CN105364928B - Offline programming system - Google Patents
Offline programming system Download PDFInfo
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- CN105364928B CN105364928B CN201510978299.2A CN201510978299A CN105364928B CN 105364928 B CN105364928 B CN 105364928B CN 201510978299 A CN201510978299 A CN 201510978299A CN 105364928 B CN105364928 B CN 105364928B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
- Numerical Control (AREA)
Abstract
An offline programming system is used for generating teaching program and comprises a storage unit, a program generating unit, a path assigning unit, a statistic unit and a robot path generating unit, wherein the robot path generating unit is based on the statistic information of the path assigning unit and the statistic unit to generate a robot path; the program generating unit is based on the robot path generating unit to generate the teaching program for instructing a robot system.
Description
Technical field
The present invention relates to a kind of programme-control field of robot.
Background technology
With the continuous improvement of labor cost, industrial robot application is also increasingly popularized.Industrial robot is high-new
Technology-intensive electromechanical integrated product.It is to improve Automation of Manufacturing Process, improves work situation condition, improve product quality
With a kind of very effective means of production efficiency, and one of the important content of technological revolution.
Robot is particularly well-suited to multi items, becomes the flexibility operation of batch, for improve product quality is stablized, improves labor
Dynamic production efficiency, improves working conditions and the quick update of product is played a very important role.Robot Control Technology
Main task be exactly control movement position of the robot in work space, attitude and track, operation order and action when
Between etc..With it is programmable, can menu operation, can carry out man-machine interaction, it is easy to use the characteristics of.
At present, motion planning and robot control is mainly included in line teaching and off-line programing two ways.On-line teaching is to pass through
Robot teaching box controls the motion of robot, first manually teaching, the movement locus of recorder people, then robot
Along the track autonomic movement recorded during teaching, special exercise track is completed.Off-line programing teaching is by road required for operation process
Footpath model information is input to interactive robot systems soft ware, and according to input information, the module automatically generates robot motion's rail
Mark and program, and corresponding course of processing parameter is set for the different courses of processing, production process is controlled.It is offline to compile
The advantage of journey technology is that machining accuracy is very high, and control accuracy and capacity utilization are high.At present, industrial robot off-line programing
Technology is as a guardian technique in industrial robot application, gradually ripe.
In prior art, the patent of invention of CN100361793C proposes a kind of offline volume of welding robot tutorial program
Journey system, on offline programming device generate welding procedure when, automatically judge on the sealing wire welded in robot be
The no fastening clips that there is the fixed welding object workpiece for causing interference, in the situation for judging that specific fastening clips are interfered
Under, by adjusting the angles and positions of welding robot so as to after the welding of one side-lower of fastening clips can be carried out, bypass
Above the fastening clips, continuing below in the opposite side of the fastening clips carries out the welding of workpiece.But, the technical side of the invention
In case, when fastening clips are bypassed, the angle of constantly adjustment mechanical hand is needed, especially for there are multiple different shape fixtures
When, more increase system burden；And because there is systematic error in the angle adjustment of mechanical hand, it is thus possible to cause under fastening clips
The welding processing precision of side is inconsistent.
The content of the invention
The invention provides a kind of off-line programing system of robot, can solve the problem that the problems referred to above of prior art.
As one aspect of the present invention, there is provided a kind of off-line programing system, which is used for generating the weldering of robot system
Connect tutorial program：Including：Memory element, which stores which and shows and welding robot, welding object workpiece and to fix the welding right
As the corresponding respective 3-dimensional model of the fastening clips of workpiece；Path designating unit, which specifies the 3-dimensional of the welding object workpiece
Model specifies path of welding；Program Generating unit, which generates the tutorial program for indicating that robot is welded；The fastening clips
Including multiple fixtures of different shapes；Also include statistic unit, its threedimensional model according to storage, to specifying on path of welding
Fastening clips are grouped, and shape identical fastening clips are divided into same group, by the shape of group after packet and position
It is stored in the memory element；Robot path signal generating unit, its based on the packet stored in the memory element after it is tight
Gu fixture data, generation can avoid the robot path that fastening clips are interfered；Described program signal generating unit occupy the machine
People path, generates the tutorial program for indicating that robot is welded.
Preferably, also including robot first path determining unit, the robot first path determining unit determines each
The first position of group fixture, first angle, the first path of welding and the first rollback path；The second path of robot determines single
Unit, second path determining unit determine the second position of each group fixture, second angle, the second path of welding and second time
Route of retreat footpath；The robot path signal generating unit generates following robot path：（1）For each group of each group fixture：
a.1）Robot is set to into first angle, the first angle of holding robot is constant, and robot is directed at the first fixture of the group
First position, with the welding of the first path of welding after, the first position of first fixture is stepped back with the first rollback path, is lifted high
Degree H1, is moved into the first position of the next fixture of the group；a.2）Along path of welding direction, kept for first jiao of robot
Degree is constant, and for the group is not the i-th fixture of last, with step a.1）Mode determine the robot road of the i-th fixture
Footpath；a.3）For last fixture of the group, robot is directed at the first position of the fixture using first angle, with the first weldering
After connecing path bond, the first position of the fixture is stepped back in the first rollback path, and robot angle is changed to by hoisting depth H2
Two angles；b.1）Keep second angle constant, the second position of last fixture of the group is directed at using second angle, with second
After path of welding welding, the second position of last fixture is stepped back in the second rollback path, and hoisting depth H1 is moved into
The second position of a fixture in the group；B.2) against path of welding direction, keep the second angle of robot constant, for the group
Be not the first fixture the i-th fixture, with step b.1）Mode determine the robot path of the i-th fixture；B.3) for the group
The first fixture, robot is directed at the second position of the fixture using second angle, after the welding of the second path of welding, second time
Return the second position of the fixture in route of retreat footpath；Complete the robot path of this group of fixture；（2）It is sequentially completed the machine of each group fixture
Behind people path, along specified path of welding, generation does not have the robot path of the position of fixture.
Interchangeable, also including robot first path determining unit, the robot first path determining unit determines
The first position of each group fixture, first angle, the first path of welding and the first rollback path；The second path of robot determines single
Unit, second path determining unit determine the second position of each group fixture, second angle, the second path of welding and second time
Route of retreat footpath；Sequencing unit, which carries out the first sequence for the first angle of each group fixture, for the second angle of each group fixture is entered
Row second sorts；The robot path signal generating unit generates following robot path：（1）According to first in the first sequence
Angular dimension, successively for each group fixture is proceeded as follows, until first sequence terminates：a.1）Robot is set to into this
The first angle of group fixture, the first angle of holding robot are constant, and robot is directed at the first position of the first fixture of the group,
After with the welding of the first path of welding, the first position of the fixture is stepped back with the first rollback path, hoisting depth H1 is moved into
The first position of the next fixture of the group；a.2）Along path of welding direction, keep the first angle of robot constant, for the group
Be not the i-th fixture of last, with step a.1）Mode determine the robot path of the i-th fixture；a.3）For the group
Last fixture, robot is directed at the first position of the fixture using first angle, with the welding of the first path of welding after, the
The first position of the fixture, hoisting depth H1 are stepped back in one rollback path；（2）Second angle size in sorting according to second, according to
It is secondary for each group fixture is proceeded as follows, until this second sequence terminate：b.1）Robot is set to into the of this group of fixture
Two angles, the second angle of holding robot are constant, and robot is directed at the second position of the first fixture of the group, with the second welding
After path bond, the second position of first fixture is stepped back with the second rollback path, hoisting depth H1 is moved under the group
The second position of one fixture；b.2）Along path of welding direction, keep the second angle of robot constant, for the group be not
The i-th fixture of last, with step b.1）Mode determine the robot path of the i-th fixture；b.3）It is last for the group
One fixture, robot are directed at the second position of the fixture using second angle, after the welding of the second path of welding, the second rollback
The second position of the fixture, hoisting depth H1 are stepped back in path；（3）After completing the robot path of each group fixture, along specify
Path of welding, generation do not have the robot path of the position of fixture.
Preferably, the robot path of the position for not having fixture is as follows：The vertically-aligned face of weld of robot is kept,
1）Welding starting point is to along the path for specifying the first position of the first fixture on path of welding；2）The of the upper fixture for carrying out successively
Path of two positions to next fixture first position；3）Path of the second position of last fixture to welding terminal.
Preferably, the first position is the point for projecting the first specific range of midpoint apart from the fixture in path of welding；
The second position is the point for projecting the second specific range of midpoint apart from the fixture in path of welding.First specific range
With the second specific range by the fixture structure determination.
Preferably, the H1 is the height of highest fixture in all fixtures；The H2 is last folder in this group of fixture
The height of tool.
Preferably, also including upload element, which is used for uploading to the tutorial program of generation in robot system.
Preferably, on the path of welding, the first position is located at the upstream of the second position.
Preferably, the terminal of first path of welding and the second path of welding terminal are same point.
Description of the drawings
Fig. 1 is the welding schematic diagram of robot system in the embodiment of the present invention.
Fig. 2 is the frame diagram of off-line programing system in the embodiment of the present invention.
Specific embodiment
In order to be illustrated more clearly that technical scheme, the present invention will be simply situated between using embodiment below
Continue.These embodiments, are disclosed together with their advantages and features, will become bright by reference to following explanation and accompanying drawing
It is aobvious.Furthermore, it is to be understood that the feature not mutual exclusion of various embodiments described here, and can be at various groups
Close and exist with during transformation.
Referring to Fig. 1 and Fig. 2, the off-line programing system 10 of the present invention, generate for welding robot 20 to welding workpiece 30
Tutorial program.The face of weld of welding workpiece 30 is rectangular planes, thereon with multigroup fastening clips of different shapes 40.
In the present embodiment, fastening clips 40 have includes two groups of fixtures of different shapes, per group have two fixtures (401,401 ')/
(402,402 ').Specified path of welding is Q1 to Q2, and which is by the straight line below each fixture.
Off-line programing system, including：Memory element 101, path designating unit 102, Program Generating unit 103, statistics are single
Unit 104, robot path signal generating unit 105, robot first path determining unit 106 and the second path of robot determine single
Unit 107.Preferably, display unit can also be set, for showing welding robot 20, welding workpiece 30 and fastening clips 40
Threedimensional model.
Memory element 101, which stores its display and welding robot 20, welding workpiece 20 and fixes the welding workpiece 20
The corresponding respective 3-dimensional model of fastening clips 40.Path designating unit 102, the 3-dimensional model of its specified welding workpiece 20 specify weldering
Path is connect, in this enforcement power, it is intended that path of welding is Q1 to Q2.
Statistic unit 104, which is according to the threedimensional model in memory element 101, tight on path of welding Q1 to Q2 to specifying
Gu fixture is grouped, shape identical fastening clips are divided into into same group, in the present embodiment, are divided into two groups, first group
(401,401 '), second group (402,402 '), the shape of group after packet and position are stored in memory element 101.
Robot first path determining unit 106, which determines first group of fixture（401,401 '）First position P1, first
Angle, the first path of welding and the first rollback path.The P1 points are apart from fixture（401,401 '）In path of welding projection
The point of the first specific range of point, when first specific range can enable robot be welded to first path terminal with first angle
It is enough not touch fixture（401,401 '）.Path of first path of welding for P1 points to first path terminal, the first path terminal
It can be fixture（401,401 '）Midpoint is projected in path of welding, or near the point at the projection midpoint.First rollback path is
Path of the first path terminal to P1 points.Robot first path determining unit 106, also determine that second group of fixture (402,
402 ') first position P2, first angle, the first path of welding and the first rollback path, its determination mode and first group of folder
Tool（401,401 '）Equally, here is not specifically described in detail.
The second path determining unit of robot 107, which determines first group of fixture（401,401 '）Second position W1, second
Angle, the second path of welding and the second rollback path.The W1 points are apart from fixture（401,401 '）In path of welding projection
The point of the second specific range of point, which is located at P1 points in the downstream for specifying path of welding.Second specific range can make robot
Can not be touched when the second path termination is welded to second angle fixture（401,401 '）.Second path of welding is W1 points to the
The path of two path terminations, second path termination can be fixture（401,401 '）Midpoint is projected in path of welding, which is with the
One path termination overlaps, or near the point at the projection midpoint.Second rollback path is road of second path termination to P1 points
Footpath.The second path determining unit of robot 107, also determines that second position W2 of second group of fixture (402,402 '), second angle,
Second path of welding and the second rollback path, its determination mode and first group of fixture（401,401 '）Equally.
Robot path signal generating unit 105 is based on robot first path determining unit 106 and the second path of robot
Determining unit 107, generates following robot path：（a）For（401,401 '）,（1）Robot is set to into the of the group
One angle, the first angle of holding robot are constant, and the first position P1 of robot line-up jig 401, with the first path of welding
After welding, the first position P1 of fixture 401 is stepped back with the first rollback path, hoisting depth H1 is moved into the first of 401 '
Position P1；（2）Robot keeps the first position P1 of first angle line-up jig 401 ', after being welded with the first path of welding, the
The first position P1 of fixture 401 ' is stepped back in one rollback path, and hoisting depth makes which more than 401 ', and robot angle is changed to
Second angle；(3）Keep second angle constant, using second position W1 of second angle line-up jig 401 ', with the second welding
After path bond, second position W1 of fixture 401 ' is return in the second rollback path, and hoisting depth H1 is moved into fixture 401
Second position W1；（4）Robot keeps second position W1 of second angle line-up jig 401, is welded with the second path of welding
Afterwards, second position W1 of fixture 401 is return in the second rollback path, completes the robot path of first group of fixture；（b）Complete（a）,
For (402,402 '),（1）Robot is set to into the first angle of the group, keeps the first angle of robot constant, machine
The first position P2 of people's line-up jig 402, after welding with its first path of welding, steps back fixture 402 with its first rollback path
First position P2, hoisting depth H1 is moved into 402 ' first position P2；（2）Robot keeps first jiao of the group
The first position P2 of degree line-up jig 402 ', after being welded with its first path of welding, fixture 402 ' is stepped back in the first rollback path
First position P2, hoisting depth makes which exceed fixture 402 ', robot angle is changed to the second angle of the group；(3）Protect
Hold that second angle is constant, using second position W2 of second angle line-up jig 402 ', with its second path of welding welding after, the
Second position W2 of fixture 402 ' is return in two rollback paths, and hoisting depth H1 is moved into second position W2 of fixture 402；
（4）Robot keeps second position W2 of the second angle line-up jig 402 of the group, after being welded with its second path of welding, the
Second position W2 of fixture 402 is return in two rollback paths, completes the robot path of second group of fixture；（c）It is determined that there is no fixture
Position robot path it is as follows：Keep the vertically-aligned face of weld of robot, the P1 points of Q1 points to fixture 401, fixture 401
W1 points to fixture 402 P2 points, the P1 points of the W2 points of fixture 402 to fixture 401 ', the W1 points of fixture 401 ' are to fixture 402 '
P2 points, the W2 points of fixture 402 ' are to Q2 points.Wherein, H1 is 402,402 ' height.
Program Generating unit 103 occupy the robot path of the generation of robot path signal generating unit 105, generates and indicates machine
The tutorial program welded by people.Preferably, upload element can be set, which is used for for the tutorial program of generation uploading to machine
In people's system.
By the technical scheme of above-mentioned first embodiment, when path of welding is generated, by fixture packet is welded
Arrange, it is to avoid robot angle is varied multiple times, increased the accuracy of welding precision.
Used as the second embodiment of the present invention, its robot path signal generating unit 105 is different from above-mentioned first embodiment.This
The off-line programing system of invention another embodiment, also including sequencing unit, which is carried out for the first angle of each group fixture
First sequence, for the second angle of each group fixture carries out the second sequence；The robot path signal generating unit generates following
Robot path：（1）According to the first angle size in the first sequence, successively for each group fixture is proceeded as follows, until
First sequence terminates：a.1）Robot is set to into the first angle of this group of fixture, keeps the first angle of robot constant,
Robot is directed at the first position of the first fixture of the group, after welding with the first path of welding, steps back this with the first rollback path
The first position of fixture, hoisting depth H1 are moved into the first position of the next fixture of the group；a.2）Along path of welding side
To the first angle of holding robot is constant, and for the group is not the i-th fixture of last, with step a.1）Mode
Determine the robot path of the i-th fixture；a.3）For last fixture of the group, robot is directed at the folder using first angle
The first position of tool, after being welded with the first path of welding, the first position of the fixture, hoisting depth are stepped back in the first rollback path
H1；（2）According to the second angle size in the second sequence, successively for each group fixture is proceeded as follows, until the second row
Sequence terminates：b.1）Robot is set to into the second angle of this group of fixture, keeps the second angle of robot constant, robot pair
The second position of the first fixture of the accurate group, after welding with the second path of welding, steps back first fixture with the second rollback path
The second position, hoisting depth H1 is moved into the second position of the next fixture of the group；b.2）Along path of welding direction,
The second angle of holding robot is constant, and for the group is not the i-th fixture of last, with step b.1）Mode determine
The robot path of the i-th fixture；b.3）For last fixture of the group, robot is directed at the fixture using second angle
The second position, after being welded with the second path of welding, the second position of the fixture, hoisting depth H1 are stepped back in the second rollback path；
（3）After completing the robot path of each group fixture, along specified path of welding, generation does not have the robot road of the position of fixture
Footpath.
In the second embodiment of the present invention, after the angle of each group fixture being ranked up by sequencing unit, it is based on
The sequence carries out the path of welding of each group fixture, so as in the adjacent angle change of robot twice, it is only necessary to make robot
Change less angle, so as to reduce the regulation of robot angle.
The all documents referred in the present invention all incorporated by reference in this application, are individually recited just as each document
It is such as reference.In addition, it is to be understood that after the above disclosure for having read the present invention, protection scope of the present invention is not
Above-described embodiment is limited only to, those skilled in the art can be made various changes or modifications to the present invention, without departing from the present invention
Under the premise of principle, these equivalent form of values equally fall within the application appended claims limited range.
Claims (5)
1. a kind of off-line programing system, which is used for generating the welding tutorial program of robot system：Including：Memory element, which is deposited
Store up its fastening clips corresponding respective 3 for showing with welding robot, welding object workpiece and fixing the welding object workpiece
Dimension module；Path designating unit, which specifies the 3-dimensional model of the welding object workpiece to specify path of welding；Program Generating unit,
Which generates the tutorial program for indicating that robot is welded；It is characterized in that：The fastening clips include multigroup of different shapes
Fixture；Also include statistic unit, its threedimensional model according to storage, to specifying the fastening clips on path of welding to be grouped,
Shape identical fastening clips are divided into into same group, the shape of group after packet and position are stored in into the memory element
In；Robot path signal generating unit,, based on the fastening clips data after the packet stored in the memory element, generation can for which
The robot path for avoiding fastening clips from interfering；Described program signal generating unit occupy the robot path, generates and indicates machine
The tutorial program welded by people；Also include robot first path determining unit, the robot first path determining unit
Determine first position, first angle, the first path of welding and the first rollback path of each group fixture；The second path of robot is true
Order unit, second path determining unit determine the second position of each group fixture, second angle, the second path of welding and the
Two rollback paths；The robot path signal generating unit generates following robot path：（1）It is each for each group fixture
Group：a.1）Robot is set to into first angle, keeps the first angle of robot constant, robot is directed at the first folder of the group
The first position of tool, after welding with the first path of welding, steps back the first position of first fixture with the first rollback path, is lifted
Height H1, is moved into the first position of the next fixture of the group；a.2）Along path of welding direction, the first of robot is kept
Angle is constant, and for the group is not the i-th fixture of last, with step a.1）Mode determine the robot of the i-th fixture
Path；a.3）For last fixture of the group, robot is directed at the first position of the fixture using first angle, with first
After path of welding welding, the first position of the fixture is stepped back in the first rollback path, and robot angle is changed to by hoisting depth H2
Second angle；b.1）Keep second angle constant, the second position of last fixture of the group is directed at using second angle, with the
After the welding of two path of welding, the second position of last fixture is stepped back in the second rollback path, and hoisting depth H1 is moved
The second position of a fixture in the group；B.2) against path of welding direction, keep the second angle of robot constant, for this
What is organized is not the i-th fixture of the first fixture, with step b.1）Mode determine the robot path of the i-th fixture；B.3) for this
First fixture of group, robot are directed at the second position of the fixture using second angle, after the welding of the second path of welding, second
Return the second position of the fixture in rollback path；Complete the robot path of this group of fixture；（2）It is sequentially completed the machine of each group fixture
Behind device people path, along specified path of welding, generation does not have the robot path of the position of fixture.
2. off-line programing system according to claim 1, it is characterised in that：The robot road of the position for not having fixture
Footpath is as follows：The vertically-aligned face of weld of holding robot, 1）Welding starting point to the first fixture along specified path of welding first
The path of position；2）Path of the second position of the upper fixture for carrying out successively to next fixture first position；3）Last
Path of the second position of fixture to welding terminal.
3. off-line programing system according to claim 2, it is characterised in that：Also include upload element, which is used for generating
Tutorial program upload in robot system.
4. off-line programing system according to claim 3, it is characterised in that：On the path of welding, described first
Setting in the upstream of the second position.
5. off-line programing system according to claim 4, it is characterised in that：The terminal of first path of welding and described
Second path of welding terminal is same point.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510978299.2A CN105364928B (en) | 2015-12-23 | 2015-12-23 | Offline programming system |
| CN201610509205.1A CN106003066B (en) | 2015-12-23 | 2015-12-23 | A kind of robot program's control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510978299.2A CN105364928B (en) | 2015-12-23 | 2015-12-23 | Offline programming system |
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| CN201610509205.1A Division CN106003066B (en) | 2015-12-23 | 2015-12-23 | A kind of robot program's control system |
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| CN105364928A CN105364928A (en) | 2016-03-02 |
| CN105364928B true CN105364928B (en) | 2017-03-22 |
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| CN201610509205.1A Active CN106003066B (en) | 2015-12-23 | 2015-12-23 | A kind of robot program's control system |
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| CN105835058B (en) * | 2016-04-23 | 2017-10-27 | 福州环亚众志计算机有限公司 | A kind of program generating system (PGS) |
| CN105690395B (en) * | 2016-04-23 | 2017-09-19 | 宁波市智能制造产业研究院 | Industrial robot and its control method |
| CN106271265A (en) * | 2016-10-09 | 2017-01-04 | 安徽瑞祥工业有限公司 | A kind of auto production line is welded spot welding robot's off-line system |
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| CN106003066A (en) | 2016-10-12 |
| CN106003066B (en) | 2018-07-03 |
| CN105364928A (en) | 2016-03-02 |
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