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

Off line programming tool for industrial robot Download PDF

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Publication number
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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code
submodule
robot
motoman
informii
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CN 200710043744
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CN100460159C (en
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栾楠
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上海交通大学
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Abstract

The invention relates to an industrial robot offline programming system that includes text edit and code conversion module that realizes G code digital control program converting to INFORMII code working program by my MOTOMAN robot to generate full MOTOMAN robot working file and realizes offline programming, visual verifying module that verifies and simulates the moving track by 3D image method. Communicating and telecontrol module realize communication between the processed file and MOTOMAN robot and download and upload program and telecontrol.

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.

Description of drawings

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, a kind of industrial robot off-line programing system is characterized in that, comprising: text editing and code conversion module, graphical verification module, communicate by letter and remote control module, wherein:
Described text editing and code conversion module, realization is by the conversion of G code numerical control program to the INFORMII code operation program of MOTOMAN robot special use, 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 control command and the position graphic data that MOTOMAN robot working procedure is the INFORMII language, simultaneously according to the 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 in the 3-D graphic mode, by syntactic analysis the MOTOMAN robot working procedure of using INFORMII to write is compiled, generate intermediate data, show the MOTOMAN robot course of work according to intermediate data with the three-dimensional animation form, by the motion error in the programmer determining program with and the reasonability of technology;
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.
2, industrial robot off-line programing system according to claim 1, it is characterized in that: 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.
3, industrial robot off-line programing system according to claim 2, it is characterized in that: 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.
4, industrial robot off-line programing system according to claim 1, it is characterized in that: 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.
5, industrial robot off-line programing system according to claim 4, it is characterized in that: described graphical simulation submodule has pantography, various visual angles demonstration, time scale adjustable function, and the graphical simulation submodule sounds a warning to motion break bounds, speed overrun error simultaneously.
6, industrial robot off-line programing system according to claim 1, it is characterized in that: 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.
7, industrial robot off-line programing system according to claim 6, it is characterized in that: the content of described one group of operation interface Long-distance Control comprises: the uploading and downloading of file and parameter, the long-range every state of MOTOMAN robot that reads, manually control MOTOMAN robot motion starts or stops MOTOMAN robot working procedure.
CNB2007100437441A 2007-07-12 2007-07-12 Off line programming tool for industrial robot CN100460159C (en)

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