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Offline programming postposition code conversion method and double-robot collaborative intelligent manufacturing system and method based on offline programming postposition code conversion same

A code conversion and off-line programming technology, applied in the field of dual-robot collaborative intelligent manufacturing system, can solve the problems of lack of dual-robot simulation and collaborative control functions, inability to coordinate trajectory planning and offline programming of dual-robots, and inability to realize efficient collaborative intelligent manufacturing.

Active Publication Date: 2020-07-07
XI AN JIAOTONG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

Due to the lack of dual-robot simulation and collaborative control functions, the existing offline programming software cannot perform collaborative trajectory planning and offline programming of dual robots, nor can it realize efficient collaborative intelligent manufacturing based on offline programming

Method used

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  • Offline programming postposition code conversion method and double-robot collaborative intelligent manufacturing system and method based on offline programming postposition code conversion same
  • Offline programming postposition code conversion method and double-robot collaborative intelligent manufacturing system and method based on offline programming postposition code conversion same
  • Offline programming postposition code conversion method and double-robot collaborative intelligent manufacturing system and method based on offline programming postposition code conversion same

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Embodiment Construction

[0055] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0056] refer to figure 1 , post-code conversion after offline programming is to perform corresponding Euler angle transformation on the trajectory of the simulated robot and convert it into a corresponding instruction set according to the actual robot brand model used, so as to control the physical robot to complete the processing; and then perform post-code Editing and communication, that is, perform command editing, modification operations, file access on the post-code, and establish communication with multiple robots, so that the collaborative intelligent manufacturing in the simulation environment can be reproduced in the actual working environment.

[0057] like figure 1 As shown, combined with the example of workpiece processing, the post-code conversion of the present invention adopts the trajectory attitude information conversion method...

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Abstract

The invention discloses an offline programming postposition code conversion method, and a double-robot collaborative intelligent manufacturing system and a double-robot collaborative intelligent manufacturing method based on the offline programming postposition code conversion method. The offline programming postposition code conversion method comprises the steps of: importing entity models of a simulation robot, a machining tool and a part into a simulation system, carrying out reasonable layout and calibration of the system according to the machining demands, and generating a machining track; detecting whether track points are reachable or not through simulation, and adjusting abnormal track points such as unreachable and axis overrun track points; and converting the adjusted track points into operation codes of entity robots of the corresponding models through adopting a track points code conversion algorithm, and completing single-machine machining, double-machine synchronous independent machining and double-machine cooperative machining through utilizing the operation codes under the condition that the two entity robots meet mutual communication. The whole system is safe, reliable, high in precision and high in robustness, meets the machining requirements of robots of various different brands and models and various types, and can meet the application of double-robot collaborative intelligent manufacturing.

Description

technical field [0001] The invention belongs to the field of intelligent manufacturing and robot technology, and in particular relates to a post-code conversion method for off-line programming and a dual-robot collaborative intelligent manufacturing system and method based on the method. Background technique [0002] With the rapid development of industry, the application of industrial robots has become more popular. Traditionally, the actions of robots are designed by repeated teaching, but this method is very inefficient, and for some complex tasks, it is difficult to meet the requirements through teaching. . At the same time, a single robot is often unable to complete more complex tasks due to its own limitations. Dual-industrial robots have the advantages of strong adaptability and good flexibility, and are an effective way to realize intelligent manufacturing. However, issues such as collaborative path planning, system calibration, trajectory error compensation, and c...

Claims

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Application Information

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IPC IPC(8): G06F8/30G06N3/08B25J9/16
CPCG06F8/30G06N3/084B25J9/16B25J9/1656B25J9/1664
Inventor 吕红强周小勇韩九强郑辑光
Owner XI AN JIAOTONG UNIV
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