CN101092031A - Off line programming tool for industrial robot - Google Patents

Off line programming tool for industrial robot Download PDF

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CN101092031A
CN101092031A CN 200710043744 CN200710043744A CN101092031A CN 101092031 A CN101092031 A CN 101092031A CN 200710043744 CN200710043744 CN 200710043744 CN 200710043744 A CN200710043744 A CN 200710043744A CN 101092031 A CN101092031 A CN 101092031A
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CN100460159C (en
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栾楠
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Shanghai Jiao Tong University
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Abstract

一种机器人技术领域的工业机器人离线编程系统，包括：文本编辑与代码转换模块、图形化校验模块、通信与远程控制模块，所述文本编辑和代码转换模块实现由G代码数控程序到MOTOMAN机器人用的INFORMII代码工作程序的转换，生成完整的MOTOMAN机器人工作文件，实现机器人离线编程作业；所述图形化校验模块针对文本编辑和代码转换模块所生成的机器人工作文件，以三维图形方式实现其运动轨迹的仿真和校验；所述通信和远程控制模块将代码编辑与转换模块和图形化校验模块处理后的文件与MOTOMAN机器人进行通信，实现工作程序的上传下载以及远程控制操作。本发明具有精确和快速、功能简洁、成本低廉的特点，容易为用户接受。

Figure 200710043744

An industrial robot off-line programming system in the field of robot technology, including: a text editing and code conversion module, a graphical verification module, a communication and remote control module, and the text editing and code conversion module realizes the transformation from a G code numerical control program to a MOTOMAN robot The conversion of the INFORMII code work program used to generate a complete MOTOMAN robot work file to realize the offline programming operation of the robot; the graphical verification module realizes the robot work file generated by the text editing and code conversion module in a three-dimensional graphical manner. Simulation and verification of motion trajectory; the communication and remote control module communicates the files processed by the code editing and conversion module and the graphical verification module with the MOTOMAN robot to realize uploading and downloading of working programs and remote control operations. The invention has the characteristics of accuracy and speed, concise function and low cost, and is easy to be accepted by users.

Figure 200710043744

Description

The industrial robot off-line programing system
Technical field
What the present invention relates to is the system in a kind of Robotics field, particularly a kind of industrial robot off-line programing system.
Background technology
In the use of industrial robot, generally still adopt the method for teach programming at present, promptly manual control machine device people writes down movement locus simultaneously along required orbiting motion.Teach programming is comparatively loaded down with trivial details on the one hand, toward contact the teaching of sample ability need be arranged earlier on the other hand.And now along with the development of CAD, CAM technology, robot work track can directly obtain from electronic drawing, and the off-line programing pattern that efficient is higher becomes inevitable.
The MOTOMAN robot (Mo Tuoman robot) of day intrinsic safety river company that present domestic application is maximum uses INFORMII language (a kind of robot motion programming language of special use) as programming language.Say on the principle, use common text editor also can realize off-line programing, but this method and loaded down with trivial details is neither directly perceived, does not have corresponding verification means again, have only very skilled professional and technical personnel to use, and programming efficiency is low.The INFORMII language is highly specialized simultaneously, and purposes is wideless, and the professional and technical personnel who grasps this technical ability is few.The programming tool that is easy to learn and use is that existing market is badly in need of.Though external production firm has also developed corresponding programming software, costs an arm and a leg, and has limited promoting the use of of it.
G code realizes that the thought of industrial robot programming is proposition in 2003, and at industrial numerical control field, the use of G code is very extensive, and all types of Digit Control Machine Tool overwhelming majority all can be used the G code programming, and person skilled in the relevant art all can be on top of.It is short and sweet, very convenient that G code is used to the movement locus of the equipment of describing.The more important thing is that most NC Programming System all supports G code output, use G code to carry out the industrial robot programming and can utilize all kinds of general NC Programming System to realize the industrial robot automated programmings.
Find through literature search prior art, Chinese invention patent (the application number: 200510088687.X) propose a kind of processing program generating device of Japan FANUC Co., Ltd application, this is invented described system and includes a kind of offline programming device, vision sensor, and robot controller, order wire etc.Offline programming device preservation wherein and expression generate machining path with the shape of the workpiece that will process of CAD generation, the summit of appointment workpiece shape, crest line end points as taught point, thus the generation procedure.And the posture correction procedure of the practical work piece by utilizing vision sensor shooting.This method is equivalent to the mode of teaching method with graphical simulation realized.In conjunction with its context, this method is applicable to specific cad tools and specific industrial robot, and its programming mode (movement locus specific mode) is fairly simple, and establishes one's own system, and the versatility deficiency is still waiting to improve with the compatibility of other CAD, CAM system.
Summary of the invention
The objective of the invention is to overcome the deficiency in the prior art, provide a kind of and be easy to learn and use, lower-cost MOTOMAN robot Off-line Programming System, make it can reach the purpose that the MOTOMAN robot is realized off-line programing, and having accurate and quick, function characteristics succinct, with low cost, is that the general user accepts easily.
The present invention is achieved by the following technical solutions, the present invention includes: text editing and code conversion module, graphical verification module, communicate by letter and remote control module.Wherein:
Described text editing and code conversion module, the conversion of the INFORMII code operation program that realization is used to the MOTOMAN robot by general G code numerical control program, by syntactic analysis the G code program is compiled, generation includes the intermediate data of motion control information, again according to the grammar request of INFORMII programming language, intermediate data is translated as the control command and the position graphic data of MOTOMAN robot working procedure (INFORMII language), simultaneously according to other information in the additional MOTOMAN robot of the parameter setting situation working procedure, generate complete MOTOMAN robot working document, realize the operation of MOTOMAN robot off-line programming;
Described graphical verification module, the MOTOMAN robot working document that is generated at text editing and code conversion module, realize its simulation of movement track and verification with the three-dimensional animation form, by syntactic analysis the MOTOMAN robot working procedure of using INFORMII to write is compiled, generate intermediate data, on three-dimensional interface, show the MOTOMAN robot course of work according to intermediate data with the animation form, by the motion error in the programmer determining program with and the reasonability of technology etc.;
Described communication and remote control module, realize and MOTOMAN robot telecommunication and Long-distance Control, by analysis to MOTOMAN robot communication agreement, file and MOTOMAN robot after code editor and modular converter and the graphical verification resume module are communicated, and uploading of realization working procedure downloaded and remote control operation.
Described text editing and code conversion module are made of a G code editor submodule, INFORMII code editor submodule, first code conversion submodule, second code conversion submodule and a parameter inputting interface.Wherein G code editor submodule and INFORMII code editor submodule are used for opening respectively and editing G code document and INFORMII code document.First code conversion submodule is accepted the information from G code editor submodule, and the current document of opening in the G code editor submodule is compiled, and generates intermediate data.The user imports the information that is not comprised in the G code file by hand by the parameter inputting interface, as the MOTOMAN robot coordinate system, and instrument that the MOTOMAN robot uses or the like.Second code conversion submodule is accepted the intermediate data from first code conversion submodule, it is carried out decompiling, increase the information of user simultaneously by the input of parameter inputting interface, generate INFORMI I code document, and be sent in the INFORMII code editor submodule and show and manual edit.In addition, for complicated especially machining locus, the data volume of MOTOMAN robot working procedure (INFORMI I code document) may be greater than the restriction of MOTOMAN robot controller, second code conversion submodule can be analyzed the intermediate data from first code conversion submodule in this case, find the movement instruction that can pause, super program is divided into the plurality of sub program in these pause points.
Described graphical verification module is made of third generation sign indicating number conversion submodule and a graphical simulation submodule.Third generation sign indicating number conversion submodule compiles (the final output that the document is aforementioned texts editor and code conversion module) to the current document of opening in the INFORMII code editor submodule, generate intermediate data, this process is equivalent to the inverse process of second code conversion submodule.The graphical simulation submodule shows the motion of MOTOMAN end effector of robot according to the intermediate data simulation MOTOMAN robot motion process of third generation sign indicating number conversion submodule output with the form of three-dimensional animation.Functions such as this graphical simulation submodule has pantography, shows from various visual angles, and time scale is adjustable.The user mainly judges MOTOMAN robot motion's the correctness and the reasonability of technology etc. according to the graphical simulation process, and the graphical simulation submodule can sound a warning to motion break bounds, speed apparent error such as transfinite simultaneously.
Described communication and remote control module are made of a communication drivers submodule, one group of operation interface and a file division submodule.Wherein the communication drivers submodule is used for carrying out telecommunication and Long-distance Control with the MOTOMAN robot, comprises the RS232C serial communication two kinds of type of drive of communicating by letter with Ethernet, can communicate with it according to the communication protocol of MOTOMAN robot and reply.The remote control function that is had according to the MOTOMAN robot, design one group of operation interface and be used for Long-distance Control: mainly contained uploading and downloading of file and parameter, the long-range every state of MOTOMAN robot that reads, manually control MOTOMAN robot motion starts MOTOMAN robot working procedure etc.Communication can be used as independently MOTOMAN robot remote controllers with remote control module and uses, and being integrated in the native system mainly is to be user's mode that provides convenient operation.Compare with the MOTOMAN remote control function of standard, this communication has also increased a special function with remote control module: for complicated especially machining locus, be divided into the plurality of sub program because of data volume is excessive by described second code conversion submodule, be split into the plurality of sub program because of data volume is excessive.The file division submodule is divided into one group of orderly little document with this super large document that has subprogram according to its subprogram, and adds file header information automatically.The communication drivers submodule can be realized moving working procedure on one side automatically, downloads Yi Bian carry out the backstage, Yi Bian delete the executed program, thus realize the continuous free of discontinuities operation of the working procedure of super large data volume.
With respect to traditional system, outstanding feature of the present invention is accurately with quick.Owing to can directly obtain relevant data by design drawing (paper drawing or electronic drawing), write the control program file, than lead-through teaching manual operation industrial robot, it is much simple and efficient, much also accurate that the visual mode of finding accurately of naked eyes is wanted.Even only adopt the text editing mode simple machining locus is carried out manual programming, also than the fast several times that go up of teach mode programming, if use the present invention in conjunction with third party CAM product (as the CAXA digital-control processing system), complicated track is programmed, and originally the work that just can finish of a couple of days only needed to finish in several minutes.Another important advantage programming is that off-line carries out, and need not take down the industry robot device is able to programme and preliminary debugging, and equipment stopping production detail programming means enormous economic loss usually, otherwise then brings enormous benefits.With respect to other industrial robot off-line programing systems, outstanding feature of the present invention is to be simple and easy to usefulness, and is with low cost.Owing to utilize the G code that is widely used dexterously as working language, make general Numeric Control Technology personnel can both grasp its using method immediately, and owing to can use in conjunction with third party CAM product, the present invention no longer comprises these functions, make that function of the present invention is succinct, with low cost, accept for the general user easily.
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Fig. 1 is the structured flowchart of system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the related parts of present embodiment comprise MOTOMAN robot (not drawing on the figure) and controller thereof, off-line programing system of the present invention, communication cable etc.
Off-line programing system comprises three main functional modules in the present embodiment: code editor and modular converter, graphical verification module, communication and remote control module.Wherein code editor and modular converter are realized the function that MOTOMAN robot working document generates, graphical verification module is then carried out emulation and verification to the working document that is generated, communication and remote control module are used for that uploading of file downloaded and operations such as remote activation, and three modules have realized complete MOTOMAN robotic programming operation.
Described text editing and the code conversion module of comprising can realize the conversion of the INFORMII code operation program used to the MOTOMAN robot by general G code numerical control program.By syntactic analysis the G code program is compiled, generation includes the intermediate data of motion control information, again according to the grammar request of INFORMII programming language, intermediate data is translated as the control command and the position graphic data of MOTOMAN robot working procedure (INFORMII language), simultaneously according to other information in the additional MOTOMAN robot of the parameter setting situation working procedure, generate complete MOTOMAN robot working document, realize the operation of MOTOMAN robot off-line programming.
Described graphical verification module at the MOTOMAN robot working document that text editing and code conversion module are generated, can realize its simulation of movement track and verification with the three-dimensional animation form.By syntactic analysis the MOTOMAN robot working procedure of using INFORMII to write is compiled, generate intermediate data; On three-dimensional interface, show the MOTOMAN robot course of work according to intermediate data with the animation form, by the motion error in the programmer determining program with and the reasonability of technology etc.
Described communication and remote control module, realize and MOTOMAN robot telecommunication and Long-distance Control, by analysis to MOTOMAN robot communication agreement, file and MOTOMAN robot after code editor and modular converter and the graphical verification resume module communicate, and uploading of realization working procedure downloaded and remote control operation.Under the situation of the memory space inadequate of MOTOMAN robot body controller own, can provide the operation of ultra-large type working procedure by the mode of backstage dynamic download.
Described text editing and code conversion module are by a G code editor submodule, an INFORMII code editor submodule, first code conversion submodule, second code conversion submodule and a parameter inputting interface constitute, wherein G code editor submodule and INFORMII code editor submodule are used for opening respectively and editing G code document and INFORMII code document, first code conversion submodule is accepted the information from G code editor submodule, the current document of opening in the G code editor submodule is compiled, generate intermediate data, the user is by the information that is not comprised in the manual input of the parameter inputting interface G code file, second code conversion submodule is accepted the intermediate data from first code conversion submodule, it is carried out decompiling, increase the information of user simultaneously by the input of parameter inputting interface, generate INFORMII code document, and be sent in the INFORMII code editor submodule and show and manual edit.
Described second code conversion submodule is under the situation of data volume greater than the restriction of MOTOMAN robot controller of INFORMII code document in MOTOMAN robot working procedure, analysis is from the intermediate data of first code conversion submodule, find the movement instruction that can pause, super program is divided into the plurality of sub program in these pause points.
Described graphical verification module is made of third generation sign indicating number conversion submodule and a graphical simulation submodule, third generation sign indicating number conversion submodule to text editing and code conversion module institute finally the INFORMII code operation file of generation compile, generate intermediate data, this process is the inverse process of second code conversion submodule, the graphical simulation submodule is according to the intermediate data simulation MOTOMAN robot motion process of third generation sign indicating number conversion submodule output, show the motion of MOTOMAN end effector of robot with the form of three-dimensional animation, the user judges MOTOMAN robot motion's the correctness and the reasonability of technology according to the graphical simulation process.
Described communication and remote control module are by a communication drivers submodule, one group of operation interface and a file division submodule constitute, wherein the communication drivers submodule is used for carrying out telecommunication and Long-distance Control with the MOTOMAN robot, comprise the RS232C serial communication two kinds of type of drive of communicating by letter with Ethernet, can communicate with it according to the communication protocol of MOTOMAN robot and reply, the user utilizes one group of operation interface to carry out Long-distance Control according to the remote control function that the MOTOMAN robot is had, for complicated especially machining locus, be divided into the plurality of sub program because of data volume is excessive by described second code conversion submodule, the file division submodule is divided into one group of orderly little document with this big document that has subprogram according to its subprogram, and add file header information automatically, the communication drivers submodule can realize moving working procedure automatically on one side, carrying out the backstage on one side downloads, delete the executed program on one side, thereby realize the continuous operation of the working procedure of big data quantity.
When the embodiment of the invention of said structure is used, carry out according to following step:
At first need MOTOMAN robot coordinate initial point etc. is calibrated, owing to use G code programming used coordinate and MOTOMAN robot coordinate inconsistent, the MOTOMAN robot must operate under the user coordinates, calibrate the user coordinates initial point, this work only need be carried out once specific frock clamp.
Following step can use third party CAM product (as the CAXA numerical control software) to generate numerical control machining code file (G code file), and the G code editor submodule that uses code editor and modular converter to provide is then opened.For comparatively simple situation, can directly utilize manual G code file and the edit-modify set up of G code editor submodule.
The 3rd step was the start-up code conversion, and this is a main innovation part of the present invention, and core is to realize the conversion of G code program to the INFORMII program in machine code.The specific implementation process is: call first code conversion submodule the G code file is compiled, generate the intermediate data that includes motion control information according to its command word and position graphic data, exist in the memory by the form of working motion order, finish the 1st conversion with chained list.Simultaneously code editor and parameter inputting interface in the modular converter can allow the user that those are set and not be included in other information in the G code program, coordinate type for example, seat label, instrument number etc.Second code conversion submodule is translated as intermediate data the control word and the position graphic data of MOTOMAN robot working procedure (INFORMII language) according to the grammar request of INFORMII programming language.Utilize information such as control word, position graphic data and other parameters to carry out decompiling,, finish the 2nd conversion, and in INFORMII code editor submodule, open the text according to the complete MOTOMAN robot working procedure text of syntax format generation of INFORMII.The user can directly utilize INFORMII code editor submodule that text is carried out manual modification.
The 4th step was that generating code is carried out verification: the third generation sign indicating number conversion submodule in the graphical verification module compiles the document in the INFORMII code editor by syntactic analysis, generate intermediate data, be stored in the memory in the chained list mode, this process is the inverse process of the 2nd conversion in above-mentioned the 3rd step.According to these intermediate data, the graphical simulation submodule is showed the motion process of MOTOMAN end effector of robot with the three-dimensional animation form, this graphical simulation submodule can be provided with the size scaling of animation by the user, selects the visual angle, adjusts time scale (be F.F. and put slowly) etc.This graphical simulation submodule also can be to exceeding working space, exceed apparent error such as maximal rate and point out, but owing to the complexity and the multifarious reason of technology, the motion error of user in should determining program with and the reasonability of technology etc.For unreasonable part, the user can directly adjust data and the command word in the MOTOMAN robot working procedure (INFORMII code file), emulation verification once more; Also can utilize G code editor submodule to revise the G code file, repeat the code conversion in the 3rd step, carry out emulation again, till satisfaction.
The 5th step started the operation interface of telecommunication and control module, selected correct communication mode and parameter, above-mentioned MOTOMAN robot working procedure is downloaded to the MOTOMAN robot controller promptly finished the off-line programing task.Next can also can start the work of MOTOMAN robot directly with the execution work of MOTOMAN robot controller operation MOTOMAN robot with telecommunication and control module.Also can be in the work according to actual conditions again to working procedure make amendment (getting back to for second step or the 3rd step, manual G code or the INFORMII code file revised).
Because the machining code data volume that the CAM product generates is bigger, especially Fu Za curve and surface adds man-hour, number of data points may be greater than MOTOMAN robot controller storage capacity, this moment, text editing and the second code in the code conversion module conversion submodule (i.e. the 3rd the 2nd transfer process that goes on foot) of system of the present invention can be according to the type of movement instruction, but at the pause point place super program was divided into the plurality of sub program intelligently.And telecommunication that native system provides and control module can realize file division automatically, Yi Bian move working procedure, download Yi Bian carry out the backstage, Yi Bian delete the function of executed program, thus realize the smooth free of discontinuities operation of the working procedure of super large data volume.With the XRC of MOTOMAN robot controller is example, this controller requires the motion step number in the single working document can not surpass for 1000 steps, the data that whole memory spaces can be deposited also had only for 40000 steps, and in complex-curved processing, even medium accuracy also often needs thousands of and even tens thousand of steps, then the MOTOMAN robot can not realize this processing operation continuously, must pause artificial treatment Data Update problem midway; And use native system can realize the process of this complexity automatically.

Claims (7)

1、一种工业机器人离线编程系统，其特征在于，包括：文本编辑与代码转换模块、图形化校验模块、通信与远程控制模块，其中：1. An off-line programming system for industrial robots, comprising: text editing and code conversion modules, graphical verification modules, communication and remote control modules, wherein: 所述文本编辑和代码转换模块，实现由G代码数控程序到MOTOMAN机器人专用的INFORMII代码工作程序的转换，通过语法分析对G代码程序进行编译，生成包含有运动控制信息的中间数据，再依照INFORMII编程语言的语法要求，将中间数据翻译为MOTOMAN机器人工作程序即INFORMII语言的控制命令和位形数据，同时根据参数设定情况补充MOTOMAN机器人工作程序中的信息，生成完整的MOTOMAN机器人工作文件，实现MOTOMAN机器人离线编程作业；The text editing and code conversion module realizes the conversion from the G-code numerical control program to the INFORMII code working program dedicated to the MOTOMAN robot, compiles the G-code program through grammatical analysis, generates intermediate data containing motion control information, and then follows the INFORMII According to the grammatical requirements of the programming language, the intermediate data is translated into the MOTOMAN robot working program, that is, the control command and configuration data of the INFORMII language, and at the same time, the information in the MOTOMAN robot working program is supplemented according to the parameter setting, and a complete MOTOMAN robot working file is generated to realize MOTOMAN robot offline programming operation; 所述图形化校验模块，针对文本编辑和代码转换模块所生成的MOTOMAN机器人工作文件，以三维图形方式实现其运动轨迹的仿真和校验，通过语法分析对使用INFORMII编写的MOTOMAN机器人工作程序进行编译，生成中间数据，依据中间数据以三维动画形式展示MOTOMAN机器人工作过程，由编程者判断程序中的运动错误以及其工艺的合理性；The graphical verification module realizes the simulation and verification of its motion trajectory in a three-dimensional graphical manner for the MOTOMAN robot work files generated by the text editing and code conversion modules, and uses the MOTOMAN robot work program written by INFORMII through syntax analysis. Compile and generate intermediate data, display the working process of the MOTOMAN robot in the form of 3D animation based on the intermediate data, and let the programmer judge the movement errors in the program and the rationality of the process; 所述通信和远程控制模块，实现与MOTOMAN机器人远程通信和远程控制，通过对MOTOMAN机器人通信协议的分析，将代码编辑与转换模块和图形化校验模块处理后的文件与MOTOMAN机器人进行通信，实现工作程序的上传下载以及远程控制操作。The communication and remote control module realizes remote communication and remote control with the MOTOMAN robot. By analyzing the communication protocol of the MOTOMAN robot, the files processed by the code editing and conversion module and the graphical verification module are communicated with the MOTOMAN robot to realize Upload and download of working programs and remote control operations. 2、根据权利要求1所述的工业机器人离线编程系统，其特征是：所述文本编辑与代码转换模块由一个G代码编辑子模块、一个INFORMII代码编辑子模块、第一代码转换子模块、第二代码转换子模块和一个参数输入界面构成，其中G代码编辑子模块和INFORMII代码编辑子模块用于分别打开和编辑G代码文档和INFORMII代码文档，第一代码转换子模块接受来自G代码编辑子模块的信息，对G代码编辑子模块中打开的当前文档进行编译，生成中间数据，用户由参数输入界面手工输入G代码文件中所没有包含的信息，第二代码转换子模块接受来自第一代码转换子模块的中间数据，对其进行反编译，同时增加用户通过参数输入界面输入的信息，生成INFORMII代码文档，并送往INFORMII代码编辑子模块中进行显示和手工编辑。2. The off-line programming system for industrial robots according to claim 1, characterized in that: said text editing and code conversion module consists of a G code editing submodule, an INFORMII code editing submodule, a first code conversion submodule, a second Two code conversion sub-modules and a parameter input interface are formed, wherein the G code editing sub-module and the INFORMII code editing sub-module are used to open and edit the G code file and the INFORMII code file respectively, and the first code conversion sub-module accepts input from the G code editing sub-module module information, compile the current document opened in the G code editing sub-module to generate intermediate data, the user manually inputs the information not contained in the G code file through the parameter input interface, and the second code conversion sub-module accepts the information from the first code conversion sub-module Convert the intermediate data of the sub-module, decompile it, and add the information input by the user through the parameter input interface at the same time, generate the INFORMII code document, and send it to the INFORMII code editing sub-module for display and manual editing. 3、根据权利要求2所述的工业机器人离线编程系统，其特征是：所述的第二代码转换子模块在MOTOMAN机器人工作程序即INFORMII代码文档的数据量大于MOTOMAN机器人控制器的限制的情况下，分析来自第一代码转换子模块的中间数据，找到可停顿的运动指令，在这些停顿点将超大程序分割为若干子程序。3. The off-line programming system for industrial robots according to claim 2, characterized in that: the second code conversion sub-module is under the condition that the data volume of the MOTOMAN robot working program, that is, the INFORMII code file, is greater than the limit of the MOTOMAN robot controller , analyze the intermediate data from the first code conversion sub-module to find motion instructions that can be stalled, and divide the very large program into several subroutines at these stall points. 4、根据权利要求1所述的工业机器人离线编程系统，其特征是：所述图形化校验模块由第三代码转换子模块和一个图形仿真子模块构成，第三代码转换子模块对文本编辑与代码转换模块所最终生成的INFORMII代码工作文件进行编译，生成中间数据，该过程是第二代码转换子模块的逆过程，图形仿真子模块根据第三代码转换子模块输出的中间数据模拟MOTOMAN机器人运动过程，以三维动画的形式显示MOTOMAN机器人末端执行器的运动，用户根据图形仿真过程判断MOTOMAN机器人运动的正确性和工艺的合理性。4. The off-line programming system for industrial robots according to claim 1, characterized in that: the graphical verification module is composed of a third code conversion sub-module and a graphics simulation sub-module, and the third code conversion sub-module edits the text Compile with the INFORMII code work file finally generated by the code conversion module to generate intermediate data. This process is the reverse process of the second code conversion sub-module. The graphics simulation sub-module simulates the MOTOMAN robot based on the intermediate data output by the third code conversion sub-module The movement process displays the movement of the end effector of the MOTOMAN robot in the form of 3D animation, and the user judges the correctness of the movement of the MOTOMAN robot and the rationality of the process according to the graphic simulation process. 5、根据权利要求4所述的工业机器人离线编程系统，其特征是：所述图形仿真子模块具有图形缩放、多视角显示、时间比例因子可调功能，同时图形仿真子模块对运动超界、速度超限错误提出警告。5. The off-line programming system for industrial robots according to claim 4, characterized in that: the graphic simulation sub-module has the functions of graphic zooming, multi-view display, and adjustable time scale factor, and the graphic simulation sub-module is capable of controlling movement over bounds, A speed limit error warns. 6、根据权利要求1所述的工业机器人离线编程系统，其特征是：所述通信与远程控制模块由一个通信驱动子模块、一组操作界面和一个文件分割子模块构成，其中通信驱动子模块用于与MOTOMAN机器人进行远程通信和远程控制，包括RS232C串行通信和以太网络通信两种驱动方式，能够依照MOTOMAN机器人的通信协议与之进行通信应答，用户利用一组操作界面根据MOTOMAN机器人所具有的远程控制功能进行远程控制，对于特别复杂的加工轨迹，因数据量过大而被所述第二代码转换子模块分割为若干子程序，文件分割子模块将这种带有子程序的大文档按照其子程序分割成一组有序的小文档，并自动添加文件头信息，通信驱动子模块能自动实现一边运行工作程序，一边进行后台下载，一边删除已执行程序，从而实现大数据量的工作程序的连续运行。6. The off-line programming system for industrial robots according to claim 1, wherein the communication and remote control module is composed of a communication driver submodule, a group of operation interfaces and a file segmentation submodule, wherein the communication driver submodule It is used for remote communication and remote control with MOTOMAN robots, including RS232C serial communication and Ethernet communication. It can communicate with MOTOMAN robots according to the communication protocol. The remote control function of remote control is used for remote control. For particularly complex processing tracks, the second code conversion submodule is divided into several subroutines due to the large amount of data. The file division submodule converts such a large file with subroutines Divide it into a group of orderly small documents according to its subprograms, and automatically add file header information. The communication driver submodule can automatically realize the running of the working program, background downloading, and deletion of the executed program at the same time, thereby realizing the work of large data volume Continuous running of the program. 7、根据权利要求6所述的工业机器人离线编程系统，其特征是：所述一组操作界面远程控制的内容包括：文件和参数的上传与下载，远程读取MOTOMAN机器人各项状态，手动控制MOTOMAN机器人运动，启动或停止MOTOMAN机器人工作程序。7. The off-line programming system for industrial robots according to claim 6, characterized in that: the content of remote control of the set of operation interfaces includes: upload and download of files and parameters, remote reading of various states of MOTOMAN robots, manual control MOTOMAN robot movement, start or stop MOTOMAN robot working program.
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