CN111610969B - Robot offline program adding method, system, device and storage medium - Google Patents

Robot offline program adding method, system, device and storage medium Download PDF

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Publication number
CN111610969B
CN111610969B CN202010264835.3A CN202010264835A CN111610969B CN 111610969 B CN111610969 B CN 111610969B CN 202010264835 A CN202010264835 A CN 202010264835A CN 111610969 B CN111610969 B CN 111610969B
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Prior art keywords
track
program
track point
instruction
template file
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CN111610969A (en
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黄坚
王跃
刘绍福
约瑟夫
练书均
张丽茵
温伟伟
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Mino Automotive Equipment Shanghai Co ltd
Guangzhou Mino Equipment Co Ltd
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Mino Automotive Equipment Shanghai Co ltd
Guangzhou Mino Automotive Equipment Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/35—Creation or generation of source code model driven
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/34—Graphical or visual programming
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G06F8/36—Software reuse
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a method, a system, a device and a storage medium for adding an offline program of a robot, wherein the adding method comprises the following steps: acquiring a template file, wherein the content of the template file comprises a program type, a searching mode of track points, track point marks and a program instruction; analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface; acquiring a track point or a track and a program instruction corresponding to the track point or the track through the interactive interface; after the confirmation instruction is acquired, the program instruction acquired through the interactive interface is written into the corresponding track point or track, and the log file is output. The invention can simplify the writing method of the robot program instruction, improve the multiplexing rate and the writing efficiency of the program instruction, and is beneficial to group cooperation sharing. The invention can be widely applied to the field of industrial robots.

Description

Robot offline program adding method, system, device and storage medium
Technical Field
The present invention relates to the field of industrial robots, and in particular, to a method, a system, a device, and a storage medium for adding offline programs to robots.
Background
The robot off-line program is an important component of intelligent manufacturing, and is one of core working contents of virtual simulation and also a delivery object. Robots are used as equipment essential for industrial manufacture, and the quantity is huge; robots are classified according to working properties, and have different working types such as welding, gluing, polishing and the like, different working types have different programs, and the same working type has a plurality of reusable part of the same programs.
At present, the original procedure of the robot mainly comprises two generation modes: 1. the entity robot generates an initial program through teaching, and then reversely returns to relevant software to edit, modify and test the initial program to generate a final program; 2. the method is characterized in that the method comprises the steps of manually writing in Tecnomatix software, storing most programs in corresponding track points, sequentially opening an instruction editor of the track points during editing, and then selecting a corresponding instruction format for non-plain text writing. The workload of the two modes is huge, the period is long and the errors are easy to occur, and many reusable programs are not effectively reused or the multiplexing effect is not ideal, so that team cooperation is not facilitated.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a method, a system, a device and a storage medium for adding an offline program of a robot. The invention can simplify the writing method of the robot program instruction, improve the multiplexing rate and the writing efficiency of the program instruction, and is beneficial to group cooperation sharing.
In a first aspect, an embodiment of the present invention provides a method for adding an offline program of a robot, including the following steps:
acquiring a template file, wherein the content of the template file comprises a program type, a searching mode of track points, track point marks and a program instruction;
analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface;
acquiring a track point or a track and a program instruction corresponding to the track point or the track through the interactive interface;
after the confirmation instruction is acquired, the program instruction acquired through the interactive interface is written into the corresponding track point or track, and the log file is output.
Optionally, when the program type supports the modification instruction, after the track point or track is obtained through the interactive interface and the program instruction corresponding to the track point or track, the method further includes the steps of:
and acquiring a modification instruction of the program instruction corresponding to the track point or the track, and taking the modified program instruction as the program instruction corresponding to the track point or the track.
Optionally, the parsing the template file includes the steps of:
judging whether the template file has sub pages or not;
when the sub page exists, judging whether the header of the sub page meets the format requirement;
and when the table head of the sub page meets the format requirement, acquiring the content of the sub page and storing the content in a modularized data structure.
Optionally, the step of obtaining the content of the sub page includes:
recording the program type of the sub page and judging whether the program type is correct or not;
when the program type is correct, acquiring a searching mode of the track point, and judging whether the searching mode of the track point is correct;
when the searching mode of the track points is correct, acquiring track point identifiers and judging whether the track point identifiers meet the requirements or not;
and when the track point identification meets the requirements, acquiring a program instruction and storing the program instruction in a modularized mode.
Optionally, the content of the module includes a track point searching mode, track point identification and program instructions.
Optionally, the interactive interface includes a load button, a confirm button, a clear button, and a reset button.
Optionally, the template file includes an Excel table file.
In a second aspect, an embodiment of the present invention provides a system for adding an offline program of a robot, including:
the first acquisition module is used for acquiring a template file, wherein the content of the template file comprises a program type, a track point searching mode, a track point mark and a program instruction;
the analysis module is used for analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface;
the second acquisition module is used for acquiring track points or tracks and program instructions corresponding to the track points or tracks through the interactive interface;
and the generation module is used for writing the program instruction acquired through the interactive interface into the corresponding track point or track after acquiring the confirmation instruction, and outputting the log file.
In a third aspect, an embodiment of the present invention provides an adding device for an offline program of a robot, including:
at least one processor;
at least one memory for storing at least one program;
and when the at least one program is executed by the at least one processor, the at least one processor is enabled to realize the method for adding the robot offline program.
In a fourth aspect, an embodiment of the present invention provides a storage medium having stored therein processor-executable instructions, which when executed by a processor, are for performing the above-described method of adding a robot offline program.
The embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the offline program of the robot is imported into the software through the template file, so that the problems of low efficiency and easiness in error caused by manual program instruction input are avoided; analyzing the template file and generating a corresponding interactive interface, and displaying the related file of the offline program to a user for visualization; the track or track point and the corresponding program thereof are acquired through the interactive interface, and the operation steps of the user on the interface are relatively simple; meanwhile, the template file can contain a plurality of robot offline programs, namely different robots can share one template file, so that the multiplexing rate of program instructions in the template file is improved; the whole offline program adding process simplifies the writing method of the robot program instruction, improves the multiplexing rate and the writing efficiency of the program instruction, and is beneficial to group cooperation sharing.
Drawings
Fig. 1 is a schematic flow chart of steps of a robot offline program adding method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of parsing a template file according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of acquiring sub-page content according to an embodiment of the present invention;
FIG. 4 is a flow chart of a modification instruction according to an embodiment of the present invention;
FIG. 5 is a flowchart of a reference point searching method according to an embodiment of the present invention;
FIG. 6 is a block diagram of a system for adding an offline program to a robot according to an embodiment of the present invention;
fig. 7 is a block diagram of a robot offline program adding device according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for adding an offline program of a robot, including the following steps:
s1, acquiring a template file, wherein the content of the template file comprises a program type, a track point searching mode, a track point mark and a program instruction.
S2, analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface.
S3, acquiring a track point or a track and a program instruction corresponding to the track point or the track through the interactive interface.
And S4, after the confirmation instruction is acquired, writing the program instruction acquired through the interactive interface into the corresponding track point or track, and outputting the log file.
Optionally, when the program type supports the modification instruction, after the track point or track is obtained through the interactive interface and the program instruction corresponding to the track point or track, the method further includes the steps of:
and acquiring a modification instruction of the program instruction corresponding to the track point or the track, and taking the modified program instruction as the program instruction corresponding to the track point or the track.
It should be noted that, the template file may have various file formats, for example, including an Excel table file and an XML file, and because of the convenience of use of the Excel table file, the present application describes in detail using the Excel table file as the template file. The program template of the Excel form file is formulated according to the client standard, and program instructions are written according to the specific realized functions.
An Excel table format is described below.
An Excel file is a workbook and multiple worksheets may be created, one worksheet being a sub-page. Each sub-page comprises at least 4 columns from column a to column D, the first row of each column being a header row, from A1 to D1 respectively: program type, track point searching mode, track point mark and program instruction. A2 unit cells are specifically classified into program types, are currently classified into JOB/SERVICE, and support late expansion of different types; the interface corresponding to these two program types is mainly different at present: the JOB type interface supports modification related instructions, while the SERVICE type interface does not support modification related instructions. The present embodiment supports whether the user defines whether the program type is JOB or SERVICE, and determines whether to activate the modification function. JOB and SERVICE are just the names of two options. For example, it may be defined whether the modified option name is available/disabled.
B is the searching mode of the track points, and is divided into 3 types at present: LOCATION type indicates that the trace point is at a particular LOCATION, see column C in particular; the SELECT type indicates that the trace point requires manual pick-up by an operator; the NAME type indicates that the track point needs to be searched according to the NAME, namely, the track point of the NAME needs to be searched before the instruction is input, and the specific NAME and other information are seen in column C.
Column C is a trace point identifier, which is a further supplementary explanation of column B. The column C corresponding to the LOCATION type is: OP, FIRST, LAST, etc. Where OP represents the track itself, which can also be understood as the folder itself; FIRST represents a FIRST trace point; LAST represents the LAST trace point; "+1", "+2", "-1", etc. indicate which track point is before and after a certain point, for example, first+2 indicates the 2 nd track point after the FIRST track point. The C column corresponding to the SELECT type is not limited to characters, and an operator can fill out the name of the relevant track point to be picked up for prompting. The column C corresponding to NAME may be any character, which represents the NAME of the trace point.
And the column D is a robot program instruction. One track point can write a plurality of lines of instructions, one line of instructions is stored in one cell for convenient viewing and writing, and all instructions of one track point can be stored in one cell. It should be noted that, a part of the unit cells in column D may be marked with a color, for example, yellow, to indicate that the line instruction supports modification by an operator, and when an interface is generated subsequently, a modification frame for marking the line of the color instruction is provided, and no color is used to support modification by the operator; this greatly guarantees the quality and flexibility of program modification. In addition, the mode of identifying the instruction needing to be modified can also be added with other modes such as character identification in the E column.
Specifically, the template file is first imported into the simulation software, such as Tecnomaticix, and if the required template file is already stored in the software, the required template file can be directly called, or the template file used before can be automatically saved and added into the history record to facilitate the next direct call. After the template file is obtained, the template file is analyzed, an interactive interface is generated according to the analyzed content, the interactive interface is used for obtaining selection or input instructions of an operator, the operator can pick up a plurality of relevant tracks or track points on the interface, when the program type in the template file supports the modification instructions, the interactive interface can generate a window for modifying the instructions so as to obtain the program modification instructions of the operator, if the program type in the template file does not support the modification instructions, the interactive interface does not have a modification window for instructions, and after the selection or input of the interactive interface is confirmed, the finally obtained program instructions are written into the corresponding tracks or track o' clock, and the log file is recorded and output.
FIG. 2 is a flow chart of resolving an Excel table of a template file, wherein first, whether a sub page exists in the Excel table file is judged; if the sub page exists, continuing to judge whether the header of the sub page meets the format requirement, and if the sub page does not exist, ending the analysis; if the table head of the sub-page meets the format requirement, the content of the sub-page is acquired and stored in a modularized data structure, and if the table head of the sub-page does not return to the previous step, the next sub-page is continuously analyzed. The judgment of the sub page and the sub page table header is carried out according to the Excel table file. It should be noted that, when the sub page or sub page module is not satisfactory, it is filtered out, instead of interrupting the program.
As shown in fig. 3, which is a flowchart for acquiring the contents of the sub page, firstly, recording the program type of the sub page and judging whether the program type is correct; when the program type is correct, acquiring a searching mode of the track point, and judging whether the searching mode of the track point is correct; when the searching mode of the track points is correct, acquiring track point identifiers and judging whether the track point identifiers meet the requirements or not; when the track point identification meets the requirements, acquiring a program instruction and storing the program instruction in a modularized mode; when incorrect judgment occurs in the judging process, the executing process is ended. Similarly, the program type, the searching mode of the track points and the judging method of the track point marks are judged according to the Excel table file.
It should be noted that, a module instruction includes a track point searching mode, a track point identifier and a program instruction, that is, BCD column combinations of an Excel table file, and BCD column contents jointly determine a track point. Meanwhile, B, C and column D are in one-to-one correspondence, and can be obtained and judged respectively by two columns B and C as shown in the method of FIG. 3; or simultaneously acquiring two rows B and C for simultaneous judgment.
An interactive interface is described below, which is generated from the sub-page data previously parsed, and portions of the gist described herein. It should be noted that, a sub-page correspondingly generates an interactive interface, and simultaneously generates a similar button for switching pages, and the name of the button is the name of the sub-page. Generating an interface supporting a pickable track, track points and modifiable instructions according to the BCD column setting of the Excel table file; the interface is additionally provided with matched buttons such as a loading button, a writing button, a resetting button, a clearing button and the like, so that the interface is convenient for operators to use.
The generated interactive interface includes the following functional areas:
and the M area has the function of opening a new Excel file to load a template file so as to generate a new interface, and the existing interface can be cleared. The M area comprises a standard button and a browse button, and the standard button is used for selecting a corresponding file name from the saved history files to directly open the files and generate an interface; the browse button function is to load a new template file and execute a parser, and it is necessary to reselect to open a new file and generate a new interface, and the existing interface is purged.
And the N area has the function of switching different sub-interfaces, wherein the different sub-interfaces correspond to different Excel sub-page data, and the selected sub-page data can be displayed on the interface.
The Q area is determined by the columns B and C in Excel, the text display content is the same as the column C in Excel, and the format is determined by the column B in Excel.
R area, corresponding to the robot program instruction to be written, namely D column content in EXCEL, and the operator can not modify.
S area, representing the track pick-up frame, if the track point pick-up frame exists in the interface Q area, the S area is forbidden, and the track shared by all the track point pick-up frames in the Q area is automatically added to the S frame; if the Q area has no track point pickup frame, the S frame is started, and an operator directly picks up the track.
A T area for modifying instructions, only the JOB type interface will appear; the related instruction is a cell of the color marked by the column D in Excel; the interface is convenient for operators to compare, and the operators are prompted to pay attention to the modified content by adopting a mode that two rows of data before and after modification are arranged in parallel; the relevant area identifies colors to facilitate the operator's knowledge of which of the trace points has been modified.
The U area includes load, clear, reset, confirm, and write buttons.
The following briefly describes the use method according to the above-described interactive interface: when the Q area is provided with a frame capable of picking up the track, engineers can pick up various track points, welding points, gluing process points, transition points and the like, and the S area does not support direct track picking; when the Q area has no frame capable of picking up the track, enabling and supporting the track frame of the S area, wherein each picking up frame supports multiple choices, namely the same interface represents the same section of program and can be written into a plurality of robots at the same time; when there are multiple pickable frames in the Q-area, each pickable frame contains at least one track point within the same track, the S-area track frame automatically adds the track.
Specifically, after the track point or track is picked up, if the instruction needs to be modified, the write button is automatically started to enter the write flow. It should be noted that, each sub-page has independent clear, reset and write buttons corresponding to the interactive interface. Since JOB type instructions support modification, modification instructions need to be acquired from the interface and updated, and then the writing process is entered. When the extended program types are different, only the instruction needs to be updated before writing, and the subsequent writing flow can be common, for example, the two types of programs of the JOB/SERVICE are different, but the subsequent writing flow is not different.
As shown in fig. 4, which is a flowchart of a writing program, taking a JOB type as an example, firstly determining an interface type or a program type, and obtaining a related instruction of JOB interface supporting modification; the interface presents an instruction module to be written and a track to be written, all track points under the track are obtained, relevant instruction contents of all track points are written according to different searching modes, and the specific searching modes comprise name type writing, pickup type writing and position type writing; and ending the program until the instruction module to be written does not exist. If the interface type is not the JOB type supporting the modification instruction, the interface presents an instruction module to be written and a track to be written, acquires all track points under the track, writes relevant instruction contents of all track points according to different searching modes, and specifically searches the related instruction contents according to name type writing, pickup type writing and position type writing; and ending the program until the instruction module to be written does not exist. The instruction module represents a track point and a corresponding instruction to be written.
Specifically, the content of the related instruction written into all the track points according to different searching modes is as follows. And writing the instruction according to the name type, namely searching and comparing the names after all track points under the track are acquired, writing the instruction if the name is found, not performing any processing if the name is not found, and recording related operations in a log. And writing instructions according to the pick-up type, namely after all track points under the current track are acquired, searching whether the picked track points are contained in the set, writing if the track points are contained in the set, not processing if the track points are not contained in the set, and recording logs of related operations. Writing instructions according to location type, then it is divided into several cases: OP represents the track itself, and is directly written into the instruction module; the instruction module is written based on the reference point.
Specifically, the reference point-based writing instruction module includes the following ways to find a specific reference track point: searching the position of a target track point in a program according to a FIRST or LAST mode; searching a target track point according to NAME type; and picking and selecting the target track point through the interactive interface according to the SELECT type. As shown in FIG. 5, firstly, judging whether the track point mark of the instruction module where the reference track point is located is OP, wherein OP represents the track itself, and the description of the front and rear points does not exist, and the condition belongs to abnormality, logs are recorded, the instruction module is returned, the writing of the instruction module is not performed, and the writing work of the next instruction module is entered; then, whether the track point mark is FIRST or LAST is judged, if so, the condition is simpler, and the 1 st or LAST track point of the track to be written currently can be obtained. If the track point identification is not the case that only any character is left, the corresponding searching mode comprises NAME and SELECT, whether the track point is of NAME type is judged firstly, if yes, the track point of NAME corresponding to the module where the reference track point is located under the track to be written currently is searched, and finally the SELECT is left as the reference track point; or judging whether the data is of the SELECT type, writing the track points, and searching through the NAME type.
It should be noted that, when the SELECT is left as the reference track point, there may be a plurality of track points picked up by the operator in the pickup frame, and the track points included in the current track are filtered. Because of the same interface, the S area track can be selected to be multiple, and the Q area track point pickup frame can be used for picking up the multiple. When writing in track as unit, only the track point under the current track is needed as the reference point. When SELECT is used as a reference, if there are multiple points, the N-th point is also multiple before and after the nature, and the corresponding points should be written.
The embodiment of the invention has the following beneficial effects: according to the embodiment of the invention, the offline program of the robot is imported into the software through the template file, so that the problems of low efficiency and easiness in error caused by manual program instruction input are avoided; analyzing the template file and generating a corresponding interactive interface, and displaying the related file of the offline program to a user for visualization; the track or track point and the corresponding program thereof are acquired through the interactive interface, and the operation steps of the user on the interface are relatively simple; meanwhile, the template file can contain a plurality of robot offline programs, namely different robots can share one template file, so that the multiplexing rate of program instructions in the template file is improved; the whole offline program adding process simplifies the writing method of the robot program instruction, improves the multiplexing rate and the writing efficiency of the program instruction, and is beneficial to group cooperation sharing.
As shown in fig. 6, the embodiment of the present invention further provides a system for adding an offline program of a robot, including:
the first acquisition module is used for acquiring a template file, wherein the content of the template file comprises a program type, a track point searching mode, a track point mark and a program instruction;
the analysis module is used for analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface;
the second acquisition module is used for acquiring track points or tracks and program instructions corresponding to the track points or tracks through the interactive interface;
and the generation module is used for writing the program instruction acquired through the interactive interface into the corresponding track point or track after acquiring the confirmation instruction, and outputting the log file.
It can be seen that the content in the above method embodiment is applicable to the system embodiment, and the functions specifically implemented by the system embodiment are the same as those of the method embodiment, and the beneficial effects achieved by the method embodiment are the same as those achieved by the method embodiment.
As shown in fig. 7, an embodiment of the present invention provides an adding device for an offline program of a robot, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method steps of adding the robot offline program as described above.
It can be seen that the content in the above method embodiment is applicable to the embodiment of the present device, and the functions specifically implemented by the embodiment of the present device are the same as those of the embodiment of the above method, and the beneficial effects achieved by the embodiment of the above method are the same as those achieved by the embodiment of the above method.
Furthermore, an embodiment of the present invention provides a storage medium having stored therein processor-executable instructions for performing the above-described method steps of adding a robot offline program when executed by a processor. Similarly, the content in the above method embodiment is applicable to the present storage medium embodiment, and the specific functions of the present storage medium embodiment are the same as those of the above method embodiment, and the achieved beneficial effects are the same as those of the above method embodiment.
While the preferred embodiment of the present invention has been described in detail, the invention is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and these modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.

Claims (10)

1. The method for adding the robot offline program is characterized by comprising the following steps of:
acquiring a template file, wherein the content of the template file comprises a program type, a searching mode of track points, track point marks and a program instruction;
analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface;
acquiring a track point or a track and a program instruction corresponding to the track point or the track through the interactive interface; the track is formed by a plurality of track points, and the track is to be written;
after the confirmation instruction is acquired, the program instruction acquired through the interactive interface is written into the corresponding track point or track, and the log file is output.
2. The method for adding an offline program to a robot according to claim 1, wherein when the program type supports a modification instruction, after the track point or track is obtained through the interactive interface and the program instruction corresponding to the track point or track, the method further comprises the steps of:
and acquiring a modification instruction of the program instruction corresponding to the track point or the track, and taking the modified program instruction as the program instruction corresponding to the track point or the track.
3. The method for adding an offline robot program according to claim 1 or 2, wherein said parsing said template file comprises the steps of:
judging whether the template file has sub pages or not;
when the sub page exists, judging whether the header of the sub page meets the format requirement;
and when the table head of the sub page meets the format requirement, acquiring the content of the sub page and storing the content in a modularized data structure.
4. The method for adding an offline program to a robot according to claim 3, wherein the step of acquiring the contents of the sub-page comprises the steps of:
recording the program type of the sub page and judging whether the program type is correct or not;
when the program type is correct, acquiring a searching mode of the track point, and judging whether the searching mode of the track point is correct;
when the searching mode of the track points is correct, acquiring track point identifiers and judging whether the track point identifiers meet the requirements or not;
and when the track point identification meets the requirements, acquiring a program instruction and storing the program instruction in a modularized mode.
5. The method for adding an offline program of a robot according to claim 4, wherein the contents of the modules include a track point searching mode, a track point identifier and a program instruction.
6. The method of claim 1 or 2, wherein the interactive interface comprises a load button, a confirm button, a clear button, and a reset button.
7. The method of adding a robot offline program according to claim 1 or 2, wherein the template file comprises an Excel table file.
8. An addition system of a robot offline program, comprising:
the first acquisition module is used for acquiring a template file, wherein the content of the template file comprises a program type, a track point searching mode, a track point mark and a program instruction;
the analysis module is used for analyzing the template file, storing the analyzed template file and generating a corresponding interactive interface;
the second acquisition module is used for acquiring track points or tracks and program instructions corresponding to the track points or tracks through the interactive interface; the track is formed by a plurality of track points, and the track is to be written;
and the generation module is used for writing the program instruction acquired through the interactive interface into the corresponding track point or track after acquiring the confirmation instruction, and outputting the log file.
9. The robot off-line program adding device is characterized by comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method of adding a robot offline program according to any one of claims 1-7.
10. A storage medium having stored therein processor executable instructions which, when executed by a processor, are for performing the method of adding a robot offline program according to any of claims 1-7.
CN202010264835.3A 2020-04-07 2020-04-07 Robot offline program adding method, system, device and storage medium Active CN111610969B (en)

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