Let me first talk about robot programming. Generally speaking, robot programming can be divided into teaching online programming and offline programming.
The focus of our explanation today is offline programming. Through the teaching of online programming, the main problems in practical applications, the advantages of robot offline programming software and the functions, advantages and disadvantages of mainstream programming software are deeply analyzed.
Teaching online programming has the following problems in practical applications:
1. Teaching online programming process is cumbersome and inefficient.
2, the accuracy is completely determined by the visual inspection of the teacher, and it is difficult to achieve satisfactory results for the complicated path teaching online programming.
What are the advantages of offline programming compared to teaching online programming?
1. Reduce the downtime of the robot. When programming the next task, the robot can still work on the production line.
2. Keep programmers away from dangerous working conditions. 3, a wide range of applications, can be programmed for a variety of robots, and can easily achieve optimal programming. 4. Program complex tasks. 5. Easy to modify the robot program.
After seeing these advantages of offline programming, can't wait to see what offline programming software looks like? Then look down~ Let's take a look at the mainstream offline programming software.
1, Robot Master
Robotmaster is from Canada and is represented by Shanghai Aojia Automation. It is the top software in the global offline programming software, supporting almost all the robot brands on the market (KUKA, ABB, Fanuc, Motoman, Stäubli, Karma, Mitsubishi, DENSO, Panasonic...), Robotmaster seamlessly integrates robot programming, simulation and code generation functions in Mastercam to improve robot programming speed.
The following picture shows the Robot Master software interface:
advantage:
The program can be generated according to the product digital model, suitable for cutting, milling, welding, spraying and so on. Exclusive optimization features, kinematics planning and collision detection are very precise, support for external axes (linear guide systems, rotary systems) and support for composite external shaft assemblies.
Disadvantages:
Temporarily do not support multiple robots at the same time simulation (that is, can only be a single workstation), based on the secondary development of MasterCAM, the price is expensive, the enterprise version is around 20W. So expensive! !
2, Robot Art
Robot Art is from Beijing, the capital of Beijing, and is the top software in the domestic brand offline programming software.
The software generates the robot motion trajectory according to the topological information of the geometric model, and then the trajectory simulation, the path optimization, and the post code are all in one go. At the same time, the collision detection, the scene rendering and the animation output are integrated, and the realistic simulation animation can be quickly generated. Widely used in grinding, deburring, welding, laser cutting, CNC machining and other fields.
For the actual teaching situation, Robot Art has added functions such as analog teaching device and free assembly to help beginners quickly understand robots in virtual environment and quickly learn the basic operation of robot teaching device, which greatly shortens the learning cycle and reduces learning costs.
The following picture shows the interface of RobotArt offline programming simulation software:
advantage:
1) Support 3D CAD models in multiple formats, and import extensions such as step, igs, stl, x_t, prt (UG), prt (ProE), CATPart, sldpart, etc.
2) Support offline programming operations of various brands of industrial robots, such as ABB, KUKA, Fanuc, Yaskawa, Staubli, KEBA series, Xinshida, and wide numbers;
3) Have a large number of high-end aerospace application experience;
4) Automatically identify and search the point, line and surface information of the CAD model to generate a trajectory;
5) The trajectory is associated with the CAD model feature, the model moves or deforms, and the trajectory changes automatically;
6) One-click optimization of collision detection with trajectory and geometric level;
7) Support a variety of process packages, such as cutting, welding, spraying, deburring, CNC machining;
8) Support the publishing of the entire workstation simulation animation to the web page and mobile phone.
Disadvantages: The software does not support the entire production line simulation (not enough omnipotent), nor does it support foreign small-brand robots, but as a robot offline programming, it is still quite powerful, and the function is not lost to foreign software.
3, Robot Works
RobotWorks is a robot offline programming simulation software from Israel. Similar to Robot Master, it is based on secondary development by Solidworks. When you use it, you need to purchase Solidworks first.
Features:
(1) Comprehensive data interface: Robotworks is developed based on Solidworks platform. Solidworks can convert data through standard interfaces such as IGES, DXF, DWG, PrarSolid, Step, VDA and SAT.
(2) Powerful programming skills: It takes only four steps from inputting CAD data to outputting robot processing code.
The first step: directly create or directly import other 3D CAD data from Solidworks, and select the defined robot tool to combine with the workpiece to be processed into an assembly. All assembly fixtures and tool customers can create their own calls using Solidworks;
The second step: Robotworks selects the tool, and then directly selects the edge of the surface or the spline curve to process the data points;
The third step: call the required robot database, start collision checking and simulation, automatically correct at each data point, including tool angle control, lead setting, increase processing points, adjust cutting order, increase at each point Process parameters
Step 4: Robotworks automatically generates various robot codes, including Cartesian coordinate data, joint coordinate data, tool and coordinate system data, processing technology, etc., and saves different codes according to process requirements.
(3) Powerful industrial robot database: The system supports most of the mainstream industrial robots on the market, providing three-dimensional digital models of various models of various industrial robots.
(4) Perfect simulation: The unique robot machining simulation system can automatically detect the movement between the robot arm, the tool and the workpiece, the axis overrun check, automatically delete the unqualified path and adjust, and automatically optimize the path. Reduce the run time.
(5) Open process library definition: The system provides a completely open processing technology instruction file library. Users can customize and set their own unique process according to their actual needs. Any added instructions can be output to the robot processing data.
advantage:
There are various ways to generate tracks, support multiple robots, and support external axes.
Disadvantages:
Robotworks is based on solidworks. Solidworks itself does not have CAM functions. The programming is cumbersome and the robot kinematics planning strategy is less intelligent. Will not use sw, only use UG, PROE... å’‹?
4, Robcad
ROBCAD is a software owned by Siemens. The software is relatively large, and the focus is on production line simulation. The price is also the most expensive in the software. The software supports off-line spot welding, supports multiple robot simulations, supports non-robot motion mechanism simulation, and accurate beat simulation. ROBCAD is mainly applied to the two preliminary stages of conceptual design and structural design in the product life cycle. It has been acquired by Siemens and is no longer updated. It is out!
Features:
(1) Workcelland Modeling: Design, management and information control of the body-in-white production line. (2) Spotand OLP: Complete spot welding process design and off-line programming. (3) Human: Realize the analysis of human factors engineering. (4) Paint, Arc, Laser and other modules in Application: Realize the simulation verification and offline program output of spraying, arc welding, laser processing, edge cutting and so on in production. (5) The Paint module of ROBCAD. Paint design, optimization and off-line programming, its functions include: automatic generation of painting routes, simulation of multiple color paint thickness, and optimization of painting process.
advantage:
(1) Seamless integration with mainstream CAD software such as NX, CATIA, IDEAS.
(2) 3D visualization of tooling, robots and operators.
(3) Simulation of manufacturing unit, test, and programming.
Disadvantages:
The price is expensive, the offline function is weak, the interface ported by Unix, the human-machine interface is not friendly. And it is no longer updated!
The following picture shows the ROBCAD software interface:
5, DELMIA
The DELMIA is used in the automotive industry!
DELMIA is Dassault's CAM software, and the famous CATIA is also Dassault's CAD software. DELMIA has six modules, of which the Robotics solution covers the automotive sector, the final assembly and body-in-white, the airframe assembly, maintenance and repair, and manufacturing processes in the general manufacturing industry.
DELMIA's robot module ROBOTICS is a scalable solution that uses a powerful PPR integration hub to quickly build, simulate and validate robot work cells. It is a complete, scalable and flexible solution.
advantage:
(1) Download robots and other tool resources from a searchable resource catalog containing more than 400 robots.
(2) Work done by the factory layout planning engineer.
(3) Add the resources required for the process in the work unit to further refine the layout.
Disadvantages:
DELMIA is an expert software that is difficult to operate.
The DELMIA software interface is shown in the following video:
6, RobotStudio
RobotStudio is the software of ABB in Switzerland. It is the best software for robots. RobotStudio supports the entire life cycle of robots, using graphical programming, editing and debugging robotic systems to create robotic runs and simulate and optimize existing robot programs.
advantage:
(1) CAD import is convenient. It can easily import data from various mainstream CAD formats, including IGES, STEP, VRML, VDAFS, ACIS and CATIA.
(2) Auto Path function. This function automatically generates the robot position (path) required to track the machining curve in just a few minutes by using the CAD model of the part to be machined, which used to take hours or even days.
(3) Program editor. Robot programs can be generated to enable users to develop or maintain robot programs offline in a Windows environment, significantly reducing programming time and improving program structure.
(4) Path optimization. If the program contains robotic motion that is close to the singularity, RobotStudio can automatically detect it and issue an alarm to prevent the robot from actually doing so. The simulation monitor is a visual tool for robot motion optimization, and the red line shows improvements that allow the robot to operate in the most efficient manner. TCP speed, acceleration, singularity or axis can be optimized to reduce cycle time.
(5) Accessibility analysis. Autoreach can automatically perform reachability analysis, which is very convenient to use. Users can move the robot or workpiece arbitrarily until all positions can be reached, and the work unit floor layout verification and optimization can be completed in a few minutes.
(6) Virtual teaching station. It is the graphic display of the actual teaching platform, and its core technology is Virtual Robot. Essentially, all the work that can be done on the actual teaching platform can be done on the VirtualTeacher (QuickTeach?), which is an excellent teaching and training tool.
(7) Event table. An ideal tool for verifying the structure and logic of a program. The I/O status of the unit of work can be directly observed by the tool during program execution. I/O can be connected to simulation events to simulate the robot and all equipment in the station. This feature is an ideal debugging tool.
(8) Collision detection. Collision detection prevents serious damage from equipment collisions. Once the test object is selected, RobotStudio automatically monitors and displays whether these objects collide when the program is executed.
(9) VBA function. VBA can be used to improve and extend RobotStudio functionality to develop powerful add-ins, macros, or custom user interfaces based on user needs.
(10) Direct upload and download. The entire robot program can be downloaded directly to the actual robot system without any conversion, thanks to ABB's unique Virtual Robot technology.
Disadvantages:
It only supports ABB brand robots, and the compatibility between robots is very poor. Integrators can't just do ABB projects!
The following picture shows the Robot Studio software interface:
7, Robomove
Robomove is from Italy and also supports most brands of robots on the market. Robotic machining tracks are imported from external CAM.
advantage:
1. Unlike other software, Robomove takes a private custom route and customizes it according to the actual project.
2. The software is free to operate, fully functional, and supports multiple robot simulations.
Disadvantages:
Operators need to have a deeper understanding of robots, and the degree of strategic intelligence is quite different from that of Robotmaster.
8, other
Yaskawa's motosim, kuka's simpro, Fanuc's robguide, and other domestic software are also being developed.
The above introduced several popular offline programming software, mainly analyzing the functions, advantages and disadvantages of the software. Please collect and forward, I hope to help those children who want to learn industrial robots~
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