in the control parameter data structure, as Figure 3 shown;

[0113] The process production parameter interface displays the data in the process production parameter data structure, as Figure 4 shown;

[0114] Step 3: Copy the process package to the target robot. The target robot is also configured with a process interface template. Read the data in the process parameter structure in the process package through the process interface template, and then configure the parameters through the process interface according to the requirements of the target robot, and save to obtain a new process parameter structure zx_test02.

[0115] Among them, configuring the parameters through the process interface according to the requirements of the target robot, the specific steps include:

[0116] Step m1: Select the user coordinate system User01 established by the target robot;

[0117] Step m2: Clear the track point ID on the track motion parameter interface through initialization, then according to the definition of the track point, perform manual teaching again, fill in the corresponding positions, and then adjust the speed according to requirements, such as Figure 5 as shown;

[0118] Step m3: Make hardware connections to the target robot according to the input and output signal data on the control parameter interface;

[0119] Step m4: Adjust the data on the process production parameter interface according to requirements;

[0120] Step 4: Switch the teach pendant to the automatic mode on the process interface, then the process program in the process package automatically generates a new target robot process program based on the new process parameter structure.

[0121] The specific steps are as Figure 6 shown, including:

[0122] Step n1: Compare whether the data displayed in the current process interface template is consistent with the corresponding process parameter structure data;

[0123] If the data is inconsistent, display "Program generation failed", and it is necessary to save the parameters again on the process interface to make the data displayed on the current process interface consistent with the corresponding process parameter structure, and then jump to step n1; if the data is consistent, it means that the current process parameter structure data is the final interface confirmation data;

[0124] Step n3: Read the data in the process parameter structure and update the parameters in the corresponding instructions of the process program;

[0125] Step n4: Display the newly generated process program on the automatic mode interface of the teach pendant for operation.

[0126] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for transplanting industrial robot programs based on a process package mode, characterized in that: The following steps are involved: Step 1: Use the teaching pendant on the source robot to extract the process parameter structure of the programmed process program, and encapsulate the process program and process parameter structure to generate a process package; Among them, the process parameter structure includes a motion trajectory parameter data structure, a control parameter data structure and a process production parameter data structure; Step 2: Configure a process interface template on the source robot, read the parameters in the process parameter structure through the process interface template, and confirm that the process parameter structure is extracted correctly; Step 3: Copy the process package to the target robot. The target robot is also configured with a process interface template. The data in the process parameter structure in the process package is read through the process interface template. Then, the parameters are configured through the process interface according to the requirements of the target robot, and the new process parameter structure is saved. Step 4: Switch the teach pendant to automatic mode in the process interface, and the process program in the process package will automatically generate a new target robot process program based on the new process parameter structure.

2. The method for transplanting industrial robot programs based on the process package mode according to claim 1 is characterized in that: The process parameter structure of step 1 includes a motion trajectory parameter data structure, a control parameter data structure and a process production parameter data structure.

3. The method for transplanting industrial robot programs based on the process package mode according to claim 1, characterized in that: The step 1 uses a teaching pendant to extract the process parameter structure of the programmed process program, and the specific steps include: Step S1: Find the "Motion Curve" instruction in the process program, and enter the type "01" and the custom name of the point to be moved in the instruction in the configuration bar behind it; Step S2: Find the instruction with "output signal" in the process program, and enter the type "02" and the custom name of the output signal in the configuration bar behind it; Step S3: Find the instruction with "input signal" in the process program, and enter the type "03" and the custom name of the input signal in the configuration bar behind it; Step S4: Find the instruction with "delay" in the process program, and enter the type "04" and the custom name of the delay in the configuration bar behind it; Step S5: Find the instruction with "process parameter" in the process program, and enter the type "05" and the custom name of the process parameter in the configuration bar behind it; Step S6: Select the user coordinate system used by the program, generate a process parameter structure according to the configuration bar information and the corresponding data of the program instructions, and save it in the controller to complete the extraction.

4. The method for transplanting industrial robot programs based on the process package mode according to claim 1, characterized in that: The process interface templates of step 2 and step 3 can open different process packages, read the process parameter structure display data therein, and save the modified data into a new process parameter structure in the process package.

5. The method for transplanting industrial robot programs based on the process package mode according to claim 1, characterized in that: The process interface templates of step 2 and step 3 include a trajectory motion parameter interface, a control parameter interface and a process production parameter interface, which correspond to the motion trajectory parameter data structure, the control parameter data structure and the process production parameter data structure in the process parameter structure respectively.

6. The method for transplanting industrial robot programs based on the process package mode according to claim 1, characterized in that: The step 3 is to configure parameters through the process interface according to the requirements of the target robot, and the specific steps include: Step m1: Select the user coordinate system established by the target robot; Step m2: Initialize and clear the trajectory point ID of the trajectory motion parameter interface, then re-teach manually according to the definition of the trajectory point, fill in the corresponding position, and adjust the speed according to the needs; Step m3: Perform hardware connection on the target robot according to the input and output signal data of the control parameter interface; Step m4: Adjust the process production parameter interface data according to demand.

7. The method for transplanting industrial robot programs based on the process package mode according to claim 1 is characterized in that: The process program in the process package of step 4 automatically generates a new target robot process program based on the new process parameter structure, and the specific steps include: Step n1: Compare the data displayed in the current process interface template with the corresponding process parameter structure data to see if they are consistent; Step n2: If the data is inconsistent, "Program generation failed" will be displayed. You need to re-save the parameters in the process interface so that the data displayed in the current process interface is consistent with the corresponding process parameter structure, and then jump to step n1; if the data is consistent, it means that the current process parameter structure data is the final interface confirmation data; Step n3: Read the data in the process parameter structure and update the parameters in the corresponding instructions of the process program; Step n4: Display the newly generated process program in the automatic mode interface of the teach pendant for operation.

Images