CN103576559A - Industrial robot additional spindle function developing method - Google Patents
Industrial robot additional spindle function developing method Download PDFInfo
- Publication number
- CN103576559A CN103576559A CN201310507391.1A CN201310507391A CN103576559A CN 103576559 A CN103576559 A CN 103576559A CN 201310507391 A CN201310507391 A CN 201310507391A CN 103576559 A CN103576559 A CN 103576559A
- Authority
- CN
- China
- Prior art keywords
- additional
- industrial robot
- robot
- development approach
- spindles
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses an industrial robot additional spindle function developing method. The industrial robot additional spindle function developing method is characterized in that a certain amount of virtual simulation spindles are established in advance in the developing method, and the software functions of a whole robot and the software functions of additional spindles are completed; in actual application, the virtual spindles of the corresponding amount are replaced with actual spindles according to the application needs of a client, and thus the fast development of the additional spindles is achieved. By means of the method, the industrial robot additional spindle function developing method has the advantages that necessary conditions are provided for the tests of the spindle functions under the condition that actual hardware is not available; the amount of the additional spindles will not affect the framework of the software, and the modification amount to the software is little after the physical additional spindles are added; a procedure is good in portability, and repeated development is not needed; the delivery time to the terminal client is shortened.
Description
Technical field
The present invention relates to the design of industrial robot and manufacture, more particularly to a kind of development approach of industrial robot additional spindle function.
Background technology
The development procedure of existing industrial robot additional spindle function is at present：1st, terminal client proposes technological development index according to actual application demand to robot building business；2nd, robot building business, according to client's needs, is that it customizes corresponding software to meet the application needs of client；3rd, robot building business carries out 120h on-line testing to the additional s function developed, and the stability of software function is examined incessantly, software is modified according to test result perfect；4th, industrial robot additional spindle Software Delivery client completing test, meeting customer need is carried out applying production.
Due to not knowing the application demand of terminal client in advance, robot building business is interim to develop software according to specific function, causes the uniformity of software poor, not easy care；And the delivery cycle of terminal client requirement is short, therefore it is few to leave the development time of robot building business for.After the completion of software development, manufacturer also needs to carry out the software of exploitation 120h on-line testing, extends the delivery cycle of software.
For it is above-mentioned the problem of there is provided a kind of new development approach, shorten the construction cycle of industrial robot additional spindle function.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of development approach of industrial robot additional spindle function, to reach the purpose for shortening the industrial robot additional spindle functional development cycle.
To reach above-mentioned purpose, the technical scheme is that, a kind of development approach of industrial robot additional spindle function, it is characterised in that：Described development approach pre-establishes a kind of a number of virtual emulation axle, completes the software function of whole robot and additional shaft；In practical application, being needed to be changed the imaginary axis of respective numbers with real axis according to the application of client, so as to realize the quick exploitation of additional shaft.
Described development approach builds joint shaft of the standard industrial robot in 6 frees degree for actual axle, the node of its hardware is followed successively by IF6.ST2, IF6.ST3, IF6.ST4, three additional shafts gAxisAux1, gAxisAux2, gAxisAux3 are built as imaginary axis simultaneously, the dummy node of imaginary axis is to be followed successively by SDC_IF1.ST7, SDC_IF1.ST8, SDC_IF1.ST9, three imaginary axis set up carry out motion planning simultaneously with real axis, and synchronously arrive at target point；Virtual emulation axle is set up, when increasing additional s function according to the demand of terminal client, imaginary axis corresponding real axis is replaced by, and carry out corresponding configuration change quickly to meet client's needs.
Described emulation axle possesses real axis identical speed reducing ratio, spacing joint, joint maximum movement speed, peak acceleration.
Described development approach develops three additional s functions such as Simple types, Robot types, External types in advance in each industrial robot.
The position data of industrial robot is in described development approach：
The position of robot location=robot with additional s function（The position of tool center point or 6 joint positions）The position of+additional shaft.
A kind of development approach of industrial robot additional spindle function, due to adopting with the aforedescribed process, the advantage of the invention is that：1st, under conditions of not possessing actual hardware, necessary condition is provided for the test of additional s function；2nd, the quantity of additional shaft does not interfere with the modification amount very little to software after the framework of software, increase physics additional shaft；3rd, portability of program is good, without overlapping development；4th, the time of delivery to terminal client is shortened.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description；
Fig. 1 is the use flow chart of additional s function in a kind of development approach of industrial robot additional spindle function of the invention.
Embodiment
By the long-time investigation result to the application of additional shaft scene, additional shaft can be generally divided into following three types：1st, Simple types：Independent with robot, its typical case's application is servo torch function；2nd, Robot types：Entirety is constituted together with robot, its typical case's application is rail plate；3rd, External types：The movement locus of robot is influenceed by external add-in axle, and its typical case applies positioner.
The additional s function of three of the above type is developed according to the applicable cases of additional shaft and 120h is tested by the present invention in advance.First when software function is developed, by setting up imaginary axis（The imaginary axis possesses the characteristic of real axis）To meet the exploitation and test of software function, so as to reduce the software development after terminal client is ordered goods and testing time；Then after robot software's functional development completion, according to common applicable cases（Simple types, Robot types, External types）Corresponding imaginary axis test software function is replaced with actual motor shaft；After terminal client is ordered goods, it need to only be needed to open corresponding software function bag delivery according to it.
The core of the present invention is that a kind of simple efficient, transplantability of offer is good, safeguards simple additional shaft development approach.Its specific technical scheme is as follows：
（1）A kind of a number of virtual emulation axle is pre-established, the software function of whole robot and additional shaft is completed.In actual applications, needed to be changed the imaginary axis of respective numbers with real axis according to the application of client, so as to realize the quick exploitation of additional shaft.
Generally, there are 6 frees degree in the robot of standard, therefore 6 joint shafts are built as actual axle, and the node of its hardware is followed successively by IF6.ST2, IF6.ST3, IF6.ST4.
Three additional shafts (gAxisAux1, gAxisAux2, gAxisAux3) are built as imaginary axis, the dummy node of imaginary axis is to be followed successively by SDC_IF1.ST7, SDC_IF1.ST8, SDC_IF1.ST9, three imaginary axis set up carry out motion planning simultaneously with real axis, and synchronously arrive at target point.
（2）Virtual emulation axle is set up, the emulation axle possesses the characteristic that real axis has, the attribute such as speed reducing ratio, spacing joint, joint maximum movement speed, peak acceleration.
（3）According to the demand of terminal client, such as quantity of additional shaft, the type of additional shaft（Servo torch, slide rail, positioner）, imaginary axis is replaced by corresponding real axis, and carry out corresponding configuration change quickly to meet client's needs.
The specific implementation method of this law is：
（1）Into the setting interface of additional shaft
, it is necessary to be set accordingly to additional shaft before using additional s function.The use of client for convenience, develops additional shaft setting guiding interface and additional shaft detail parameters set the page.
（2）Client determines the additional shaft of respective numbers according to application demand
By the investigation to practical application, the maximum usage quantity of additional shaft is 3 under normal circumstances, therefore we develop 3 additional s functions in advance.Client can be within 3 additional shafts（Including 3 additional shafts）Carry out any number of use.For example, in servo electrode holder application, an additional shaft is used as usually using servo torch；In long range is carried, slide rail is generally set as an additional s function of robot.Client can easily set the quantity of additional shaft as needed, and client is 2 to the demand of the additional number of axle, and use two additional shafts, and first additional shaft is servo electrode holder, and second additional shaft is walking axle.
（3）Set the type of additional shaft
By adding the investigation that market convenient for walking is applied to robot, the type of additional shaft can be divided into Simple types, Robot types, three kinds of External types.
（4）The inching function of additional shaft
In the additional shaft crawl page, it can be configured with the quantity and type of the additional shaft of crawl by client in additional shaft sets the page, 3 additional shafts of client definition are followed successively by servo torch, slide rail, positioner.Inching function to additional shaft can just be realized by crawl button Aux1, Aux2, Aux3.
（5）The teaching of additional shaft and robot data's form comprising additional shaft position
The position progress teaching, it is necessary to robot additional shaft is completed after the crawl of additional shaft, the setting window of additional shaft is developed.The position display of 1~No. 3 additional shaft of robot is respectively 47.90, -72.81, -37.22, is recorded the position of robot and additional shaft in point PT [494] by teaching.Increase after additional shaft, the position data form of robot is：The position of robot location=robot with additional s function（The position of tool center point or 6 joint positions）The position of+additional shaft.
The present invention is exemplarily described above in conjunction with accompanying drawing; the obvious present invention, which is implemented, to be not subject to the restrictions described above; if the various improvement of technical solution of the present invention progress are employed, or it is not improved directly applying to other occasions, within protection scope of the present invention.
Claims (5)
1. a kind of development approach of industrial robot additional spindle function, it is characterised in that：Described development approach pre-establishes a kind of a number of virtual emulation axle, completes the software function of whole robot and additional shaft；In practical application, being needed to be changed the imaginary axis of respective numbers with real axis according to the application of client, so as to realize the quick exploitation of additional shaft.
2. a kind of development approach of industrial robot additional spindle function according to claim 1, it is characterised in that：Described development approach builds joint shaft of the standard industrial robot in 6 frees degree for actual axle, the node of its hardware is followed successively by IF6.ST2, IF6.ST3, IF6.ST4, three additional shafts gAxisAux1, gAxisAux2, gAxisAux3 are built as imaginary axis simultaneously, the dummy node of imaginary axis is to be followed successively by SDC_IF1.ST7, SDC_IF1.ST8, SDC_IF1.ST9, three imaginary axis set up carry out motion planning simultaneously with real axis, and synchronously arrive at target point；Virtual emulation axle is set up, when increasing additional s function according to the demand of terminal client, imaginary axis corresponding real axis is replaced by, and carry out corresponding configuration change quickly to meet client's needs.
3. a kind of development approach of industrial robot additional spindle function according to claim 2, it is characterised in that：Described emulation axle possesses real axis identical speed reducing ratio, spacing joint, joint maximum movement speed, peak acceleration.
4. a kind of development approach of industrial robot additional spindle function according to claim 1, it is characterised in that：Described development approach develops three additional s functions such as Simple types, Robot types, External types in advance in each industrial robot.
5. a kind of development approach of industrial robot additional spindle function according to claim 1, it is characterised in that：The position data of industrial robot is in described development approach：
The position of robot location=robot with additional s function（The position of tool center point or 6 joint positions）The position of+additional shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310507391.1A CN103576559B (en) | 2013-10-24 | 2013-10-24 | A kind of development approach of industrial robot additional spindle function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310507391.1A CN103576559B (en) | 2013-10-24 | 2013-10-24 | A kind of development approach of industrial robot additional spindle function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103576559A true CN103576559A (en) | 2014-02-12 |
| CN103576559B CN103576559B (en) | 2016-09-14 |
Family
ID=50048576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310507391.1A Active CN103576559B (en) | 2013-10-24 | 2013-10-24 | A kind of development approach of industrial robot additional spindle function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103576559B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483536A (en) * | 2018-11-09 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of additional shaft adding method, device, storage medium and the robot of robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090259444A1 (en) * | 2005-09-09 | 2009-10-15 | Stefan Dolansky | Method and/or device for controlling and/or monitoring the movement of industrial machines |
| WO2011023204A1 (en) * | 2009-08-24 | 2011-03-03 | Abb Research Ltd. | Simulation of distributed virtual control systems |
| CN102262393A (en) * | 2010-05-24 | 2011-11-30 | 赵奇 | Hardware-in-Loop Simulation (HILS) system and method for realizing rapid prototyping control |
| CN102306006A (en) * | 2011-05-17 | 2012-01-04 | 大连光洋科技工程有限公司 | Numerical control system for realizing parallel-series control on series numerical control system |
| CN102646142A (en) * | 2012-02-23 | 2012-08-22 | 奇瑞汽车股份有限公司 | Simulation aided design method for automated stamping end picking-up devices |
-
2013
- 2013-10-24 CN CN201310507391.1A patent/CN103576559B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090259444A1 (en) * | 2005-09-09 | 2009-10-15 | Stefan Dolansky | Method and/or device for controlling and/or monitoring the movement of industrial machines |
| WO2011023204A1 (en) * | 2009-08-24 | 2011-03-03 | Abb Research Ltd. | Simulation of distributed virtual control systems |
| CN102262393A (en) * | 2010-05-24 | 2011-11-30 | 赵奇 | Hardware-in-Loop Simulation (HILS) system and method for realizing rapid prototyping control |
| CN102306006A (en) * | 2011-05-17 | 2012-01-04 | 大连光洋科技工程有限公司 | Numerical control system for realizing parallel-series control on series numerical control system |
| CN102646142A (en) * | 2012-02-23 | 2012-08-22 | 奇瑞汽车股份有限公司 | Simulation aided design method for automated stamping end picking-up devices |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483536A (en) * | 2018-11-09 | 2019-03-19 | 珠海格力电器股份有限公司 | A kind of additional shaft adding method, device, storage medium and the robot of robot |
| CN109483536B (en) * | 2018-11-09 | 2020-06-23 | 珠海格力电器股份有限公司 | Additional axis adding method and device for robot, storage medium and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103576559B (en) | 2016-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7617486B2 (en) | Method and system to automate software testing using sniffer side and browser side recording and a toolbar interface | |
| CN104915297B (en) | A kind of automated testing method of the APP power consumption of android equipment | |
| CN106933729A (en) | A kind of method of testing and system based on cloud platform | |
| CN104503877B (en) | A kind of method and apparatus that intelligent terminal is evaluated and tested | |
| CN105260299A (en) | Method, device, and system for software test | |
| CN109873735A (en) | Performance test methods, device and the computer equipment of the H5 page | |
| CN106897216A (en) | The method and apparatus of test software | |
| CN105120483A (en) | Method and system for automatically testing compatibility between intelligent card and mobile terminal | |
| CN105159674A (en) | Method, device and terminal for producing image-text applications | |
| DE102013201688A1 (en) | Test device and method for testing IP-based mobile terminals | |
| CN107038120A (en) | A kind of method for testing software and equipment | |
| CN103576559A (en) | Industrial robot additional spindle function developing method | |
| WO2023005255A1 (en) | Method for designing transformer winding track | |
| US9542084B1 (en) | System and method for generating vias in an electronic design by automatically using a hovering cursor indication | |
| CN104484399B (en) | Webpage redirects treating method and apparatus | |
| CN106557419A (en) | The method of testing and device of program | |
| CN108983460A (en) | A kind of the positioning accuracy compensation system and method for probe compression bonding apparatus | |
| CN106873860A (en) | The network information comments on method and device | |
| CN109508484B (en) | Assembling and disassembling method and device | |
| CN109522613A (en) | A kind of assembly method and device | |
| CN104461904A (en) | Method and device for testing mobile terminal | |
| CN104461249B (en) | The arrangement display methods and device of graphical interfaces | |
| CN109144840A (en) | A kind of test method, device and its equipment | |
| CN115880617A (en) | Positioning capability evaluation method, system, electronic device and storage medium | |
| CN106776274A (en) | A kind of graphical testing process collocation method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| CB02 | Change of applicant information |
Address after: 241008 Anhui city of Wuhu province Jiujiang Economic Development Zone Wan Chun Road No. 96 Applicant after: Eft intelligent equipment Limited by Share Ltd Address before: 241008 Anhui city of Wuhu province Jiujiang District Road No. 8 leap Applicant before: Anhui Effort Intelligent Equipment Co., Ltd. |
|
| COR | Change of bibliographic data | ||
| GR01 | Patent grant |