CN106914896A - A kind of construction method of robot off-line programming - Google Patents
A kind of construction method of robot off-line programming Download PDFInfo
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- CN106914896A CN106914896A CN201710187752.7A CN201710187752A CN106914896A CN 106914896 A CN106914896 A CN 106914896A CN 201710187752 A CN201710187752 A CN 201710187752A CN 106914896 A CN106914896 A CN 106914896A
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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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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Abstract
The present invention relates to the robot off-line programming construction method under a kind of environment based on Three-dimensional Design Software.Base feature mainly applies SolldworKs API secondary development functions and Vc++ programming languages, the industrial robot off-line programing system run under Solldwork8 environment is developed, the functions such as FANUC M 9001A/2000 type industrial robot poses coordinate is calculated, robot inverse computing and operation procedure are automatically generated are realized.Proved by being contrasted with RoboSulde simulation results, the off-line programing system is reliable and stable, with preferable Commercial cultivation value.
Description
Technical field
The present invention relates to a kind of construction method of the industrial robot off-line programing under environment based on Three-dimensional Design Software.
Background technology
At present, robotic programming mainly has On-line programming by demonstration and off-line programing two ways, and On-line programming by demonstration is exhausted
Most of industrial robots are used.On-line programming by demonstration requirement robot need to shut down teaching when performing new job task, make
It is also possible to programming personnel is in the live bad border of danger while shut-down into produced on-site line.Off-line programing mode can be real
Now away from working site in the case of complete robotic programming operation, realize a series of functions such as motion simulation, greatly improve
Programing work efficiency.Domestic and international researcher has done numerous studies in terms of off-line programing.Wherein Kuka, ABB, FANUC etc. know
There is a set of ripe simulation software of oneself in name professional machines people manufacturer, can off-line programing.Robot of company also
Project team also obtains certain progress in terms of off-line programing, can be to robot industrial process simulation, the readable curve of going out on missions having
Setting simultaneously generates program.Robot Off-line Programming System also, realizes offline volume of the industrial robot to X-Y scheme
Journey copying.But current most of off-line programing pattern all can not by visualization of 3 d simulated environment with accurately program
Mode is combined.
The content of the invention
Inventors believe that as three-dimensional drawing software function is increasingly powerful, can be competent at completely establishment industrial robot and
The task of its working environment model, under three-dimensional software environment complete robot off-line programing emulation will be realize visualization from
Line programs simple and direct effective approach.
The present invention relates to a kind of robot off-line programming method for building up based on Three-dimensional Design Software.Its specific features：
D solid modeling is carried out to industrial robot and its working environment under three-dimensional software environment, the VC++ provided using three-dimensional software
Secondary development guide Swizard.SWX, completes the exploitation of robot Off-line Programming System.
The technical scheme is that：The mode of operation and composition of off-line programing system：1. three-dimensional modeling.In Solidworks
Robot and its working environment three-dimensional simulation model are set up under environment；2. task point is chosen.Selected according to actual task track requirements
Take robot task point；3. off-line programing system is called.This system is called by Lay list column, by pose computing module and inverse motion
Learn pose calculating and the calculating of each axle input angle that computing module completes task point；4. operation procedure and off-line simulation are generated.
The present invention relates to the robot off-line programming method for building up under a kind of environment based on Three-dimensional Design Software.Mainly should
With SolldworKs API secondary development functions and Vc++ programming languages, the industrial machine run under Solldwork8 environment is developed
Device people's off-line programing system, realizes the calculating of FANUC M-9001A/2000 type industrial robot poses coordinate, robot inverse fortune
Calculate and operation procedure such as automatically generates at the function.Proved by being contrasted with RoboSulde simulation results, off-line programing system stabilization
It is reliable.
Specific embodiment
The technology of the present invention framework is mainly implemented according to the following steps：
1. pair robot and its working environment are modeled：Industrial automation has a wide range of applications at home for FUNAC robots,
Herein with the conventional FANUC M-900iA/2000 humanoid robots of material handling in automatic production line as object, robot is set up
And its working environment on line Controlling model, the design research and development method of off-line programing system is carried out based on this.
（1）The drafting and assembling of three dimensional model for robot：By the research to robot architecture and technical parameter, draw
Robot model of parts, assembly is constituted according to set assembly relation.During three-dimensional modeling, to ensure the fortune of off-line programing system
Line efficiency, on the premise of all key features of robot and size is retained, simplified model structure as far as possible.J1 axle J2 axles is complicated
Curved surface replaced with simple areal model.Five axle slew gears are simplified to " C " character form structure etc..Complete each part of robot
Assembling after, motion angle attribute is correctly defined to each relative motion joint, that is, determine each slewing area for rotating pair in " cooperations ".
Ensure that each joint in allowed limits can free movement；
（2）The foundation of robot and the bad border relation of work：The height of off-line programing result precision, is heavily dependent on machine
The correct modeling of device people and its working environment and accurate operating position relation.Technical solution of the present invention, system architecture, first really
Recognize the position relationship of robot and working environment, i.e. robot base center (base coordinate system origin O0) and work centre (plate
Material center) distance relation.Secondly the task of planning robot, determines the crucial position that robot passes through between two stations
Put, i.e., the accurate task point for determining robot sets up robot working environment and working condition.Robot is by plate from side work
Opposite side is moved to as platform, the 6th axis joint coordinate system O6 rotates relative to base coordinate system O0 around X0 axles compared with initial position
180 degree, remaining axle is relative to base coordinate system O0 and moves in parallel.
2. the off-line programing module under construction Solidworks environment:Solidworks has superpower modeling function and convenience
Second development interface, provide powerful second development interface API by OLE/COM technologies, these interfaces include hundreds of letters
Number, for secondary development provides strong support.The development language interface of VB, Visual C++ and other supports OLE can be used
Call its api function feelings 1.The present invention is right by calling for the setting to object properties and method using Visual C++
Solidworks carries out secondary development, and the module developed is realized and the seamless ranks of Solidworks in the form of DLL add-on files
Connect；
(3) foundation of off-line programing system dialog box and function:The newly-built working space in VC++, selects engineering guide
SolidWorks Add-in Appwizard, newly-built off-line simulation engineering.Off-line programing system is in the form of plug-in unit in menu bar
In be called, click on " start calculate " submenu, you can the designed off-line programing system dialog box of display.This off-line programing pair
Words frame can complete pose calculating, the computation of inverse- kinematics and operation generation module, off-line simulation module are called；
(4) robot task point pose computing module:What pose computing module was realized it is critical only that to solidworks bis- times opens
Send a letter the calling of several Get Selection Point and function IEnumEagesOriented.It is with the position coordinates for obtaining point
Example, by call function GetSelectionPoint, obtains three-dimensional seat of the currently selected impact point in model space coordinate system
Scale value.It is worth noting that non-mode dialog box must be claimed as in the when marquis for defining dialog box, by calling
“Cdialog：：Create " functions start dialog box.In the case of ensureing not close main program, the continuous choosing to impact point
Take.On the basis of pSelectMgr pointers and retvalt31 double-precision arrays is defined, by calling Selectpoint functions
Acquisition task, and the coordinate of task point is exported in the form of array.Using string.Format (_ T (" %.4f "),
Retval [i]) i functions export character string dimension obtained above in the form of individual element, while profit UpdateData
(FALSE) count the above results synchronism output to dialog box.The reading of aiming spot can be completed；
(5) Robotic inverse kinematics module:Forward Kinematics Analysis are carried out to robot first, FANUCM-900i-A/2000 is set up
The DH coordinate systems state of humanoid robot.According to robot architecture's parameter, the homogeneous transform matrix between each coordinate system of robot is obtained, obtained
To robot forward kinematics equation.After determining impact point pose coordinate, 12 constant coefficient nonlinear equations are obtained.For orthogonal rotation
Torque battle array P and vector U, v, using the orthogonal special type and vector calculus characteristic of rotation sub-matrix in transformation matrix, there is Pun=u
V, and Puv=uP-1v, by vector calculus, obtain 4 constant coefficient nonlinear equations containing different known variables, finally
Obtain the closing solution of robot inverse computing.According to said method generate robot inverse computing module；
(6) motion simulation mould:The motion simulation that the motion simulation module that Solidworks is provided can be competent at robot completely is appointed
Business.Each joint rotation angle angle obtained with robot inverse computing module clicks on " starting emulation " button as input value, directly enters
Enter the Cosmosmotion motion simulation modules that Solidworks is carried, set according to Suo Jian robots running environment actual conditions
The parameters such as constraint, speed, power, realize motion simulation；
(7) operation generation module:Using VC++ dialog box Edit control functions, son is ejected after " generation operation " button is clicked on right
Words frame display job file.The position of text is inserted using CEdit.SetSel (start, end) function setup, CEdit. is used
Replace (string) functions insert character string string to the position, by setting position and attitude coordinate with the shape of array
Formula (in case manual quick positioning of situ machine people's pose) assigns task point P [i]." pose calculating " module often calculates a work
Industry point clicks on " generation operation " button and manually completes i++.The operation code of generation is as follows：
JP [2] 100%FINE!P [2]=- 46.58,212.46,99.55,90,0,0
Wherein "!" it is FANUC program annotations symbol.This job file meets FANUC robot program's forms.
3. experimental verification:Roboguide is the robot simulation software researched and developed by FANUC, powerful, highly reliable.
Set up in Roboguide and this research environment identical working space, and the operation procedure that this off-line programing system is generated
Import in Roboguide, operation program draws simulation result.Run under this simulation result and Solidworks environment from
Line simulation result is contrasted, within error range.
The present invention develops function and VC++ programming languages using SolidworksAPI-- times, under Solidworks environment
Realize the design constructing method of industrial robot off-line programing analogue system.System realizes industrial robot pose coordinate
Accurate to calculate, robot inverse computing and operation procedure automatically generate the system integration of three zones, and result of calculation is carried out
Motion simulation, proof is compared by the Roboguide simulation softwares simulation result with FANUC：Off-line programing system of the invention
Accuracy, reliability can reach actual production requirement.There is preferable Commercial cultivation to be worth.
Claims (4)
1. a kind of construction method of the robot off-line programming based on Three-dimensional Design Software, its specific features：In three-dimensional software ring
D solid modeling is carried out to industrial robot and its working environment under border, using three-dimensional software provide VC++ secondary development to
Swizard.SWX is led, the exploitation of robot Off-line Programming System is completed.
2., according to claim into 1, it is characterised in that three-dimensional modeling, robot and its work are set up under Solidworks environment
Surrounding three-dimensional simulation model.
3., according to claim into 1, it is characterised in that task point is chosen, robot task is chosen according to actual task track requirements
Point.
4., according to claim into 1, it is characterised in that call off-line programing system, this system is called by Lay list column, by pose
Computing module and the computation of inverse- kinematics module complete the pose calculating and the calculating of each axle input angle of task point, generate operation journey
Sequence and off-line simulation.
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| CN201710187752.7A CN106914896A (en) | 2017-03-27 | 2017-03-27 | A kind of construction method of robot off-line programming |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760045A (en) * | 2018-12-27 | 2019-05-17 | 西安交通大学 | A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method |
| CN110675724A (en) * | 2019-11-05 | 2020-01-10 | 天津百利机械装备集团有限公司中央研究院 | Design method of robot gluing teaching system |
| CN111702380A (en) * | 2020-05-18 | 2020-09-25 | 天津大学 | Welding process control method of welding robot |
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| CN102646093A (en) * | 2011-02-21 | 2012-08-22 | 大连兆阳软件科技有限公司 | Standard component data base management system under user guide environment |
| CN105945942A (en) * | 2016-04-05 | 2016-09-21 | 广东工业大学 | Robot off line programming system and method |
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2017
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102646093A (en) * | 2011-02-21 | 2012-08-22 | 大连兆阳软件科技有限公司 | Standard component data base management system under user guide environment |
| CN105945942A (en) * | 2016-04-05 | 2016-09-21 | 广东工业大学 | Robot off line programming system and method |
Non-Patent Citations (1)
| Title |
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| 宋鹏飞: "基于SolidWorks的工业机器人离线仿真系统", 《万方数据》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760045A (en) * | 2018-12-27 | 2019-05-17 | 西安交通大学 | A kind of off-line programing orbit generation method and the dual robot collaborative assembly system based on this method |
| CN110675724A (en) * | 2019-11-05 | 2020-01-10 | 天津百利机械装备集团有限公司中央研究院 | Design method of robot gluing teaching system |
| CN111702380A (en) * | 2020-05-18 | 2020-09-25 | 天津大学 | Welding process control method of welding robot |
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