CN107336235A - A kind of robot Off-line Programming System - Google Patents

A kind of robot Off-line Programming System Download PDF

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Publication number
CN107336235A
CN107336235A CN201710467734.4A CN201710467734A CN107336235A CN 107336235 A CN107336235 A CN 107336235A CN 201710467734 A CN201710467734 A CN 201710467734A CN 107336235 A CN107336235 A CN 107336235A
Authority
CN
China
Prior art keywords
program
robot
trajectory planning
programming
collision detection
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.)
Pending
Application number
CN201710467734.4A
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Chinese (zh)
Inventor
张广旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin Qingchuang Space Science & Technology Enterprise Incubator Co Ltd
Original Assignee
Tianjin Qingchuang Space Science & Technology Enterprise Incubator Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tianjin Qingchuang Space Science & Technology Enterprise Incubator Co Ltd filed Critical Tianjin Qingchuang Space Science & Technology Enterprise Incubator Co Ltd
Priority to CN201710467734.4A priority Critical patent/CN107336235A/en
Publication of CN107336235A publication Critical patent/CN107336235A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

A kind of robot Off-line Programming System, it is characterised in that：Including robot condition setting module, robot posture information acquisition module, operating system, data storage cell, three-dimensional program, motor program, collision detection program, trajectory planning program and programming unit；The programming unit is programmed to robot posture information acquisition module, operating system, motor program, trajectory planning program and three-dimensional program, and carries out setting motor program, collision detection program, trajectory planning program and operation sequence by setting module；Wherein include trajectory planning program, motor program and collision detection program in three-dimensional program；The present invention solves the unsharp problem in complex operation track present in current robot off-line programming.

Description

A kind of robot Off-line Programming System
Technical field
The present invention relates to robot field, specifically a kind of robot Off-line Programming System.
Background technology
At present, robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, again may be used , can also be according to the principle guiding principle action formulated with artificial intelligence technology to run the program of advance layout.Its task is association Help or substitute the work of human work, such as production industry, construction industry, or dangerous work.Existing robot applies to more Voice industry, puts into practice weaker in Off-line control, therefore it is particularly important to invent a kind of robot Off-line Programming System.
Patent of invention content
Patent of the present invention provides a kind of robot Off-line Programming System,
Including robot condition setting module, robot posture information acquisition module, operating system, data storage cell, Three-dimensional program, motor program, collision detection program, trajectory planning program and programming unit；
The programming unit to robot posture information acquisition module, operating system, motor program, trajectory planning program with And three-dimensional program is programmed, and setting motor program, collision detection program, trajectory planning journey are carried out by setting module Sequence and operation sequence；Wherein include trajectory planning program, motor program and collision detection program in three-dimensional program；
Data storage cell, preserves the programming data that off-line programing is carried out to robot, and the programming data includes closing It is coupled to the workpiece information of pending workpiece, and robot information；
Trajectory planning program, coordinated according to collision detection program；Trajectory planning program connects the data storage list Member, according to default the first threedimensional model for being associated with the pending workpiece and the programming data, processing is associated In the posture information of the second threedimensional model of the robot；
Further, the programming unit connects the track authentication unit and the data storage cell.
Embodiment
Embodiment：
The present embodiment includes：
A kind of robot Off-line Programming System,
Including robot condition setting module, robot posture information acquisition module, operating system, data storage cell, Three-dimensional program, motor program, collision detection program, trajectory planning program and programming unit；
The programming unit to robot posture information acquisition module, operating system, motor program, trajectory planning program with And three-dimensional program is programmed, and setting motor program, collision detection program, trajectory planning journey are carried out by setting module Sequence and operation sequence；Wherein include trajectory planning program, motor program and collision detection program in three-dimensional program；
Data storage cell, preserves the programming data that off-line programing is carried out to robot, and the programming data includes closing It is coupled to the workpiece information of pending workpiece, and robot information；
Trajectory planning program, coordinated according to collision detection program；Trajectory planning program connects the data storage list Member, according to default the first threedimensional model for being associated with the pending workpiece and the programming data, processing is associated In the posture information of the second threedimensional model of the robot；
Further, the programming unit connects the track authentication unit and the data storage cell.
Wherein, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention Protection domain within.

Claims (2)

  1. A kind of 1. robot Off-line Programming System, it is characterised in that：
    Including robot condition setting module, robot posture information acquisition module, operating system, data storage cell, three-dimensional Virtual program, motor program, collision detection program, trajectory planning program and programming unit；
    The programming unit is to robot posture information acquisition module, operating system, motor program, trajectory planning program and three Dimension virtual program be programmed, and by setting module carry out setting motor program, collision detection program, trajectory planning program with And operation sequence；Wherein include trajectory planning program, motor program and collision detection program in three-dimensional program；
    Data storage cell, preserves the programming data that off-line programing is carried out to robot, and the programming data includes being associated with The workpiece information of pending workpiece, and robot information；
    Trajectory planning program, coordinated according to collision detection program；Trajectory planning program connects the data storage cell, root According to default the first threedimensional model for being associated with the pending workpiece and the programming data, processing obtains being associated with described The posture information of second threedimensional model of robot.
  2. A kind of 2. robot Off-line Programming System according to claim 1, it is characterised in that：The programming unit connects institute State track authentication unit and the data storage cell.
CN201710467734.4A 2017-06-20 2017-06-20 A kind of robot Off-line Programming System Pending CN107336235A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710467734.4A CN107336235A (en) 2017-06-20 2017-06-20 A kind of robot Off-line Programming System

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710467734.4A CN107336235A (en) 2017-06-20 2017-06-20 A kind of robot Off-line Programming System

Publications (1)

Publication Number Publication Date
CN107336235A true CN107336235A (en) 2017-11-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710467734.4A Pending CN107336235A (en) 2017-06-20 2017-06-20 A kind of robot Off-line Programming System

Country Status (1)

Country Link
CN (1) CN107336235A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10133730A (en) * 1996-10-30 1998-05-22 Asahi Sanac Kk Method and device for generating operation program for robot
CN101973032A (en) * 2010-08-30 2011-02-16 东南大学 Off-line programming system and method of optical visual sensor with linear structure for welding robot
CN105171745A (en) * 2015-08-31 2015-12-23 上海发那科机器人有限公司 Robot off-line programming system
CN105945942A (en) * 2016-04-05 2016-09-21 广东工业大学 Robot off line programming system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10133730A (en) * 1996-10-30 1998-05-22 Asahi Sanac Kk Method and device for generating operation program for robot
CN101973032A (en) * 2010-08-30 2011-02-16 东南大学 Off-line programming system and method of optical visual sensor with linear structure for welding robot
CN105171745A (en) * 2015-08-31 2015-12-23 上海发那科机器人有限公司 Robot off-line programming system
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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Application publication date: 20171110