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A method for off-line programming of a multi-axis robot

A multi-axis robot and programming technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of large operation errors and errors, achieve the effect of small relative errors, reduce difficulty, and enhance reliability

Active Publication Date: 2022-03-22
南京梅森自动化科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, because offline programming is based on the 3D model, there will inevitably be errors, resulting in large operating errors after the compiled program is downloaded to the robot.

Method used

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  • A method for off-line programming of a multi-axis robot

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Embodiment 1

[0037] Such as figure 1 As shown, the multi-axis robot offline programming method disclosed in the present invention includes the following steps:

[0038] Step 1, establish the robot 3D model of the multi-axis robot and the task 3D model of the task, which can be obtained by scanning the multi-axis robot and the task through the existing 3D scanning technology, and approximate the model of the robot 3D model and the task 3D model The real-time point cloud data of 3D scanning is converted into the point cloud data format supported by AutoCAD through Autodesk ReCap software, and then the 3D modeling is completed through the plug-in PointShape modeling tool of AutoCAD;

[0039] Step 2, after the model approximation verification is passed, the angular displacement of each joint point in the robot's 3D model is formulated according to the task 3D model, and the angular displacement duration of each joint point is determined; when formulating the angular displacement and angular di...

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Abstract

The invention discloses an off-line programming method for a multi-axis robot. The steps include: establishing a robot three-dimensional model of the multi-axis robot and a task three-dimensional model of an operation task, and verifying the model approximation; formulating a robot three-dimensional model according to the task three-dimensional model The angular displacement of each joint point, and determine the angular displacement duration of each joint point; each joint point is programmed independently one by one, and debugged and verified to control the respective error ratio requirements; each joint point is combined and verified. Ultimately controls the overall error ratio. The off-line programming method of the multi-axis robot can ensure high similarity by using the approximation degree verification, and enhance the reliability of off-line programming; it can reduce the difficulty of combined joint debugging for the next step by using independent programming one by one; the combined joint debugging and verification can Error due to control combination.

Description

technical field [0001] The invention relates to an off-line programming method, in particular to an off-line programming method for a multi-axis robot. Background technique [0002] As the robot application field becomes wider and wider, the traditional programming method of teaching programming becomes very inefficient in some occasions, so offline programming emerges as the times require, and its application is becoming more and more popular. [0003] The advantages of offline programming are: to reduce the downtime of the robot, when programming the next task, the robot can still work on the production line; keep the programmer away from the dangerous working environment and improve the programming environment; the offline programming system is widely used, It can program various robots; it can realize optimized programming conveniently; it can program complex tasks; it can intuitively observe the working process of robots, and judge errors including overtravel, collision...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1656B25J9/1605
Inventor 武文明张岳珅孙文美
Owner 南京梅森自动化科技有限公司
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