With the rapid progress of science and technology, industrial robots have become an important part of today's industrial production, which can accurately complete various tasks and operations. Compared with the limitations of human beings, they have a wider application space. Robot technology has been put forward for about 5 or 6 years. After the 197s, with the development of computers, robot talents were widely used in industrial production. With the wide application of robots, robot technology has been further extended and applied to various fields from a single industrial production aspect, thus a number of robots that can be applied to construction, medical care and flight fields have emerged.
since the 199s, due to the rapid development of artificial intelligence, mechatronics, computer technology and sensor technology, robot technology has reached a new level, so robot technology will develop along the trend of intelligence and complexity.
Simply put, a robot is a mechanical device that can automatically execute programs and complete work. It can work through preset programs, and it can also communicate with human beings through some communication equipment to complete predetermined tasks.
since the intelligent development of robots is a big trend, we will talk about the programming method of robots as to how it completes the established work.
First of all, let's talk about robot programming, which is an action sequence program manually written for robots to automatically perform an operation task. According to the type of robot controller and the complexity of the chip, there are usually many ways to program it. There are two common robot programming methods:
The first one is manual teaching programming, that is, the operator manually controls the joint movement of the robot through the teaching device, so that the robot can move to a predetermined position, and at the same time, the position is recorded and transmitted to the robot controller, and then the robot can automatically repeat the task according to the instruction, and the operator can also choose different coordinate systems to teach the robot. The following is a picture of teaching programming found on the Internet. Macey really worried about it. It seems that in order to do teaching programming, we have to lose weight immediately, and then practice squats and splits, and simply practice yoga ~
Then talk about the teaching device. The teaching devices of various robots can be described as varied and the operation is different. It is still better to have smart phones now, and Apple and Android are unified. The following are some pictures of teaching devices that Macey found on the Internet to share with your friends who want to learn robot programming.
This is only a part of the pictures of the teaching device found by Macey. When I saw them, I couldn't help sighing. Even though I was young in Macey, I had to learn them all. Why should I leave them to my successor Xiao Meng to finish?
The above is a summary of teaching programming. I think everyone has a certain understanding of teaching programming. Let's summarize the disadvantages of teaching programming:
1. The teaching online programming process is cumbersome and inefficient.
2. The accuracy depends entirely on the instructor's visual inspection, and it is difficult to achieve satisfactory results for online programming of complex path teaching.
3. There are too many types of teaching devices and too much learning.
4. Accidents are prone to occur during the teaching process, ranging from damaging the equipment to injuring people.
5. The robot should be occupied when teaching the actual robot.
Let's stop here for the time being for manual teaching programming. Let's talk about the second robot programming method, namely offline programming.
Off-line programming is a popular programming method at present. First, let's talk about what is off-line programming. In Macey's view, the so-called teaching programming can also be called online programming or on-site programming because the teaching device is connected with the robot through cables and must be programmed at the work site. Off-line programming, as the name implies, just doesn't need to be in a noisy scene. What a blessing it is for a little girl like Macey who loves beauty. She feels instantly taller, as if she stepped into the American blockbuster Avatar from Zhuo Dashi's Modern Times. Get to the point, off-line programming is to reconstruct the three-dimensional virtual environment of the whole working scene in the computer through software, and then the software can automatically generate the robot's motion trajectory, that is, control instructions, according to the size, shape and material of the parts to be machined and some operations of the software operator. Off-line programming overcomes many shortcomings of on-line teaching programming, makes full use of computer functions, reduces the time and cost required to write robot programs, and also reduces the inconvenience of on-line teaching programming.
when it comes to off-line programming, we have to talk about off-line programming software, and mention the things you can hear here, such as RobotArt, RobotMaster, RobotWorks, RobotStudio, etc., which are among the best in the off-line programming industry. Take the off-line programming software RobotArt of Beijing Huahang as an example. Although this off-line programming software is made in China, its technical background includes decades of experience in aerospace projects of Beihang Robotics Research Institute and CAD Center, and the excellent R&D team of dozens of people. Therefore, compared with RobotMaster, RobotWorks and RobotStudio, its functions are not inferior at all, and it has an aerospace background, so it is the top software among domestic brands of off-line programming software. The biggest feature of the software is that it can automatically generate machining trajectories according to the shape of parts in the virtual scene, and can control most mainstream robots, which is also great for domestic robots! The software generates the robot trajectory according to the topological information of geometric mathematical model, and then the trajectory simulation, path optimization and post-code are completed in one go. At the same time, it integrates collision detection, scene rendering and animation output, which can quickly generate realistic simulation animation. Widely used in grinding, deburring, welding, laser cutting, CNC machining and other fields. The following figure is an interface of this software:
To sum up, the advantages of this software are as follows:
1. It supports 3D CAD models in various formats, and can import formats with extensions such as step, igs, stl, x_t, prt(UG), prt(ProE), CATPart, sldpart, etc.
2. Support off-line programming operation of industrial robots of various brands, such as ABB, KUKA, Fanuc, Yaskawa, Staubli, KEBA series, Xinshida, Guangshu, etc.);
3. Have a lot of high-end application experience in aerospace;
4. Automatically identify and search points, lines and surfaces of CAD models to generate trajectories;
5. The trajectory is associated with the characteristics of CAD model, and the trajectory changes automatically when the model moves or deforms;
6. Collision detection between one-key optimized trajectory and geometric level;
7. Support a variety of process packages, such as cutting, welding, spraying, deburring and NC machining;
8. Support publishing the whole workstation simulation animation to web pages and mobile phones;
However, this software does not support some foreign small brands of robots for the time being.
The robot off-line programming system is developing towards an intelligent and specialized direction. The user's operation is more and more simple and convenient, and the control program can be generated quickly. Parameterization can be realized in some specific application fields, which greatly simplifies the operation of users. At the same time, off-line programming technology is of great significance to the popularization and application of robots and the improvement of their working efficiency. Off-line programming can greatly save manufacturing time, realize real-time simulation of robots, and provide a flexible working environment for robot programming and debugging. Therefore, off-line programming is a major direction of robot development.