CN105415375B - A kind of robot Off-line Programming System - Google Patents
A kind of robot Off-line Programming System Download PDFInfo
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- CN105415375B CN105415375B CN201610000196.3A CN201610000196A CN105415375B CN 105415375 B CN105415375 B CN 105415375B CN 201610000196 A CN201610000196 A CN 201610000196A CN 105415375 B CN105415375 B CN 105415375B
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- reset
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- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
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- 230000036461 convulsion Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of offline programming device, for generating the position of readiness reset routine of robot, including storage part, acceptance division, display part, reset routine generating unit；Wherein intersection point of the reset routine generating unit by straight line path with execution route is used as candidate point such that it is able to which realization has shortened reset path, shortens resetting time, improves the technique effect of reset efficiency.
Description
Technical field
The present invention relates to there is the robot field of mechanical hand, more particularly, to the programme-control field of mechanical hand.
Background technology
In recent years, it is with the fast development of computer technology, microelectric technique and the network communications technology, strong to promote
The progress of roboticses, industrial robot had become electromechanical integration equipment indispensable during modern industry is produced already, its
Quantity rapidly increases, and range of application is increasingly extensive, indicates the up-to-dateness of industrial processes.
Industrial robot is that one kind can be automatically controlled, and repeats and programs, multi-functional, multivariant operation machine, and which can
Materials hauling, workpiece manage instrument, complete various operations.Industrial robot have reliable operation, highly versatile it is notable
Advantage, is increasingly paid attention to by enterprise.
But, current industrial robot is programmed using teaching playback mostly, and work efficiency is relatively low, and precision is poor；
Off-line programing and remote control technology can improve machine task efficiency to a certain extent, therefore, off-line programing draws
The extensive attention of research worker and manufacturer of robot is played, and has become a very active research side in robotics
To.
In offline programming device, the demand for generating reset routine is there is.I.e. when robot due to job error or
When there is interference and causing which to stop operation, off-line programing system needs to generate reset routine, makes robot by operation stop position
Position of readiness is returned, so as to re-execute operation.In prior art, 200510079844 patent of invention, it is proposed that Yi Zhongli
Line programmer, which generates reset path, so as to generate offline reset journey by using the available taught point of tutorial program kind
Sequence, realizes the reset operation of robot.But the prior art of the invention also has following defect, the position of taught point may be deposited
In deviation, cause reset path long, so as to extend resetting time；Also, which is needed when reset path exists and disturbs
Operator correct manually.
The content of the invention
The invention provides a kind of offline programming device, which can generate more appropriate reset path.
As one aspect of the present invention, there is provided a kind of offline programming device, which is used to generate robot emergent stopping
When position of readiness reset routine, including：Storage part, its storage are stated robot and are present in the object of the robot periphery
Configuration information；Acceptance division, which receives operation stop position from the robot, causes to hold because of the emergent stopping for identification
The program segment information of the tutorial program in the information and execution stopping of the tutorial program in row stopping；Position of readiness determining section, its
Determine position of readiness information；Reset coordinates measurement portion, which determines reset path；Reset routine generating unit, which is based on the reset
Path, generates reset routine；Also include execution route generating unit, which generates the operation stop position along tutorial program path
Put and the execution route between the position of readiness；Straight line path generating unit, its described operation stop position of generation are treated with described
Seat in the plane put between straight line path；Candidate point determining section, which calculates the intersection point of described execution route and the straight line path, should
Candidate point of the intersection point as reset taught point；The reset coordinates measurement portion is based on the candidate point of the reset taught point, described
Taught point, the operation stop position and the position of readiness in tutorial program, it is determined that reset path.
Preferably, also including transfering department, the reset routine of generation is transferred to the robot by which.
Preferably, also including determining interference portion, which judges robot according to the reset path and configuration information for being generated
Perform the reset path and whether there is interference with the object of periphery.
Preferably, it is any one during the position of readiness is for the initial teaching position and last teaching position of tutorial program
It is individual.
Preferably, the reset routine generating unit determines reset path as follows：（1）Operation is selected to stop successively
Position, the candidate point of the reset taught point of order, position of readiness, form first candidate's reset path；（2）By determining interference portion
Judge the first candidate reset path with the presence or absence of interference；（3）If there is no interference in the first candidate reset path, it is determined that
The first candidate reset path is reset path；If the first reset path has interference, step (4) is carried out；（4）It is determined that
The intersection point of first candidate's reset path and the surrounding objects, using the execution route teaching closest with the intersection point
Point adds the addition candidate point in candidate point as addition candidate point, selects operation stop position, the candidate of order successively
Point, position of readiness, form improved candidate's reset path；（5）Improved candidate's reset path is judged by determining interference portion
With the presence or absence of interference, if there is no interference, it is determined that improved candidate's reset path is reset path；If there is dry
Disturb, then the amendment in reset path is carried out by operator.
Preferably, the operator carries out the amendment in reset path, including：By the first candidate reset path and improvement
Candidate's reset path operator is shown to by display part, therefrom select suitable path to be modified by operator, formed
Reset path.
Description of the drawings
Fig. 1 is the frame construction drawing of the offline programming device of the embodiment of the present invention.
Fig. 2 is a kind of reset schematic diagram of the embodiment of the present invention.
Fig. 3 is another route reset schematic diagram of the embodiment of the present invention.
Specific embodiment
In order to be illustrated more clearly that technical scheme, the present invention will be simply situated between using embodiment below
Continue, it should be apparent that, in describing below is only one embodiment of the present of invention, for those of ordinary skill in the art come
Say, without having to pay creative labor, can be fallen within other technical schemes being obtained according to these embodiments
Disclosure of the invention scope.
Fig. 1 is the frame construction drawing of embodiment of the present invention offline programming device.The offline programming device of the embodiment of the present invention
10, for generating position of readiness reset routine during 20 emergent stopping of robot, wherein robot 20 can be welding robot,
Its attitude on tutorial program is constant.Offline programming device 10, including storage part 101, acceptance division 102, position of readiness
Determining section 103, reset coordinates measurement portion 104, reset routine generating unit 105, execution route generating unit 106, straight line path are generated
Portion 107, candidate point determining section 108, transfering department 109 disturb judging part 110.
The storage of storage part 101 is stated robot and is present in the configuration information of the object of the robot periphery, can pass through
Three-dimensional data model is by these information Stores in storage part.Acceptance division 102, its in 20 emergent stopping of robot, from machine
People 20 receive operation stop position, for identification cause because of the emergent stopping perform stop in tutorial program information,
With the program segment information of the tutorial program performed in stopping.
Position of readiness determining section 103, which determines the position of readiness information of robot 20, and the position of readiness is that robot 20 is tight
Jerk needs the position for resetting go back to after stopping.Position of readiness can be the initial teaching position and last teaching position of tutorial program
Put.
Execution route generating unit 106, its generation is along between the operation stop position and position of readiness in tutorial program path
Execution route.For example in Fig. 2 and Fig. 3, the tutorial program path in workpiece and barrier is the point that P1 arrives P13 successively
Line.In fig. 2, tutorial program stops in ST1 points, and position of readiness is P13, and its execution route is ST1->P7->P8->P9->
P10->P11->P12->P13；In figure 3, teaching is stopped in the position ST2 points overlapped with P6, and position of readiness is P13, its execution
Path be P6 (ST2)->P7->P8->P9->P10->P11->P12->P13.
Straight line path generating unit 107, which generates the straight line path between the operation stop position and the position of readiness.
For example in fig. 2, the straight line path of the generation is ST1->P13；In figure 3, its generate straight line path be P6 (ST2)->
P13。
Candidate point determining section 108, which calculates the intersection point of execution route and straight line path, using the intersection point as reset taught point
Candidate point.For example in fig. 2, execution route has intersection point with straight line path（Q1, Q2, Q3, Q4, Q5）, will（Q1, Q2, Q3,
Q4, Q5）As the candidate point of reset taught point.In figure 3, execution route does not have intersection point with straight line path, then in Fig. 3
Situation, the candidate point of the taught point that do not reset.
Reset coordinates measurement portion 104 is based on the taught point in the candidate point of reset taught point, tutorial program, operation stop position
Put and position of readiness, it is determined that reset path.Reset routine generating unit 105, based on the reset that reset coordinates measurement portion 104 generates
Path, generates reset routine.Determining interference portion 110, which judges robot according to the reset path and configuration information for being generated
Perform the reset path and whether there is interference with the object of periphery.Transfering department 109, reset routine generating unit 105 is generated by which
Reset routine transfers to robot 20.Robot 20 completes reseting procedure according to the reset routine that transport unit 109 transfers.
The reset coordinates measurement of the present invention is based on following principle：It is a little that robot is being held on tutorial program execution route
The point advanced is needed during row tutorial program, therefore which also can be traveling in robot reset path；And straight line is off
Most short distance between position and the position of readiness, therefore candidate is used as by the intersection point from the straight line with execution route
Point, can shorten reset path.Specifically, reset routine generating unit 104 determines reset path as follows：（1）Successively
Operation stop position, the candidate point of the reset taught point of order, position of readiness are selected, first candidate's reset path is formed；In Fig. 2
In, the first candidate reset path is ST1->Q1->Q2->Q3->Q4->Q5->P13；In figure 3, the first candidate reset road
Footpath is P6（ST2）->P13（2）Judge the first candidate reset path with the presence or absence of interference by determining interference portion 110；（3）Such as
Really there is no interference in the first candidate reset path, it is determined that the first candidate reset path is reset path, the in such as Fig. 2
There is no interference in one candidate's reset path, then be defined as reset path, and this flow process terminates；And the first candidate in Fig. 3 is multiple
There is interference in position path, then carry out step (4)；（4）Determine the intersection point in first candidate's reset path and surrounding objects, using described
The execution route taught point closest with the intersection point adds the addition candidate point in candidate point as addition candidate point,
Operation stop position, the candidate point of order, position of readiness are selected successively, form improved candidate's reset path；Such as P6 in Fig. 3
（ST2）->There is interference with barrier in P13, take its midpoint W as intersection point, and the taught point W for selecting execution route nearest with W points makees
To add candidate point, the addition candidate point is added in candidate point, improved candidate's reset path P 6 is formed（ST2）->P8->
P13；（5）Improved candidate's reset path is judged with the presence or absence of interference by determining interference portion 110, if there is no interference,
Then determine that improved candidate's reset path is reset path；If there is interference, then repairing for reset path is carried out by operator
Just.Preferably, the operator carries out the amendment in reset path, including：By the first candidate reset path and improved time
Select reset path operator to be shown to by display part, therefrom select suitable path to be modified by operator, formed and resetted
Path.
Above example is only to illustrate technical scheme rather than a limitation, although reference above-described embodiment pair
The present invention has been described in detail, and those of ordinary skill in the art should be understood：Still can be to the concrete of the present invention
Embodiment is modified or equivalent, and any modification or equivalent without departing from spirit and scope of the invention,
Which all should be covered in the middle of scope of the presently claimed invention.
Claims (4)
1. a kind of offline programming device, which is used to generate position of readiness reset routine during robot emergent stopping, including：
Storage part, its storage are stated robot and are present in the configuration information of the object of the robot periphery；Acceptance division, which is from institute
State robot to receive operation stop position, cause the letter for performing the tutorial program in stopping because of the emergent stopping for recognizing
Breath, and perform stop in tutorial program program segment information；Position of readiness determining section, which determines position of readiness information；Reset
Coordinates measurement portion, which determines reset path；Reset routine generating unit, which is based on the reset path, generates reset routine；Which is special
Levy and be：Also include execution route generating unit, its described operation stop position generated along tutorial program path is treated with described
Seat in the plane put between execution route；Straight line path generating unit, which is generated between the operation stop position and the position of readiness
Straight line path；Candidate point determining section, which calculates the intersection point of described execution route and the straight line path, using the intersection point as again
The candidate point of position taught point；The reset coordinates measurement portion is based in the candidate point of the reset taught point, the tutorial program
Taught point, the operation stop position and the position of readiness, it is determined that reset path.
2. offline programming device according to claim 1, it is characterised in that：Also include transfering department, its reset that will be generated
Program transfers to the robot.
3. offline programming device according to claim 2, it is characterised in that：Also include determining interference portion, which is according to given birth to
Into reset path and configuration information, judge that robot performs the reset path and whether there is interference with the object of periphery.
4. offline programming device according to claim 3, it is characterised in that：The position of readiness is initial for tutorial program
Any one in teaching position and last teaching position.
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| CN201610000196.3A CN105415375B (en) | 2016-01-02 | 2016-01-02 | A kind of robot Off-line Programming System |
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| CN105835058B (en) * | 2016-04-23 | 2017-10-27 | 福州环亚众志计算机有限公司 | A kind of program generating system (PGS) |
| CN105690395B (en) * | 2016-04-23 | 2017-09-19 | 宁波市智能制造产业研究院 | Industrial robot and its control method |
| CN106041941B (en) * | 2016-06-20 | 2018-04-06 | 广州视源电子科技股份有限公司 | The method for planning track and device of a kind of mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3708083B2 (en) * | 2003-02-28 | 2005-10-19 | ファナック株式会社 | Robot teaching device |
| JP2004299013A (en) * | 2003-03-31 | 2004-10-28 | Fanuc Ltd | Robot off-line programming device having error correction feed-back function |
| JP4027350B2 (en) * | 2004-06-29 | 2007-12-26 | ファナック株式会社 | Robot standby position return program creation device |
| JP2006099260A (en) * | 2004-09-28 | 2006-04-13 | Fanuc Ltd | Robot program creating device |
| JP3971773B2 (en) * | 2005-10-12 | 2007-09-05 | ファナック株式会社 | Offline teaching device for robots |
| CN102854880B (en) * | 2012-10-08 | 2014-12-31 | 中国矿业大学 | Robot whole-situation path planning method facing uncertain environment of mixed terrain and region |
| CN103823466B (en) * | 2013-05-23 | 2016-08-10 | 电子科技大学 | Method for planning path for mobile robot under a kind of dynamic environment |
| US9604362B2 (en) * | 2013-11-27 | 2017-03-28 | Infineon Technologies Ag | Method and apparatus for failure handling of a robot |
| JP5860081B2 (en) * | 2014-02-27 | 2016-02-16 | ファナック株式会社 | Robot simulation device that generates robot motion path |
| CN104942808A (en) * | 2015-06-29 | 2015-09-30 | 广州数控设备有限公司 | Robot motion path off-line programming method and system |
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Inventor after: Gan Zhongxue Inventor after: Wu Hao Inventor before: Han Shaoqing |
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Effective date of registration: 20170224 Address after: Yuyao City, Zhejiang province 315400 Ningbo City Economic Development Zone Applicant after: Ningbo Institute of intelligent manufacturing industry Address before: Zhongxing Road, Jiangdong District, Zhejiang city of Ningbo province No. 188-1 315042 Applicant before: Han Shaoqing |
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Effective date of registration: 20180130 Address after: 315000 Zhejiang city of Ningbo province high tech Zone Juxian road 587 Lane 15 No. 2 building 033 building 4-1-31 Patentee after: Zhejiang Metis Robot Technology Co Ltd Address before: Yuyao City, Zhejiang province 315400 Ningbo City Economic Development Zone Patentee before: Ningbo Institute of intelligent manufacturing industry |
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Effective date of registration: 20190201 Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Ningbo Institute of intelligent manufacturing industry Address before: 315000 No. 2 Building 033 4-1-31, No. 15, 587 Lane, Juxian Road, Ningbo High-tech Zone, Zhejiang Province Patentee before: Zhejiang Metis Robot Technology Co Ltd |
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Effective date of registration: 20211228 Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhichang Technology Group Co.,Ltd. Address before: 315400 Chengdong new area, Yuyao Economic Development Zone, Ningbo City, Zhejiang Province Patentee before: NINGBO INTELLIGENT MANUFACTURING INDUSTRY Research Institute |