CN112069645B - Rapid configuration method and system for virtual industrial robot - 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; kinematic information of the industrial robot is configured, including a dimensional parameter, a direction of the shaft, and a 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 professional knowledge requirement of the robot configuration process on a user is reduced, and the configuration time is shortened, so that 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 have emerged in the 50 s of the 20 th century, and since the application of industrial robots, related technologies have been greatly developed, industrial robots have been widely used in various fields of aviation, aerospace, automobiles, electronic products, pharmaceutical, education, etc., and are important supporting devices in industrial production. The new industry revolution represented by industrial robots has come at present, and the new industry revolution brings about deep changes to human production, life, social organization modes and the like by taking our production and life with the potential of being less than mask. The industrial robot replaces people to complete complex labor, changes the traditional manual operation mode in many fields, and realizes the combination of mass production, flexibility and personalized manufacturing.
Because of the high degree of freedom, large flexibility and flexible movement of the serial industrial robots, virtual simulation software is often required to support in 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 movement of the robot in an off-line state, and can check various unexpected situations possibly occurring in the movement, such as the singular of the robot, the 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 the closed loop at the software end.
The configuration of the robot is an essential function of the virtual simulation software of the industrial robot, and is a configuration process of 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 for simulating a general movement mechanism or a special software system for offline programming of a robot, the configuration process of the robot is complex, a user needs to have deeper knowledge of robotics, the configuration process is complex, and long time is required to be consumed.
Disclosure of Invention
Therefore, the embodiment of the application provides a method and a system for quickly configuring a virtual industrial robot, which have the advantages of simple configuration process, convenient operation and the like.
In order to achieve the above object, the embodiment of the present application provides the following technical solutions:
according to a first aspect of an embodiment of the present application, there is provided a method for rapidly configuring a virtual industrial robot, 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;
kinematic information of the industrial robot is configured, including a dimensional parameter, a direction of the shaft, and a rotation limiting angle of the shaft.
Optionally, the origin of coordinates of the geometric model is located at the center of the industrial robot base, 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.
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 a corresponding node group according to the set industrial robot standard form includes:
geometric nodes in the model are selected in the geometric model displayed on the screen through a mouse and added into each node group in the set industrial robot standard form.
Optionally, the kinematic information includes a geometric model node group definition, a stem length, and an axis definition;
the configuration of kinematic information of the industrial robot comprises:
the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure.
According to a second aspect of an embodiment of the present application, there is provided a virtual industrial robot rapid configuration system, characterized in that the system includes:
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 a corresponding node group according to a set industrial robot standard form;
and the kinematic information configuration module is used for configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, an axis direction and an axis rotation limiting angle.
Optionally, the origin of coordinates of the geometric model is located at the center of the industrial robot base, 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.
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:
geometric nodes in the model are selected in the geometric model displayed on the screen through a mouse and added into each node group in the set industrial robot standard form.
Optionally, the kinematic information includes a geometric model node group definition, a stem length, and an axis definition;
the kinematic information configuration module is specifically configured to:
the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure.
In summary, the embodiment of the application provides a method and a system for rapidly configuring a virtual industrial robot, which are characterized in that a geometric model file of the 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 including a dimensional parameter, a direction of the shaft, and a rotation restriction angle of the shaft is configured. By defining the standard industrial robot, the configuration process of the industrial robot in the robot simulation system is simplified, the professional knowledge requirement of the robot configuration process on a user is reduced, and the configuration time is shortened, so that the usability of the simulation system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the application, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present application, should fall within the scope of the application.
Fig. 1 is a schematic flow chart of a method for quickly configuring a virtual industrial robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an embodiment of a standard industrial robot geometry model node group definition provided by an embodiment of the present application;
FIG. 3 is a schematic illustration of an embodiment of the orientation definition of standard industrial robot links and axes 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 rapid configuration system of a virtual industrial robot according to an embodiment of the present application.
Detailed Description
Other advantages and advantages of the present application will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 shows a flow chart of a method for quickly configuring a virtual industrial robot, which is provided by the embodiment of the application, and includes the following steps:
step 101: and generating a geometric model file of the industrial robot according to the 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 a corresponding node group according to a set industrial robot standard form.
Step 104: kinematic information of the industrial robot is configured, including a dimensional parameter, a direction of the shaft, and a rotation limiting angle of the shaft.
In one possible embodiment, the origin of coordinates of the geometric model is located at the center of the industrial robot base, 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 an industrial robot, and the formats include, but are not limited to, step, igs, obj and stl.
In a possible implementation, 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 one possible implementation, in step 103, geometric nodes in the model are selected by a mouse in the geometric model displayed on the screen and added to each node group in the set industrial robot standard form.
In one possible embodiment, the kinematic information includes a definition of a set of geometric model nodes, a rod length, and an axis; in step 104, the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis, and the rotation limit angle of the industrial robot linkage.
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 method for rapidly configuring a virtual industrial robot according to an embodiment of the present application. As shown in fig. 2, the definition of the geometric model node group provided in this embodiment includes: base, connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6 totally 7 parts.
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 drawings defined by the geometric model node groups shown in fig. 2 are displayed simultaneously in simulation software, a user selects geometric nodes on the three-dimensional model through a mouse, adds the selected geometric nodes to corresponding one of 7 node groups according to the definition in the drawing, and then hides the selected nodes; the process of opt-in-hide is repeated until all geometric model nodes are added to the corresponding node group.
Fig. 3 is a schematic diagram of an embodiment of a direction definition of a standard industrial robot link and shaft in a method for rapidly configuring a virtual industrial robot according to an embodiment of the present application. As shown in fig. 3, the industrial robot of the embodiment includes 6 axes (A1, A2, A3, A4, A5, A6), in which the positive direction of rotation of each axis is defined, and the positive direction of rotation of each axis can be determined according to the legend or according to the right hand rule.
Corresponding to the 7 node group in fig. 2, 6 shafts are connected by 7-segment links in fig. 3 (thick black solid lines in the drawing, wherein the 7-segment links are the portions behind the A6 shaft, which are not shown in the blocked drawing).
In order to determine the spatial position of the shaft in the simulation software, 6 shaft length parameters L1, L2, L3, L4, L5, L6 are defined in fig. 3, wherein L1 is the vertical distance from the center of the base to the A2 shaft, L2 is the horizontal distance from the A1 shaft to the A2 shaft, L3 is the vertical distance from the A2 shaft to the A3 shaft, L4 is the vertical distance from the A3 shaft to the A4 shaft, L5 is the horizontal distance from the A3 shaft to the A5 shaft, and L6 is the horizontal distance from the A5 shaft to the A6 shaft. Typically, these parameters are found in the robot specifications.
Fig. 4 is a schematic diagram of a kinematic configuration embodiment of a quick configuration method of a virtual industrial robot according to an embodiment of the present application. The right side of the figure is a schematic diagram of the standard industrial robot rod length and the direction definition of the shaft, 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 the common length units such as millimeter, centimeter, decimeter, meter and the like can be switched by clicking the displayed unit.
Step 402: the angle unit represents the unit of input data of the shaft, and can be switched by clicking the displayed unit to perform common angle units such as degree and radian.
Step 403: the bar length, the numerical values corresponding to the example lengths L1-L6 in the right graph, can be directly input with numbers in the corresponding boxes for data input.
Step 404: in the forward direction of the axis, the open circle indicates that the direction of the axis of the robot is opposite to the direction of the axis defined in the right-hand figure in the standard robot definition, and the closed circle indicates that the direction of the axis of the robot is the same as the direction of the axis defined in the right-hand figure in the standard robot definition, and the open/closed state of the circle can be switched by clicking the circle.
Step 405: the axes are limited, the rotation angle of each axis is limited, the number can be input in the corresponding box for data input, the upper box represents the upper limit, the lower box represents the lower limit, and the number 0 is filled if the limit is not included.
Step 406: the actual rotation angle of each axis of the robot in the right-hand drawing gesture is the initial value, and a numerical value can be input in the box.
In summary, according to the method for rapidly configuring the virtual industrial robot provided by the embodiment of the application, the geometric model file of the industrial robot is generated according to the 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; kinematic information of the industrial robot is configured, including a dimensional parameter, a direction of the shaft, and a 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 professional knowledge requirement of the robot configuration process on a user is reduced, and the configuration time is shortened, so that the usability of the simulation system is improved.
Based on the same technical concept, the embodiment of the application also provides a rapid configuration system of the virtual industrial robot, as shown in fig. 5, the system comprises:
the geometric model generating module 501 is configured to generate a geometric model file of the industrial robot according to a set rule.
A geometric model importing module 502, configured to import the geometric model file into a simulation system.
A geometric model configuration module 503, configured to add each node in the geometric model file to a corresponding node group according to a set industrial robot standard form.
The kinematic information configuration module 504 is configured to configure kinematic information of the industrial robot, where the kinematic information includes a dimension parameter, a direction of the shaft, and a rotation limiting angle of the shaft.
In one possible embodiment, the origin of coordinates of the geometric model is located at the center of the industrial robot base, 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.
In one possible implementation manner, the geometric model import 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 one possible implementation, the geometric model configuration module 503 is specifically configured to: geometric nodes in the model are selected in the geometric model displayed on the screen through a mouse and added into each node group in the set industrial robot standard form.
In one possible embodiment, the kinematic information includes a definition of a set of geometric model nodes, a rod length, and an axis; the kinematic information configuration module 504 is specifically configured to: the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure.
In the present specification, each embodiment of the method is described in a progressive manner, and identical and similar parts of each embodiment are referred to each other, and each embodiment mainly describes differences from other embodiments. For relevance, see the description of the method embodiments.
It should be noted that although the operations of the method of the present application are depicted in the drawings in a particular order, this does not require or imply that the operations be performed in that particular order or that all illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
Although the application provides method operational steps as an example or a flowchart, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an apparatus or client product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment). 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, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element.
The units, devices or modules etc. set forth in the above embodiments may be implemented in particular by a computer chip or entity or by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when implementing the present application, the functions of each module may be implemented in the same or multiple pieces of software and/or hardware, or a module implementing the same function may be implemented by multiple sub-modules or a combination of sub-units. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
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 embodiments, it will be apparent to those skilled in the art that the present application may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art 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, etc., including several instructions for causing a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
Various embodiments in this specification are described in a progressive manner, and identical or similar parts are all provided for each embodiment, each embodiment focusing on differences from other embodiments. The application is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet 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 foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (10)
1. A method for quickly configuring a virtual industrial robot, the method comprising:
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;
configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, an axis direction and an axis rotation limiting angle;
simultaneously displaying a schematic diagram of the imported three-dimensional geometric model and the definition of the standard industrial robot geometric model node group in simulation software, selecting geometric nodes on the three-dimensional model by a user through a mouse, adding the selected geometric nodes into corresponding one of the node groups according to the definition in the graph, and hiding the selected nodes; the process of opt-in-hide is repeated until all geometric model nodes are added to the corresponding node group.
2. The method of claim 1, wherein the origin of coordinates of the geometric model is located at the center of the industrial robot base, and wherein 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.
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 adding each node in the geometric model file to a corresponding set of nodes in a set of industrial robot standards comprises:
geometric nodes in the model are selected in the geometric model displayed on the screen through a mouse and added into each node group in the set industrial robot standard form.
5. The method of claim 1, wherein the kinematic information includes a definition of a set of geometric model nodes, a length of a stem, and a definition of an axis;
the configuration of kinematic information of the industrial robot comprises:
the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure.
6. A virtual industrial robot rapid configuration system, the system comprising:
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 a corresponding node group according to a set industrial robot standard form;
simultaneously displaying a schematic diagram of the imported three-dimensional geometric model and the definition of the standard industrial robot geometric model node group in simulation software, selecting geometric nodes on the three-dimensional model by a user through a mouse, adding the selected geometric nodes into corresponding one of the node groups according to the definition in the graph, and hiding the selected nodes; repeating the process of selecting-adding-hiding until all geometric model nodes are added into the corresponding node group;
and the kinematic information configuration module is used for configuring kinematic information of the industrial robot, wherein the kinematic information comprises a dimension parameter, an axis direction and an axis rotation limiting angle.
7. The system of claim 6, wherein the origin of coordinates of the geometric model is located at the center of the industrial robot base, and wherein 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:
geometric nodes in the model are selected in the geometric model displayed on the screen through a mouse and added into each node group in the set industrial robot standard form.
10. The system of claim 6, wherein the kinematic information includes a definition of a set of geometric model nodes, a length of a stem, and a definition of an axis;
the kinematic information configuration module is specifically configured to:
the kinematic configuration function interface provided at the simulation system inputs the rod length, the direction of each axis and the rotation limiting angle of the industrial robot connecting rod structure.
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| 基于ＲOS 的机器人模型构建方法研究;曹正万 等;《组合机床与自动化加工技术》(第8期);51-54 * |
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