CN111113426A - Robot off-line programming system based on CAD platform - Google Patents
Robot off-line programming system based on CAD platform Download PDFInfo
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- CN111113426A CN111113426A CN201911409343.2A CN201911409343A CN111113426A CN 111113426 A CN111113426 A CN 111113426A CN 201911409343 A CN201911409343 A CN 201911409343A CN 111113426 A CN111113426 A CN 111113426A
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- 238000012545 processing Methods 0.000 claims abstract description 46
- 238000004088 simulation Methods 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000002452 interceptive effect Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000005457 optimization Methods 0.000 claims abstract description 3
- 238000003754 machining Methods 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 3
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- 238000010276 construction Methods 0.000 claims description 3
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- 230000007704 transition Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a CAD platform-based robot offline programming system, which is characterized in that a model processing module processes a preset workpiece three-dimensional model, a robot three-dimensional model and relevant information of a robot, a pose information of a processing path relative to the robot is obtained through calculation of an interactive path generating module, offline path information accessibility detection and actual motion simulation of the robot are realized through a motion planning module and a robot simulation module, information is provided for optimization of path points, and the robot is generated through an offline program module for correct path information to directly run; the method solves the defects of the traditional teaching programming, effectively ensures the quality of the produced products, improves the labor productivity and the working environment, and is easy to realize flexible production.
Description
Technical Field
The invention relates to the field of robot offline programming systems, in particular to a robot offline programming system based on a CAD platform.
Background
The programming field of industrial robots mainly comprises two modes, namely an online teaching programming mode and an offline programming mode, wherein the online teaching programming mode is adopted by most industrial robots, and a teaching programming method is usually adopted at present, namely, the robot is manually controlled to move along a required track, and the movement track is recorded at the same time. The teaching programming method takes up the time of normal work of the industrial robot, and has the defects of low precision, low efficiency, dependence of processing quality on the experience of an operator and the like. In off-line programming, the robot performs teaching programming, which results in high programming complexity and high programming cost, and therefore, it is very important to solve the problems.
Disclosure of Invention
Aiming at the problems, the invention provides a robot offline programming system based on a CAD platform, which is an offline programming system consisting of a model processing module, an interactive processing path generation module, a robot description module, a motion planning module, a robot simulation module and an offline program generation module, so that the defects of the traditional teaching programming are overcome, the quality of produced products is effectively ensured, the labor productivity is improved, the working environment is improved, and the flexible production is easy to realize.
In order to realize the technical scheme, the invention provides a CAD platform-based robot offline programming system, which comprises a model processing module, an interactive processing path generation module, a robot description module, a motion planning module, a robot simulation module and an offline program generation module, wherein the model processing module is used for processing a preset workpiece three-dimensional model, a robot three-dimensional model and relevant information of a robot, the interactive path generation module is used for calculating and obtaining the position and attitude information of a processing path relative to the robot, the motion planning module and the robot simulation module are used for performing offline path information accessibility detection and actual motion simulation on the robot, information is provided for optimizing path points, and the correct path information is directly operated by generating the robot through the offline program module.
The further improvement lies in that: the model processing module comprises a CAD platform, a model processing module and a model display module, the development is carried out by using an open-source CAD platform OpenCASCADE as a basis, and the OpenCASCADE provides a called API interface function for realizing model processing and model display; the model processing module is used for realizing the import and export of a three-dimensional model, the new construction and editing of the model, the selection of points, lines, surfaces, shells and bodies and the analysis and calculation of model data; the model display module displays the data of the three-dimensional model on a computer screen in a visual mode, so that a user can intuitively operate the three-dimensional model.
The further improvement lies in that: the workpiece, the robot and the related three-dimensional models are imported and displayed through the model processing module, and meanwhile, the data of the three-dimensional models are also stored in the model processing module.
The improvement is that: the interactive machining path generation module comprises a user interaction module and a path generation module, wherein the user interaction module receives trigger information input by a user in a mode of human-computer communication, the trigger information comprises movement and clicking of a mouse and parameter input of a keyboard, points, lines and surfaces to be machined are selected in an interactive mode, machining process data are determined in the parameter input mode, and three-dimensional Cartesian coordinate information is generated by combining the process data and the selected three-dimensional model information; the path generation module generates position and posture information of a machining path point relative to the robot through three-dimensional Cartesian coordinate information of the machining path, stores data and sends the data to the motion planning module.
The further improvement lies in that: in the robot description module, robot data is described by an XML file and a three-dimensional model file in an STL format, and specifically comprises robot DH coordinate information, information of each joint of the robot, robot model file information and robot state information; extracting DH coordinate information of the robot, information of each joint of the robot, robot model file information and robot state information by reading XML information of a robot description file; sending the robot model information file information and the robot state information to a model processing module for displaying the robot model information; and sending the DH coordinate information of the robot, the information of each joint of the robot and the state information of the robot to a motion planning module and a robot simulation module for motion planning and simulation of the robot.
The further improvement lies in that: and reading the position and posture information of the path points by the motion planning module, and solving by inverse kinematics of the robot to obtain data of each joint of the robot when the tail end of the robot reaches the path points and the posture by combining the information of the robot so as to realize the fluency of joint transition between the path points of each point.
The further improvement lies in that: the robot simulation module carries out virtual motion on the robot in the CAD platform according to the joint and time data planned by the motion, and a user can conveniently check the correctness of the processing path data through a model display function.
The further improvement lies in that: and the off-line program generating module generates a program which can be directly executed by the robot according to the position and posture information of the processing path point and by combining the motion planning and the simulation result of the robot.
The further improvement lies in that: and adding a functional module connected with the entity robot to monitor and control the state of the robot in real time.
The invention has the beneficial effects that: compared with the traditional online teaching programming method, the offline programming method has the advantages of reducing the occupied time of the entity robot, generating the machining path points accurately, having stable machining quality, realizing the offline virtual simulation of the robot and the like, well solves the defects of the traditional teaching programming, effectively ensures the quality of the produced products, improves the labor productivity and the working environment, and is easy to realize flexible production.
The invention simplifies the method for programming the robot by using the demonstrator, so that the robot programming is simpler, more convenient and faster; three-dimensional model information of the workpiece can be extracted, and the running track of the robot is more accurate; the robot simulation function is provided, and the normal operation of the robot equipment is stably ensured; the whole off-line programming process is simulated through software, the cost is low, and the implementation is easy.
Drawings
FIG. 1 is a system framework diagram of the present invention.
FIG. 2 is a block diagram of a model processing module of the present invention.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
According to fig. 1 and 2, the embodiment provides a CAD platform-based robot offline programming system, which includes a model processing module, an interactive processing path generating module, a robot description module, a motion planning module, a robot simulation module, and an offline program generating module, wherein the model processing module processes a preset workpiece three-dimensional model, a robot three-dimensional model, and related information of a robot, and calculates and obtains pose information of a processing path relative to the robot through the interactive path generating module, the motion planning module and the robot simulation module perform offline path information accessibility detection and actual motion simulation on the robot, provide information for optimization of path points, and generate the robot through the offline program module for direct operation on correct path information.
In this embodiment, the model processing module includes a CAD platform, a model processing module, and a model display module, and is developed using an open-source CAD platform OpenCASCADE as a basis, and an API interface function is provided by OpenCASCADE for implementing model processing and model display; the model processing module is used for realizing the import and export of a three-dimensional model, the new construction and editing of the model, the selection of points, lines, surfaces, shells and bodies and the analysis and calculation of model data; the model display module displays the data of the three-dimensional model on a computer screen in a visual mode, so that a user can intuitively operate the three-dimensional model.
In the embodiment, the workpiece, the robot and the related three-dimensional model are imported and displayed through the model processing module, and meanwhile, the data of the three-dimensional model is also stored in the model processing module.
In this embodiment, the interactive machining path generating module includes a user interaction module and a path generating module, where the user interaction module receives trigger information input by a user in a human-computer communication manner, including movement of a mouse, clicking and parameter input of a keyboard, selects a point, a line and a plane to be machined in an interactive manner, determines machining process data in the parameter input manner, and generates three-dimensional cartesian coordinate information by combining the process data and the selected three-dimensional model information; the path generation module generates position and posture information of a machining path point relative to the robot through three-dimensional Cartesian coordinate information of the machining path, stores data and sends the data to the motion planning module.
In this embodiment, in the robot description module, robot data is described by an XML file and a three-dimensional model file in STL format, and specifically includes robot DH coordinate information, information of each joint of the robot, robot model file information, and robot state information; the XML format is:
<robot>
<joint>
<axis id＝”J1”max＝”0”min＝”0”alpha＝”0”a＝”0”theta＝”0”d＝”0”/>
……
<axis id＝”J6”max＝”0”min＝”0”alpha＝”0”a＝”0”theta＝”0”d＝”0”/>
</joint>
<geometry>
<stl id＝”J1”geo＝”J1.stl”/>
……
<stl id＝”J6”geo＝”J2.stl”/>
</geometry>
<base x＝”0”y＝”0”z＝”0”rx＝”0”ry＝”0”rz＝”0”/>
<state theta1＝”0”……theta6＝”0”/>
</robot>
extracting DH coordinate information of the robot, information of each joint of the robot, robot model file information and robot state information by reading XML information of a robot description file; sending the robot model information file information and the robot state information to a model processing module for displaying the robot model information; and sending the DH coordinate information of the robot, the information of each joint of the robot and the state information of the robot to a motion planning module and a robot simulation module for motion planning and simulation of the robot.
In this embodiment, the motion planning module reads the position and posture information of the path point, and in combination with the information of the robot, the inverse kinematics of the robot is used to solve and obtain the data of each joint of the robot when the tail end of the robot reaches the path point and the posture, and a plurality of solutions for the kinematics solution of each path point are provided, wherein the solutions include that the joint limit is exceeded, and the solutions are to be eliminated; prompting a user to modify the position and the posture of the path point without the solution; and the fluency of joint transition between each point of path is realized.
In this embodiment, the robot simulation module performs virtual motion on the robot in the CAD platform according to the joint and time data of the motion plan, and a user can conveniently check the correctness of the processing path data through a model display function.
In this embodiment, the offline program generating module generates a program that can be directly executed by the robot according to the position and posture information of the machining path point and by combining the motion planning and the result of the robot simulation.
The invention has the beneficial effects that: compared with the traditional online teaching programming method, the offline programming method has the advantages of reducing the occupied time of the entity robot, generating the machining path points accurately, having stable machining quality, realizing the offline virtual simulation of the robot and the like, well solves the defects of the traditional teaching programming, effectively ensures the quality of the produced products, improves the labor productivity and the working environment, and is easy to realize flexible production.
The invention has basic CAD function, and can realize the selection of points, lines and surfaces of the processing area; motion simulation is easy to realize; various parameters of the robot are conveniently identified, and the robot is described; and simulating the generated path to verify the correctness of the path.
The invention simplifies the method for programming the robot by using the demonstrator, so that the robot programming is simpler, more convenient and faster; three-dimensional model information of the workpiece can be extracted, and the running track of the robot is more accurate; the robot simulation function is provided, and the normal operation of the robot equipment is stably ensured; the whole off-line programming process is simulated through software, the cost is low, and the implementation is easy.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A robot off-line programming system based on a CAD platform is characterized in that: the system comprises a model processing module, an interactive processing path generation module, a robot description module, a motion planning module, a robot simulation module and an offline program generation module, wherein the model processing module processes a preset workpiece three-dimensional model, a preset robot three-dimensional model and relevant information of a robot, the interactive path generation module calculates and obtains pose information of a processing path relative to the robot, the motion planning module and the robot simulation module detect accessibility of offline path information of the robot and simulate actual motion, information is provided for optimization of path points, and the robot is generated through the offline program module to directly run for correct path information.
2. The CAD platform-based robot offline programming system of claim 1, wherein: the model processing module comprises a CAD platform, a model processing module and a model display module, the development is carried out by using an open-source CAD platform OpenCASCADE as a basis, and the OpenCASCADE provides a called API interface function for realizing model processing and model display; the model processing module is used for realizing the import and export of a three-dimensional model, the new construction and editing of the model, the selection of points, lines, surfaces, shells and bodies and the analysis and calculation of model data; the model display module displays the data of the three-dimensional model on a computer screen in a visual mode, so that a user can intuitively operate the three-dimensional model.
3. The CAD platform-based robot offline programming system of claim 2, wherein: the workpiece, the robot and the related three-dimensional models are imported and displayed through the model processing module, and meanwhile, the data of the three-dimensional models are also stored in the model processing module.
4. The CAD platform-based robot offline programming system of claim 1, wherein: the interactive machining path generation module comprises a user interaction module and a path generation module, wherein the user interaction module receives trigger information input by a user in a mode of human-computer communication, the trigger information comprises movement and clicking of a mouse and parameter input of a keyboard, points, lines and surfaces to be machined are selected in an interactive mode, machining process data are determined in the parameter input mode, and three-dimensional Cartesian coordinate information is generated by combining the process data and the selected three-dimensional model information; the path generation module generates position and posture information of a machining path point relative to the robot through three-dimensional Cartesian coordinate information of the machining path, stores data and sends the data to the motion planning module.
5. The CAD platform-based robot offline programming system of claim 1, wherein: in the robot description module, robot data is described by an XML file and a three-dimensional model file in an STL format, and specifically comprises robot DH coordinate information, information of each joint of the robot, robot model file information and robot state information; extracting DH coordinate information of the robot, information of each joint of the robot, robot model file information and robot state information by reading XML information of a robot description file; sending the robot model information file information and the robot state information to a model processing module for displaying the robot model information; and sending the DH coordinate information of the robot, the information of each joint of the robot and the state information of the robot to a motion planning module and a robot simulation module for motion planning and simulation of the robot.
6. The CAD platform-based robot offline programming system of claim 1, wherein: and reading the position and posture information of the path points by the motion planning module, and solving by inverse kinematics of the robot to obtain data of each joint of the robot when the tail end of the robot reaches the path points and the posture by combining the information of the robot so as to realize the fluency of joint transition between the path points of each point.
7. The CAD platform-based robot offline programming system of claim 1, wherein: the robot simulation module carries out virtual motion on the robot in the CAD platform according to the joint and time data planned by the motion, and a user can conveniently check the correctness of the processing path data through a model display function.
8. The CAD platform-based robot offline programming system of claim 1, wherein: and the off-line program generating module generates a program which can be directly executed by the robot according to the position and posture information of the processing path point and by combining the motion planning and the simulation result of the robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276107A (en) * | 2021-04-12 | 2021-08-20 | 郑智宏 | Online programming method based on three-dimensional vision |
| CN113836702A (en) * | 2021-09-03 | 2021-12-24 | 深圳市如本科技有限公司 | Robot teaching programming method and robot teaching programming device |
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| CN1734379A (en) * | 2004-08-02 | 2006-02-15 | 发那科株式会社 | Processing program generating device |
| US20140371905A1 (en) * | 2011-09-15 | 2014-12-18 | Convergent Information Technologies Gmbh | System and method for the automatic generation of robot programs |
| CN104942808A (en) * | 2015-06-29 | 2015-09-30 | 广州数控设备有限公司 | Robot motion path off-line programming method and system |
| CN110315534A (en) * | 2019-05-11 | 2019-10-11 | 深圳市鲲鹏智能装备制造有限公司 | The processing method and system of Ship Welding robot off-line programming |
-
2019
- 2019-12-31 CN CN201911409343.2A patent/CN111113426A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1734379A (en) * | 2004-08-02 | 2006-02-15 | 发那科株式会社 | Processing program generating device |
| US20140371905A1 (en) * | 2011-09-15 | 2014-12-18 | Convergent Information Technologies Gmbh | System and method for the automatic generation of robot programs |
| CN104942808A (en) * | 2015-06-29 | 2015-09-30 | 广州数控设备有限公司 | Robot motion path off-line programming method and system |
| CN110315534A (en) * | 2019-05-11 | 2019-10-11 | 深圳市鲲鹏智能装备制造有限公司 | The processing method and system of Ship Welding robot off-line programming |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276107A (en) * | 2021-04-12 | 2021-08-20 | 郑智宏 | Online programming method based on three-dimensional vision |
| CN113836702A (en) * | 2021-09-03 | 2021-12-24 | 深圳市如本科技有限公司 | Robot teaching programming method and robot teaching programming device |
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