CN111993419B - PDPS-based robot offline manufacturing method and device and computer terminal equipment - Google Patents
PDPS-based robot offline manufacturing method and device and computer terminal equipment Download PDFInfo
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- CN111993419B CN111993419B CN202010798468.5A CN202010798468A CN111993419B CN 111993419 B CN111993419 B CN 111993419B CN 202010798468 A CN202010798468 A CN 202010798468A CN 111993419 B CN111993419 B CN 111993419B
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a PDPS-based robot off-line manufacturing method, which comprises the following steps: acquiring a robot track manufactured according to a process production flow; respectively acquiring a robot simulation signal required to be added in an analog simulation stage and a field signal required to be added in an offline output stage according to a process flow standard and a field user standard; programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library; and performing analog simulation and/or offline output on the robot track according to the customized instruction library. Therefore, in the robot off-line manufacturing process, the debugging time can be effectively saved in the simulation stage, the modification time is saved in the off-line output manufacturing stage, meanwhile, the error rate of signal addition is reduced, and the collision risk of field linkage debugging is reduced. Only the template needs to be modified for the relevant signals to be output again, and synchronous modification of each program is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot offline manufacturing method and device based on PDPS, computer terminal equipment and a computer readable storage medium.
Background
The robot is manufactured off line, aiming at simulating all environments of a simulation site by software and manufacturing the track of the corresponding process for the robot, thereby outputting a corresponding program to the site. This greatly reduces the workload on site. Due to the factors of large quantity of project robots, large workload, intensive equipment, short construction period and the like in the automobile industry, the traditional method for teaching the track program of the robot can cause very high labor cost during working, and the risk of the project is not controllable. With the appearance of robot simulation software such as ROBCAD, PDPS and the like, most teaching works can be completed in advance by robot simulation offline, and risk points of engineering projects can be mastered in advance, so that the robot teaching works during engineering are more efficient and safer.
In the existing robot off-line manufacturing, three stages of manufacturing are needed, wherein the first stage is track manufacturing, the second stage is simulation, and the third stage is off-line output. In the second stage of manufacturing, various signals are added to the track of the robot according to different process flows of the line body to complete different flow simulation. The third stage requires the addition of various field signals to the outgoing offline according to field requirements.
However, during the second and third stages, at least the following problems exist:
1. the related signal addition of analog simulation production has high technical requirements on offline personnel, the debugging time is long, and the debugging time is greatly increased due to easy error in signal editing and naming;
2. because the program standard templates of the new clients can not be unified quickly, once all off-line programs are modified in the off-line output manufacturing stage, all off-line programs need to be added with the signal instructions in the off-line programs again, or the off-line programs are left for modification by field personnel, and the modification time cost is high;
3. the offline program instruction addition needs manual copying addition, the error rate is high, and the training cost is high.
Disclosure of Invention
The present invention is directed to a PDPS-based robot offline manufacturing method and apparatus, a computer terminal device, and a computer readable storage medium, to solve at least one of the above problems.
In order to achieve the above object, an embodiment of the present invention provides an offline manufacturing method for a PDPS-based robot, including:
acquiring a robot track manufactured according to a process production flow;
respectively acquiring a robot simulation signal required to be added in an analog simulation stage and a field signal required to be added in an offline output stage according to a process flow standard and a field user standard;
programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library;
and performing analog simulation and/or offline output on the robot track according to the customized instruction library.
In one embodiment, before the obtaining, according to a process standard and an on-site user standard, a robot simulation signal required to be added in an analog simulation stage and an on-site signal required to be added in an offline output stage, the method further includes:
classifying the robots according to the process production flow;
and classifying the robots again according to the preset position points in the robot track to obtain the classified robots.
In one embodiment, the obtaining, according to a process standard and a field user standard, a robot simulation signal required to be added in an analog simulation stage and a field signal required to be added in an offline output stage respectively specifically includes:
correspondingly refining robot simulation signals required to be added in the simulation stage for the classified different robots according to the process flow standard;
correspondingly refining the field signals required to be added in the offline output stage for the classified different robots according to the field user standard;
the simulation signals and the field signals of all robots are aggregated.
In one embodiment, the programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library specifically includes:
compiling a target customization instruction by a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block;
storing the XML file into a folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point.
In one embodiment, the method further comprises the following steps:
and constructing a plurality of corresponding customized instruction libraries according to the process flow standards and the field user standards of different users.
In one embodiment, the performing simulation and/or offline output on the robot trajectory according to the customized instruction library specifically includes:
responding to the operation of the selected user template, the process robot and a preset position point location instruction, and calling a target customization instruction in the analog simulation block or the offline output block;
and performing analog simulation and/or offline output on the robot track according to the target customization instruction, displaying the target customization instruction on the PDPS software interface, and displaying an analog simulation result and/or an offline output result.
The embodiment of the invention also provides a PDPS-based robot offline manufacturing device, which comprises:
the track acquisition module is used for acquiring a robot track manufactured according to a process production flow;
the standard acquisition module is used for respectively acquiring a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the off-line output stage according to the technological process standard and the field user standard;
the programming module is used for programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library;
and the simulation and offline output module is used for performing simulation and/or offline output on the robot track according to the customized instruction library.
In one embodiment, the programming module is further configured to:
compiling a target customization instruction by a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block;
storing the XML file into a folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point.
The embodiment of the invention also provides computer terminal equipment which comprises one or more processors and a memory. A memory coupled to the processor for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the PDPS based robot offline manufacturing method according to any of the embodiments described above.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the PDPS-based robot offline manufacturing method according to any of the above embodiments.
In summary, in the PDPS-based robot offline manufacturing method in the embodiment of the present invention, the robot track manufactured according to the process production flow is obtained; respectively acquiring a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the off-line output stage according to the process flow standard and the field user standard; then, programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library; and finally, performing analog simulation and/or offline output on the robot track according to the customized instruction library. Therefore, in the off-line manufacturing process of the robot, the debugging time can be effectively shortened in the simulation stage, the modification time can be shortened in the off-line output manufacturing stage, meanwhile, the error rate of signal addition is reduced, and the collision risk of field linkage debugging is reduced. Only the template needs to be modified for the relevant signals to be output again, and synchronous modification of each program is avoided.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an off-line PDPS-based robot manufacturing method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a PDPS-based robot offline manufacturing method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a PDPS-based robot offline manufacturing method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot classification in an offline PDPS-based robot manufacturing method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of an off-line PDPS-based robot manufacturing method according to an embodiment of the present invention;
FIG. 6 is a schematic flow diagram of a robot interaction provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram of a robot interaction provided by an embodiment of the present invention;
FIG. 8 is a schematic interface diagram of software provided by one embodiment of the present invention;
fig. 9 is a schematic flow chart of an off-line PDPS-based robot manufacturing method according to an embodiment of the present invention;
FIG. 10 is a schematic flow chart illustrating a method for manufacturing a PDPS-based robot offline according to another embodiment of the present invention;
fig. 11 is a schematic flow chart of an off-line PDPS-based robot manufacturing method according to an embodiment of the present invention;
FIG. 12 is an interface schematic of an instruction requiring manual keyboard entry at a particular location point of a pre-improvement robot trajectory program;
FIG. 13 is a flow chart illustrating a special location point add instruction of the improved robot trajectory program according to the present invention;
FIG. 14 is an interface diagram of a special location point add command for the improved robot trajectory program of the present invention;
fig. 15 is a schematic structural diagram of a PDPS-based robot offline manufacturing apparatus according to an embodiment of the present invention;
fig. 16 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a flowchart illustrating a PDPS-based robot offline manufacturing method according to an embodiment of the present invention. The PDPS-based robot offline manufacturing method provided by the embodiment of the invention comprises the following steps:
and S10, acquiring the robot track manufactured according to the process production flow.
The PDPS is an abbreviation of Process Designer and Process simullate, and is a product under Tecnomatix of Siemens. The PDPS is a software system, which includes two products with different functions, namely PD (Process Designer), and its main functions are data management and Process planning; PS (Process library for short), its main function is to implement simulation verification and off-line programming.
In the embodiment of the invention, the robot off-line manufacturing comprises three stages, wherein the first stage is a robot track manufacturing stage, the second stage is an analog simulation stage, and the third stage is an off-line output stage. Most of the work of the robot is teaching track points, and 50% of the work of off-line manufacturing is also in manufacturing robot tracks.
For a better understanding of the inventive concept of the present invention, the present invention will now be described in detail by taking a robot in the automotive field as an example. And (3) corresponding to different robot tracks in different process production flows, and performing corresponding track manufacturing on the process production flow corresponding to the robot so as to enable the robot to move to a proper position point and implement the posture. In the embodiment of the invention, the process production flow comprises a mounting flow and a welding flow.
In one embodiment, the steps of making the robot trajectory according to the process flow are as follows:
and selecting a robot in a simulation environment on a software interface of the PDPS, and selecting a motion mode of the robot through a RobotJog window to enable the robot to move to a proper position point and posture. Then, the welding Operation weldo Operation of the robot is clicked in a Path Editor window, and then an "Add Current Location" command button is clicked under an "Operation" menu bar, and the Current position of the robot is added as a teaching point. And repeating the two steps, and adding position points by moving the robot so that the robot can run a corresponding track by executing the program.
And S20, respectively acquiring robot simulation signals required to be added in the simulation stage and field signals required to be added in the off-line output stage according to the process flow standard and the field user standard.
After the tracks of the robots are completed, the process flow operation of the whole project needs to be completed, and the purpose is to conveniently evaluate the beat of the whole scheme. Different process programs are needed in the aspect of track operation of each robot, wherein the process operation mode needs to add signals to enable each robot to perform corresponding interaction to realize the process. And after the simulation is confirmed, the last step needs to be output to an off-line program to be sent to the field robot. The engineer can let the robot on site follow the off-line planned trajectory by executing the program.
However, in the simulation stage, due to the fact that the number of the automobile operation robots is large, the process is complex, actual process requirements are quite large, different signals need to be added to various specific position points of the track to achieve simulation, the debugging period of the process is long, and technical requirements on debugging personnel are relatively high. For the off-line output stage, because the generated program only has a track, various safety signals and interaction signals need to be added at special position points in the actual operation process like simulation, if the signals are added on the spot, much time and labor are needed, and errors are easy to occur in the spot addition, so that more risks are caused in the debugging stage.
In other embodiments, step S20 may also integrate the robot simulation signals required to be added during the simulation phase and the field signals required to be added during the offline output phase according to the process flow standard and the field user standard before step S10 to form a program standard template for the user.
And S30, programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library.
And S40, performing simulation and/or offline output on the robot track according to the customized instruction library.
In order to solve the above problem, in the embodiment of the present invention, an independent instruction library is constructed for the program standard of each client according to the secondary development function provided by the PDPS software, and the instructions in the instruction library are packaged and written into the field program modularized program instructions through the SOP and OLP functions of the secondary development. In the simulation stage, a plurality of functions can be realized only by adding the instruction corresponding to the instruction library. And the field program instruction can be directly displayed after offline output, so that the time for manually adding the field instruction before offline output is saved.
Referring to fig. 2, specifically, according to various special position points (different process flow position points) of robots of different processes, signals and instructions to be added in the analog simulation stage and the offline output stage are integrated, and through the PDPS instruction secondary development technology, the corresponding signals and instructions are programmed into an analog simulation block (SOP block) and an offline output block (OLP block) of a preset file, for example, the simulation signals are programmed into the SOP block, and the field signals are programmed into the OLP block, so as to manufacture customized instructions based on the special position points. The corresponding customized instruction is selected at the corresponding special position point in the robot track program, so that signals and instructions which need to be manually added in the simulation stage and the off-line output stage can be replaced.
In summary, in the PDPS-based robot offline manufacturing method in the embodiment of the present invention, the robot track manufactured according to the process production flow is obtained; respectively acquiring a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the off-line output stage according to the process flow standard and the field user standard; then, programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library; and finally, performing analog simulation and/or offline output on the robot track according to the customized instruction library. Therefore, in the off-line manufacturing process of the robot, the debugging time can be effectively shortened in the simulation stage, the modification time can be shortened in the off-line output manufacturing stage, meanwhile, the error rate of signal addition is reduced, and the collision risk of field linkage debugging is reduced. Only the template needs to be modified for the relevant signals to be output again, and synchronous modification of each program is avoided.
Referring to fig. 3, in one embodiment, before step S20, obtaining a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the offline output stage according to the process standard and the field user standard, respectively, the method further includes the following steps:
s50, classifying the robots according to the process production flow;
and S51, classifying the robots again according to the preset position points in the robot track to obtain the classified robots.
The preset position points are special position points in the process production flow and can also be used as flow prompting instructions. Please refer to fig. 4, the process flow of the robot process is classified, for example, the assembly flow uses a gripper robot, and the spot welding flow uses a welding robot. And further subdividing according to the flow, wherein the part transferring flow is subdivided into a part taking robot and a part placing robot.
Then, different position points are separated again according to different robots, taking a piece taking process as an example, the piece taking process comprises a piece taking starting point, a piece taking pre-waiting point, a piece taking arrival point and a piece taking ending point, taking a piece placing process as an example, the piece placing process comprises a piece placing starting point, a piece placing pre-waiting point, a piece placing arrival point and a piece placing ending point, taking a welding process as an example, the welding starting point, the welding waiting point and the welding ending point are included, and the special position points are taken as an instruction aggregate for being subsequently added into the simulation block and the offline output block.
Referring to fig. 5, in one embodiment, the step S20, namely, obtaining the robot simulation signal required to be added in the simulation stage and the field signal required to be added in the offline output stage according to the process standard and the field user standard, includes the following steps:
s21, correspondingly refining robot simulation signals required to be added in the simulation stage for the classified different robots according to the process flow standard;
s22, correspondingly refining the field signals required to be added in the offline output stage for the classified different robots according to the field user standard;
and S23, summarizing the simulation signals and the field signals of all robots.
For different robots, the corresponding process flow standards are different, and the robot simulation signals required to be added in the corresponding extraction simulation stage are different, such as safety signals and interaction signals, so that different robots can realize different simulation functions. Wherein, the simulation signal comprises a safety signal and an interaction signal.
In an embodiment, please refer to fig. 6, which illustrates an analog simulation in the automotive field, a welding robot R1 is responsible for spot welding, a gripper robot R2 is responsible for assembly, and the R1 and R2 robots need to operate simultaneously. The front 2 welding points of the R1 robot need to be welded all the time, and the R2 robot is provided with a workpiece and can work respectively. However, the trajectories of the R1 and the R2 robots have an interference region, that is, the trajectories of the R1 and the R2 robots overlap, so that the rear welding point of the R1 robot needs to wait for the R2 to be installed and exit from the safety region, and the R1 can continue to weld the rear half part, and if only the trajectories exist, the two robots can be seriously collided due to interference.
In order to solve the above problem, in the embodiment of the present invention, the instruction provided by the PDPS can be added through the OLP Command in the Path Editor, so as to implement simple interaction between robots. After the workpiece is installed and the R2 robot is retracted to a safe position, the R2_ FINISH signal needs to be sent to the R1 robot, and the R1 robot must wait for the R2_ FINISH signal R1 robot to continue welding at the safe position when the welding of the second welding point is finished.
Specifically, please refer to fig. 7, which extracts the required signal commands such as wait request or send request according to the process flow requirement. Continuing with the example of a simple gripper robot R2 and a welding robot R1. When the gripper robot R2 starts to release the workpiece, it sends a signal that zone _1 is 1 to the welding robot R1, and when the welding robot R1 moves to the welding waiting position, it needs to wait for the signal that zone _1 is 0 to execute the welding trace backward, and since zone _1 is 1 in this period, the welding robot R1 waits. When the gripper robot R2 reaches the discharge end point, it sends a signal that zone _1 is 0 to the welding robot R1, and at this time, the welding robot R1 determines that zone _1 is 0, and then executes the welding trace backward. In this way, by adding an interactive signal command such as a waiting request or a sending request, it is possible to avoid a serious collision due to interference between two robots whose trajectories overlap.
All the field instructions and signals which need to be added at the special position points are arranged through the customer standard.
The following table shows the instructions that need to be added at the corresponding locations of the field program for a particular user.
In a specific embodiment, a window of a robot controller is selected first, and then a control cabinet corresponding to the robot is selected, taking a KUKA controller as an example, and a DOWNLOAD operation is performed on a trajectory, so that a related program trajectory can be generated. Because the generated program only has a track, various safety signals and interaction signals need to be added at special position points in the field operation process as in the simulation, if the program is added on the field, much time and labor are needed, and errors are easy to occur in the field addition, so that more risks are caused in the debugging stage. In the embodiment of the present invention, as shown in fig. 8, the signals are added according to the client standard in the simulation environment, and the required signals are directly input through the framework of the OLP Command in the Path Editor.
In a specific embodiment, after collecting the instructions of the SOP and OLP, the simulation signals and the field signals of all robots of the user are collected in a table building manner.
Therefore, according to various special position points of the robot with different processes, the embodiment of the invention integrates the signals and the instructions which need to be added in the analog simulation stage and the off-line output stage respectively, and programs the corresponding signals and instructions into the SOP block and the OLP block of the preset file respectively through the PDPS instruction secondary development technology, thereby manufacturing the customized instructions based on the special position points.
Referring to fig. 9, in a certain embodiment, in step S30, the programming the simulation signal and the field signal into the simulation block and the offline output block of the preset file, respectively, to obtain the target customized instruction, so as to construct the customized instruction library, specifically includes the following steps:
s31, compiling a target customization instruction by a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block;
s32, storing the XML file into a file folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point.
XML is an extensible markup language, a subset of standard universal markup languages, and is a markup language for marking electronic documents to be structured. In electronic computers, a label refers to a symbol of information that can be understood by a computer, and by this label, various information such as articles and the like can be handled between computers. It can be used to mark data, define data types, and is a source language that allows a user to define his or her own markup language. It is well suited for world wide web transport, provides a uniform way to describe and exchange structured data independent of the application or vendor, is a cross-platform, content-dependent technology in the Internet environment, and is an effective tool today for processing distributed structural information.
In the embodiment of the present invention, according to the simulation signals of all robots and the field signals collected in step S23, target customized instructions are written in a preset writing framework to form an XML file.
In a specific embodiment, the preset structure for writing the target customized instruction is as follows:
after the writing is completed, the written XML file is put into the folder of PDPS, such as \ eMPPower \ Robotics \ OLP \ Kuka-Krc \ OlpConfiguration.
Referring to fig. 10, in an embodiment, the PDPS-based robot offline manufacturing method according to the embodiment of the present invention further includes the following steps:
and S60, constructing a plurality of corresponding customized instruction libraries according to the process flow standards and the field user standards of different users.
It can be understood that different users have different standards, so that it is necessary to establish different target customized instructions for different users to form a corresponding customized instruction library, so that only the instructions in the corresponding user instruction library need to be added in the simulation stage, and the field program instructions can be directly displayed after offline output, thereby saving the time of manually adding the field instructions before offline output.
Referring to fig. 11, in an embodiment, in step S40, performing simulation and/or offline output on the robot trajectory according to the customized instruction library, the method specifically includes the following steps:
s41, responding to the operation of the selected user template, the selected process robot and the preset position point location instruction, and calling a target customization instruction in the simulation block or the offline output block;
and S42, performing simulation and/or offline output on the robot track according to the customization instruction, displaying the target customization instruction on the PDPS software interface, and displaying a simulation result and/or an offline output result.
In the embodiment of the invention, when a user selects a corresponding user template, and specifies a corresponding robot and a preset position point, a target customization instruction in an analog simulation block or an offline output block is called, so that the robot track is subjected to analog simulation, offline output or both. In addition, the user can also view the current target customization instruction, and view the simulation result, the off-line output result or both in the PDPS software interface.
Referring to fig. 12-14, fig. 12 shows a command requiring manual keyboard input for a specific position point of the robot trajectory program before improvement, and fig. 13 and 14 show steps of adding a command for a specific position point of the robot trajectory program after improvement. As can be seen from fig. 12, before improvement, in the SOP simulation phase, a virtual signal needs to be manually set for simulation, and in the offline programming phase, a signal (interference region, interlock) needs to be manually added one by one, and a comment needs to be manually added one by one. As can be seen from fig. 13 and 14, after the improvement, it is only necessary to make the robot corresponding to the interference area code and select the corresponding command in the off-line stage, so as to complete all the above contents automatically at one time. Specifically, after the customized instruction library is established, only the written instruction of the user needs to be selected in the instruction column, then the corresponding interference number and the corresponding robot are specified, the simulation function of the robot interference area is directly generated after the instruction is generated, and the corresponding instruction is automatically generated after the instruction is output and offline.
In summary, in the PDPS-based robot offline manufacturing method according to the embodiment of the present invention, the robot processes are classified first, and then further classified by using the special position points, which can be used as corresponding instructions. And then collecting the customer standard and the process flow standard, and sorting out the instructions required to be added in the analog simulation stage and the field instructions required to be added in the offline output stage. Then, writing SOP and OLP program blocks of XML by the secondary development technology of PDPS, and copying the XML program file to the folder of the PDPS installation path, eMPPower, Robotics, OLP, Kuka-Krc, OlpConfiguration. The written user instructions can be seen by adding instructions to the PATH EDITOR of the PDPS. Therefore, by implementing the PDPS-based robot offline manufacturing method provided by the embodiment of the invention, the debugging time can be effectively saved by 30% in the analog simulation stage, the time can be saved by 60% in the offline output manufacturing stage, the error rate of signal addition is reduced, and the collision risk of field linkage debugging is reduced. Only the template needs to be modified for the relevant signals to be output again, and synchronous modification of each program is avoided.
Referring to fig. 15, an embodiment of the invention provides a PDPS-based robot offline manufacturing apparatus 100, which includes a trajectory acquisition module 110, a standard acquisition module 120, a programming module 130, and an analog simulation and offline output module 140.
The track acquisition module 110 is used for acquiring a robot track manufactured according to a process production flow;
the standard obtaining module 120 is configured to obtain a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the offline output stage according to a process flow standard and a field user standard;
the programming module 130 is configured to program the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file, respectively, to obtain a target customized instruction, so as to construct a customized instruction library;
the simulation and offline output module 140 is configured to perform simulation and/or offline output on the robot trajectory according to the customized instruction library.
In one embodiment, the programming module 130 is further configured to:
compiling a target customization instruction by a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block;
storing the XML file into a folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point.
For specific limitations of the PDPS-based robot offline production apparatus 100, reference may be made to the above limitations, which are not described herein again. The modules in the PDPS-based robot offline production apparatus 100 may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 16, an embodiment of the invention provides a computer terminal device including one or more processors and a memory. The memory is coupled to the processor for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the PDPS based robot offline production method as in any one of the embodiments above.
The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the PDPS-based robot off-line manufacturing method. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform the above-mentioned PDPS-based robot offline manufacturing method and achieve technical effects consistent with the above-mentioned methods.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the PDPS based robot offline manufacturing method in any of the above embodiments. For example, the computer readable storage medium may be the memory including the program instructions, which are executable by the processor of the computer terminal device to perform the above-mentioned PDPS-based robot offline manufacturing method, and achieve the technical effects consistent with the above-mentioned method.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A robot off-line manufacturing method based on PDPS is characterized by comprising the following steps:
acquiring a robot track manufactured according to a process production flow;
classifying the robots according to the process production flow;
classifying the robots again according to preset position points in the robot track to obtain the classified robots;
respectively acquiring a robot simulation signal required to be added in an analog simulation stage and a field signal required to be added in an offline output stage according to a process flow standard and a field user standard;
programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library, wherein the target customized instruction is compiled in a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block;
storing the XML file into a folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point;
and performing analog simulation and/or offline output on the robot track according to the customized instruction library.
2. The PDPS-based robot offline manufacturing method according to claim 1, wherein the acquiring, according to a process standard and a field user standard, a robot simulation signal required to be added in an analog simulation stage and a field signal required to be added in an offline output stage respectively comprises:
correspondingly refining robot simulation signals required to be added in the simulation stage for the classified different robots according to the process flow standard;
correspondingly refining the field signals required to be added in the offline output stage for the classified different robots according to the field user standard;
the simulation signals and the field signals of all robots are aggregated.
3. The PDPS-based robot offline manufacturing method of claim 1, further comprising:
and constructing a plurality of corresponding customized instruction libraries according to the process flow standards and the field user standards of different users.
4. The PDPS-based offline robot production method according to claim 1, wherein the performing simulation and/or offline output on the robot trajectory according to the customized instruction library specifically comprises:
responding to the operation of the selected user template, the process robot and a preset position point location instruction, and calling a target customization instruction in the analog simulation block or the offline output block;
and performing analog simulation and/or offline output on the robot track according to the target customization instruction, displaying the target customization instruction on the PDPS software interface, and displaying an analog simulation result and/or an offline output result.
5. A PDPS-based robot offline manufacturing device is characterized by comprising:
the track acquisition module is used for acquiring the track of the robot manufactured according to the process production flow and classifying the robot according to the process production flow; classifying the robots again according to preset position points in the robot track to obtain the classified robots;
the standard acquisition module is used for respectively acquiring a robot simulation signal required to be added in the simulation stage and a field signal required to be added in the off-line output stage according to the technological process standard and the field user standard;
the programming module is used for programming the simulation signal and the field signal into an analog simulation block and an offline output block of a preset file respectively to obtain a target customized instruction so as to construct a customized instruction library, and is also used for: compiling a target customization instruction by a preset compiling framework according to the simulation signal and the field signal to form an XML file; the preset compiling framework comprises an analog simulation block and an offline output block; storing the XML file into a folder of PDPS software so as to execute the target customization instruction when the PDPS software is operated; wherein the target customization instruction is associated with the preset location point;
and the simulation and offline output module is used for performing simulation and/or offline output on the robot track according to the customized instruction library.
6. A computer terminal device, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the PDPS based robot offline fabrication method of any one of claims 1 to 4.
7. A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the PDPS based robot offline manufacturing method of any one of claims 1 to 4.
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