CN112069645A - Virtual industrial robot rapid configuration method and system - Google Patents
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Abstract
The embodiment of the application discloses a method and a system for rapidly configuring a virtual industrial robot, wherein the method comprises the following steps: generating a geometric model file of the industrial robot according to a set rule; importing the geometric model file into a simulation system; adding each node in the geometric model file to a corresponding node group according to a set industrial robot standard form; and configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft. By defining the standard industrial robot, the configuration process of the industrial robot in the robot simulation system is simplified, the requirement of the robot configuration process on the professional knowledge of a user is reduced, the configuration time is shortened, and therefore the usability of the simulation system is improved.
Description
Technical Field
The embodiment of the application relates to the field of virtual simulation of industrial robots, in particular to a method and a system for rapidly configuring a virtual industrial robot.
Background
Industrial robots appeared in the 50's of the 20 th century, and since the invention of industrial robots, related technologies have been greatly developed, and industrial robots have been widely used in various fields such as aviation, aerospace, automobiles, electronic products, pharmacy, education and the like, and are important support equipment in industrial production. The current new industrial revolution represented by industrial robots comes, and the industrial robot can rapidly move into production and life in a way of being out of the way of masking ears, and can bring deep innovation to human production, life, social organization modes and the like. The industrial robot replaces a person to finish complex labor, changes the traditional manual operation mode in many fields, and realizes the combination of mass production and flexible and personalized manufacture.
Because the serial industrial robot has high degree of freedom, large flexibility and flexible movement, the support of virtual simulation software is often needed in the process of completing complex work tasks. The virtual simulation software realizes the simulation of the working process of the industrial robot by constructing a robot working system in a virtual environment, can realize the visualization of the robot motion in an off-line state, and checks various possible accidental conditions in the motion, such as singularity of the robot, collision of the robot with surrounding equipment and the like, and can effectively reduce the probability of danger in the on-line operation process and improve the programming efficiency of the robot through a closed loop at a software end.
The configuration of the robot is an essential function of virtual simulation software of the industrial robot, and is a configuration process for converting a CAD geometric design model of the industrial robot into a robot model containing kinematic information in the virtual simulation software. The existing simulation software is a general software system aiming at the simulation of a general motion mechanism or a special software system aiming at the off-line programming of the robot, the configuration process of the robot is complex, a user needs to deeply know the robotics, the configuration process is complex, and long time is consumed.
Disclosure of Invention
Therefore, the embodiment of the application provides a method and a system for rapidly configuring a virtual industrial robot, and the method and the system have the advantages of simple configuration process, convenience in operation and the like.
In order to achieve the above object, the embodiments of the present application provide the following technical solutions:
according to a first aspect of embodiments of the present application, there is provided a virtual industrial robot rapid configuration method, the method including:
generating a geometric model file of the industrial robot according to a set rule;
importing the geometric model file into a simulation system;
adding each node in the geometric model file to a corresponding node group according to a set industrial robot standard form;
and configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft.
Optionally, the origin of coordinates of the geometric model is located at the center of the base of the industrial robot, and the robot pose in the geometric model is consistent with the robot pose in the set standard form of the industrial robot; the geometric model is a CAD design model of the industrial robot, and the format comprises step, igs, obj and stl.
Optionally, the importing the geometric model file into a simulation system includes:
and providing a model reading function in the simulation system, reading the geometric model information into the simulation system and displaying the geometric model information on a screen.
Optionally, the adding each node in the geometric model file to the corresponding node group according to a set industrial robot standard form includes:
and selecting geometric nodes in the model from the geometric model displayed on the screen through a mouse, and adding the geometric nodes into each node group in the standard form of the set industrial robot.
Optionally, the kinematic information includes geometric model node group definitions, rod lengths, and axis definitions;
the configuration industrial robot kinematics information comprising:
and inputting the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure into a kinematic configuration function interface provided by the simulation system.
According to a second aspect of embodiments of the present application, there is provided a virtual industrial robot rapid configuration system, characterized in that the system comprises:
the geometric model generation module is used for generating a geometric model file of the industrial robot according to a set rule;
the geometric model importing module is used for importing the geometric model file into a simulation system;
the geometric model configuration module is used for adding each node in the geometric model file to the corresponding node group according to a set industrial robot standard form;
and the kinematic information configuration module is used for configuring the kinematic information of the industrial robot, and the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft.
Optionally, the origin of coordinates of the geometric model is located at the center of the base of the industrial robot, and the robot pose in the geometric model is consistent with the robot pose in the set standard form of the industrial robot; the geometric model is a CAD design model of the industrial robot, and the format comprises step, igs, obj and stl.
Optionally, the geometric model importing module is specifically configured to:
and providing a model reading function in the simulation system, reading the geometric model information into the simulation system and displaying the geometric model information on a screen.
Optionally, the geometric model configuration module is specifically configured to:
and selecting geometric nodes in the model from the geometric model displayed on the screen through a mouse, and adding the geometric nodes into each node group in the standard form of the set industrial robot.
Optionally, the kinematic information includes geometric model node group definitions, rod lengths, and axis definitions;
the kinematic information configuration module is specifically configured to:
and inputting the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure into a kinematic configuration function interface provided by the simulation system.
In summary, the embodiment of the present application provides a method and a system for rapidly configuring a virtual industrial robot, where a geometric model file of an industrial robot is generated according to a set rule, and the geometric model file is imported into a simulation system; further, adding each node in the geometric model file to a corresponding node group according to a set industrial robot standard form; further, kinematic information of the industrial robot is configured, the kinematic information including a dimension parameter, a direction of the shaft, and a rotation limit angle of the shaft. By defining the standard industrial robot, the configuration process of the industrial robot in the robot simulation system is simplified, the requirement of the robot configuration process on the professional knowledge of a user is reduced, the configuration time is shortened, and therefore the usability of the simulation system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
Fig. 1 is a schematic flowchart of a virtual industrial robot rapid configuration method provided in an embodiment of the present application;
fig. 2 is a schematic diagram of an embodiment of a standard industrial robot geometric model node group definition provided in an embodiment of the present application;
fig. 3 is a schematic diagram of an embodiment of orientation definition of links and axes of a standard industrial robot provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of an embodiment of a kinematic configuration provided by an embodiment of the present application;
fig. 5 is a block diagram of a virtual industrial robot rapid configuration system according to an embodiment of the present application.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
Fig. 1 shows a flowchart of a virtual industrial robot rapid configuration method provided by an embodiment of the present application, where the method includes the following steps:
step 101: and generating a geometric model file of the industrial robot according to a set rule.
Step 102: and importing the geometric model file into a simulation system.
Step 103: and adding each node in the geometric model file to the corresponding node group according to a set industrial robot standard form.
Step 104: and configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft.
In a possible embodiment, the origin of coordinates of the geometric model is located in the center of the base of the industrial robot, and the robot pose in the geometric model is consistent with the robot pose in the set standard form of the industrial robot; the geometric model is a CAD design model of an industrial robot in a format including, but not limited to, step, igs, obj, and stl.
In one possible embodiment, in step 102, a model reading function is provided in the simulation system, and the geometric model information is read into the simulation system and displayed on a screen.
In a possible embodiment, in step 103, the geometric nodes in the model are selected by mouse in the geometric model displayed on the screen and added to the node groups in the standard form of the set industrial robot.
In one possible embodiment, the kinematic information includes geometric model node group definitions, rod lengths and axis definitions; in step 104, the bar length, the direction of each axis and the rotation limit angle of the link structure of the industrial robot are input in the kinematic configuration function interface provided by the simulation system.
Fig. 2 is a schematic diagram of an embodiment of a node group definition of a geometric model of a standard industrial robot in a virtual industrial robot rapid configuration method provided by an embodiment of the application. As shown in fig. 2, the geometric model node group definition provided by this embodiment includes: the base, the connecting rod 1, the connecting rod 2, the connecting rod 3, the connecting rod 4, the connecting rod 5 and the connecting rod 6 are 7 parts in total.
It should be noted that although there are only 7 parts in the definition of the geometric model node group, each model node group may be subdivided into 1 or more geometric model nodes.
In the geometric model configuration of step 103, the imported three-dimensional geometric model and the embodiment intent defined by the geometric model node group shown in fig. 2 are simultaneously displayed in the simulation software, the user selects a geometric node on the three-dimensional model by a mouse, adds the selected geometric node to a corresponding one of the 7 node groups according to the definition in the graph, and then hides the selected node; this process of check-join-hide is repeated until all geometric model nodes are joined in the corresponding node group.
Fig. 3 is a schematic diagram of an embodiment of defining directions of links and axes of a standard industrial robot in a virtual industrial robot rapid configuration method provided by an embodiment of the present application. As shown in fig. 3, the industrial robot in the embodiment has 6 axes (a1, a2, A3, a4, a5, a6) in total, and the positive direction of rotation of each axis is defined in the figure, and can be determined according to the legend or according to the right-hand rule.
Corresponding to the 7 node groups in fig. 2, the 6 shafts are connected by 7 links in fig. 3 (solid bold line in the figure, wherein the 7 th link is the part behind the a6 shaft, which is not shown in the occluded figure).
In order to determine the spatial positions of the axes in the simulation software, 6 rod length parameters L1, L2, L3, L4, L5 and L6 are defined in fig. 3, wherein L1 is the vertical distance from the center of the base to the axis a2, L2 is the horizontal distance from the axis a1 to the axis a2, L3 is the vertical distance from the axis a2 to the axis A3, L4 is the vertical distance from the axis A3 to the axis a4, L5 is the horizontal distance from the axis A3 to the axis A5, and L6 is the horizontal distance from the axis A5 to the axis a 6. Typically, these parameters can be found in the robot specification.
Fig. 4 is a schematic diagram of an embodiment of a kinematic configuration of a virtual industrial robot rapid configuration method provided in an embodiment of the present application. The right side of the figure is a schematic diagram of the standard industrial robot with the rod length and the orientation definition of the axes, and the left side is a data input part. The left data input section includes:
step 401: the length unit represents the unit of the input data of the rod length, and can be switched by clicking the displayed unit to perform common length units such as millimeter, centimeter, decimeter, meter and the like.
Step 402: the angle unit indicates the unit of input data of the axis, and can be switched by clicking the displayed unit to perform a common angle unit such as degrees and radians.
Step 403: the rod length, the numerical value of the right-hand drawing corresponding to the example lengths L1-L6, may be entered directly as a number for data entry in the corresponding box.
Step 404: the direction, the axis is positive, the open circle indicates that the direction of the robot axis arranged is opposite to the direction of the axis specified in the standard robot definition in the right side drawing, the solid circle indicates that the direction of the robot axis arranged is the same as the direction of the axis specified in the standard robot definition in the right side drawing, and the open/solid state of the circle can be switched by clicking the circle.
Step 405: the shaft limit and the rotation angle limit of each shaft can input numbers in corresponding boxes for data input, the upper box represents an upper limit, the lower box represents a lower limit, and if no limit exists, the number 0 is filled in.
Step 406: the initial value, the actual rotation angle of each axis of the robot in the right graphical pose, can be entered in a box.
In summary, according to the virtual industrial robot rapid configuration method provided by the embodiment of the application, a geometric model file of an industrial robot is generated according to a set rule; importing the geometric model file into a simulation system; adding each node in the geometric model file to a corresponding node group according to a set industrial robot standard form; and configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft. By defining the standard industrial robot, the configuration process of the industrial robot in the robot simulation system is simplified, the requirement of the robot configuration process on the professional knowledge of a user is reduced, the configuration time is shortened, and therefore the usability of the simulation system is improved.
Based on the same technical concept, the embodiment of the present application further provides a virtual industrial robot rapid configuration system, as shown in fig. 5, the system includes:
and a geometric model generating module 501, configured to generate a geometric model file of the industrial robot according to a set rule.
A geometric model import module 502, configured to import the geometric model file into the simulation system.
And the geometric model configuration module 503 is configured to add each node in the geometric model file to the corresponding node group according to a set industrial robot standard form.
A kinematic information configuration module 504 for configuring kinematic information of the industrial robot, the kinematic information including a dimension parameter, a direction of the axis, and a rotation limit angle of the axis.
In a possible embodiment, the origin of coordinates of the geometric model is located in the center of the base of the industrial robot, and the robot pose in the geometric model is consistent with the robot pose in the set standard form of the industrial robot; the geometric model is a CAD design model of the industrial robot, and the format comprises step, igs, obj and stl.
In a possible implementation, the geometric model importing module 502 is specifically configured to: and providing a model reading function in the simulation system, reading the geometric model information into the simulation system and displaying the geometric model information on a screen.
In a possible implementation, the geometric model configuration module 503 is specifically configured to: and selecting geometric nodes in the model from the geometric model displayed on the screen through a mouse, and adding the geometric nodes into each node group in the standard form of the set industrial robot.
In one possible embodiment, the kinematic information includes geometric model node group definitions, rod lengths and axis definitions; the kinematic information configuration module 504 is specifically configured to: and inputting the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure into a kinematic configuration function interface provided by the simulation system.
In the present specification, each embodiment of the method is described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Reference is made to the description of the method embodiments.
It is noted that while the operations of the methods of the present invention are depicted in the drawings in a particular order, this is not a requirement or suggestion that the operations must be performed in this particular order or that all of the illustrated operations must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
Although the present application provides method steps as in embodiments or flowcharts, additional or fewer steps may be included based on conventional or non-inventive approaches. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an apparatus or client product in practice executes, it may execute sequentially or in parallel (e.g., in a parallel processor or multithreaded processing environment, or even in a distributed data processing environment) according to the embodiments or methods shown in the figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded.
The units, devices, modules, etc. set forth in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, in implementing the present application, the functions of each module may be implemented in one or more software and/or hardware, or a module implementing the same function may be implemented by a combination of a plurality of sub-modules or sub-units, and the like. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a mobile terminal, a server, or a network device) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The application is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The above-mentioned embodiments are further described in detail for the purpose of illustrating the invention, and it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A virtual industrial robot rapid configuration method, characterized in that the method comprises:
generating a geometric model file of the industrial robot according to a set rule;
importing the geometric model file into a simulation system;
adding each node in the geometric model file to a corresponding node group according to a set industrial robot standard form;
and configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft.
2. The method according to claim 1, characterized in that the origin of coordinates of the geometric model is located in the center of the base of the industrial robot, the robot pose in the geometric model coinciding with the robot pose in the set standard form of the industrial robot; the geometric model is a CAD design model of the industrial robot, and the format comprises step, igs, obj and stl.
3. The method of claim 1, wherein importing the geometric model file into a simulation system comprises:
and providing a model reading function in the simulation system, reading the geometric model information into the simulation system and displaying the geometric model information on a screen.
4. The method of claim 1, wherein said adding each node in said geometric model file to a corresponding node group in a set industrial robot standard form comprises:
and selecting geometric nodes in the model from the geometric model displayed on the screen through a mouse, and adding the geometric nodes into each node group in the standard form of the set industrial robot.
5. The method of claim 1, wherein the kinematic information includes geometric model node set definitions, rod lengths, and axis definitions;
the configuration industrial robot kinematics information comprising:
and inputting the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure into a kinematic configuration function interface provided by the simulation system.
6. A virtual industrial robot rapid configuration system, characterized in that the system comprises:
the geometric model generation module is used for generating a geometric model file of the industrial robot according to a set rule;
the geometric model importing module is used for importing the geometric model file into a simulation system;
the geometric model configuration module is used for adding each node in the geometric model file to the corresponding node group according to a set industrial robot standard form;
and the kinematic information configuration module is used for configuring the kinematic information of the industrial robot, and the kinematic information comprises a dimension parameter, the direction of the shaft and the rotation limiting angle of the shaft.
7. The system of claim 6, wherein the origin of coordinates of the geometric model is located at the center of the base of the industrial robot, and the robot pose in the geometric model is consistent with the robot pose in the set industrial robot standard form; the geometric model is a CAD design model of the industrial robot, and the format comprises step, igs, obj and stl.
8. The system of claim 6, wherein the geometric model import module is specifically configured to:
and providing a model reading function in the simulation system, reading the geometric model information into the simulation system and displaying the geometric model information on a screen.
9. The system of claim 6, wherein the geometric model configuration module is specifically configured to:
and selecting geometric nodes in the model from the geometric model displayed on the screen through a mouse, and adding the geometric nodes into each node group in the standard form of the set industrial robot.
10. The system of claim 6, wherein the kinematic information includes geometric model node set definitions, rod length and axis definitions;
the kinematic information configuration module is specifically configured to:
and inputting the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure into a kinematic configuration function interface provided by the simulation system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112936226A (en) * | 2021-01-29 | 2021-06-11 | 清华大学 | Rigidity modeling method for terminal Cartesian space of parallel-series robot |
| CN112936226B (en) * | 2021-01-29 | 2023-09-05 | 清华大学 | Rigidity modeling method for Cartesian space at tail end of parallel-serial robot |
| CN114367975A (en) * | 2021-11-15 | 2022-04-19 | 上海应用技术大学 | Verification system of series industrial robot control algorithm |
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