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Seamless connection method for off-line programming and on-site debugging of robot

An off-line programming and on-site debugging technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as seamless connection, occupation of robot working time, damage to fixtures or robots, etc., to improve the use effect and improve processing and manufacturing and installation accuracy, the effect of eliminating deviation

Inactive Publication Date: 2009-05-20
四川成焊宝玛焊接装备工程有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Online teaching programming is simple and direct, and most of the robot systems used in domestic production are teaching reproduction type, but it has the following technical defects in actual production: (1) The programmer is in the dangerous environment of the robot working space or the harsh environment On-site working environment; (2) It is easy to cause damage to fixtures or robots; (3) It is difficult to realize complex robot motion trajectories; (4) The quality of programming depends on the experience of programmers; (5) For energy-enhancing projects The time node cannot be accurately controlled, and the uncertain factors are too large; (6) Teaching programming needs to occupy the working time of the robot
Since offline programming is so good, why is it not widely used in practice? The main bottleneck problem is: it is difficult to realize that the soft environment of offline programming is consistent with the actual situation on site
For example, there are deviations between the soft environment used in offline programming and the actual installation conditions of fixtures and robots, and the deviation between the robot tool model and the actual situation, etc., which will lead to a large difference between the robot program generated by the offline programming software and the real situation. Method The robot program generated offline can basically be used after re-teaching and fine-tuning in places where the robot's working space is relatively loose, but its use effect is not ideal in places where the robot's working space is limited. Therefore, the existing technology cannot Realize the seamless connection between off-line programming and on-site debugging of robot programs

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] A method for seamless connection between off-line programming and on-site debugging of a robot, the steps are as follows:

[0044] a. Design the 3D models of the fixtures and robot tools, and import the 3D models of the fixtures and robot tools and the robot model (provided by the robot manufacturer) into the robot offline programming software;

[0045] b. In the off-line programming software of the robot, conduct a preliminary inspection of the process feasibility of the fixture, robot tool and robot. If existing design problems and potential risks are found, it is necessary to redesign the 3D of the fixture and robot tool in a targeted manner Model or re-select the model of the robot, repeat steps a and b until the process feasibility of the fixture, robot tool and robot is all right;

[0046] c. Install the fixtures, robots and robot tools in the field environment in place according to the installation positions of the fixtures, robots and robot tools in the ...

Embodiment 2

[0052] The specific method for making the installation of the robot tool in the off-line programming software of the robot consistent with the actual installation in the field environment described in step d in embodiment 1 is:

[0053] 1) Create a new empty trajectory program in the real robot system;

[0054] 2) Switch the robot to the tool0 tool coordinate system movement mode, move the robot to a place with a looser space and record a POS_A point;

[0055] 3) Lock the X and Z axes of the robot tool0 tool coordinate system through the direction lock key, move the robot forward for a certain distance to the Y axis, and record a POS_B point;

[0056] 4), move the robot back to POS_A point;

[0057] 5) Lock the Y and Z axes of the robot tool0 tool coordinate system through the direction lock key, move the robot to the positive direction of the X axis for a certain distance, and record a POS_C point;

[0058] 6) Use a mobile three-coordinate measuring instrument...

Embodiment approach

[0064] On the basis of embodiment 1 or 2, in step e in embodiment 1, the specific method for measuring the relative position of the tooling fixture coordinate system actually installed in place in the field environment in the robot base coordinate system is as follows:

[0065] A. Use a mobile three-coordinate measuring instrument to first find out the coordinate system of the fixture;

[0066] B. Create a new empty trajectory program in the real robot system;

[0067] C. Move the robot tool near or above the fixture, use the robot base coordinate system to record the position of the tip point of the robot tool in the trajectory program, read the coordinate value of the tip point of the robot tool in the robot base coordinate system, and fill in Enter the corresponding position in the coordinate system conversion software; use the mobile three-coordinate measuring instrument to measure the coordinate value of the tip point of the robot tool in the fixture coordinate sy...

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PUM

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Abstract

The invention discloses a method for seamless connection of off-line programming and field debugging of a robot, which comprises the following steps: three-dimensional models of a tooling fixture and a robot tool are designed, and the three-dimensional models and a robot model are conducted into off-line programming software; the technological feasibility of the tool fixture, the robot tool and the robot is checked; real objects are arranged at proper positions according to the installation positions of the tool fixture, the robot and the robot tool; the installation situation of the robot tool in the installation situation is guaranteed to be consistent with the actual installation situation; the relative position of a coordinate system of the tooling fixture actually arranged at the proper position in a robot based coordinate system is measured; the installation position of the tooling fixture relative to the robot in the off-line programming software is calibrated according to a measurement result to ensure that the installation situation is consistent with the actual installation situation; and a robot program is generated after the measurement and calibration and is conducted into the robot, and the robot directly utilizes the program to finish the practical production. The program generated by the method can be directly used for practical production, and truly achieves the seamless connection of off-line programming and field debugging.

Description

technical field [0001] The invention relates to the technical field of robot simulation and application, in particular to a method for linking off-line programming of a robot with on-site debugging. Background technique [0002] With the continuous expansion of robot application fields, robot programming technology has been paid more and more attention by people. Robot programming methods can usually be divided into online teaching programming and offline programming: [0003] Online teaching programming is simple and direct, and most of the robot systems used in domestic production are teaching reproduction type, but it has the following technical defects in actual production: (1) The programmer is in the dangerous environment of the robot working space or the harsh environment On-site working environment; (2) It is easy to cause damage to fixtures or robots; (3) It is difficult to realize complex robot motion trajectories; (4) The quality of programming depends on the exp...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/22
Inventor 张康张瑞海赵阳朱品朝
Owner 四川成焊宝玛焊接装备工程有限公司
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