Roboguide is a FANUC-owned support for robot system layout design and action simulation simulation.software, can perform system solution layout design, robot interference accessibility analysis and system beat estimation, and can also automatically generate robot offline programs, diagnose robot failures and optimize programs, etc.
Using Roboguide, robot systems can be designed efficiently, reducing system construction time. Roboguide provides convenient functions to support the design of programs and layouts, and it can be easier to design a robot system without using real robots.
1. Roboguide simulation steps
1. Simulation system construction Roboguide provides a 3D virtual space and 3D that is convenient for system construction.Modellibrary. The model library contains the digital model of FANUC robot, the digital model of the robot peripheral equipment, and the digital model of some typical workpieces. Roboguide can use the built-in 3D model library, or import 3D digital model from the outside for system construction.
2. Solution layout design
After the system is built, it is necessary to verify the rationality of the solution layout design. A reasonable layout not only effectively avoids interference, but also keeps the robot away from its limit position. Roboguide shows the reachable range of the robot and determines the relative position of the robot and the surrounding equipment, ensuring accessibility while effectively avoiding interference. In addition, Roboguide can also teach the robot to keep the robot away from the limit position and maintain a good working posture. Roboguide can display the reachable range of the robot and its teaching function to make the solution layout design more reasonable. 3. Interference accessibility analysis. In the process of planning layout, the first thing to do is to ensure the accessibility of the robot to the workpiece, and to avoid the interference of the robot during movement. In the Roboguide simulation environment, the robot can be able to ensure the accessibility of the workpiece by adjusting the relative position between the robot and the workpiece. The interference of the robot's movement process includes: the interference between the robot and the fixture, the interference with the safety fence and other peripheral equipment. The collision collision option in Roboguide can automatically detect interference when the robot moves.
4. Beat calculation and optimization
The production beat can be estimated and optimized in the Roboguide simulation environment. Beat estimation is performed based on the robot's motion speed, process factors and the running time of peripheral devices, and the beat is improved by optimizing the robot's motion trajectory.
5. Offline programming
For more complex processing trajectories, offline programs can be automatically generated through the offline programming function provided by Roboguide, and then imported into the real robot control cabinet. It greatly reduces the on-site working time of programming teaching personnel and effectively improves work efficiency.
2. Roboguide function module
1. Commonly used modules
Commonly used modules of Roboguide include: ChamferingPRO, HandlingPRO, WeldPRO, PalletPRO and PaintPRO, etc.
ChamferingPRO is used for deburring and chamfering simulation applications; WeldPRO is used for simulation applications such as arc welding and laser cutting;
PalletPRO is used in various palletizing simulation applications; PaintPRO is used in spraying simulation applications;
HandlingPRO is used for material handling simulation applications such as machine tool loading and unloading, stamping, assembly, injection molding machines, etc.;
The application toolkit loaded by each module is different, as shown in the figure below.
2. Other modules
The 4D Edit editing module imports the real 3D robot model into the teaching tool, combining the 3D model and 1D internal information to form a 4D image display function;
The MotionPRO motion optimization module can optimize the TP program, including optimization of beats and paths. Beat optimization requires that the motor be within an acceptable load range. Path optimization requires setting a distance that allows deviations to make the robot's motion path close to the teaching point within the set deviation range.
The iRPickPRO module can automatically generate layouts by creating a Workcell after simple settings, and display the process of single or multiple robots grabbing and placing workpieces in the form of a 3D view, automatically generate high-speed visual pickup programs, and perform high-speed visual tracking simulation. etc.
3. Extended function plug-in
Roboguide also provides some functional plug-ins to expand the functions of the software.
A. When the Line Tracking linear tracking function is installed in Roboguide, the robot can automatically compensate for the flow of the workpiece with the guide rails, treating the absolutely moving workpiece as a relatively stationary object. Therefore, it is possible to achieve without stopping assemblyassembly lineUnder the premise of this, the robot performs corresponding operations on the workpieces on the assembly line;
B. Install CoordinatedMotionWhen coordinating the motion software, the robot coordinates movement with the external axis, so that the robot is in a suitable welding posture to improve welding quality;
C. The Spray Simulation plug-in can create a spray gun model based on actual conditions, and then simulate the spraying effect in Roboguide to view the distribution of film thickness. Installing the energy evaluation function plug-in can minimize energy consumption within a given beat, and the optimization program can also minimize the beat within a given energy consumption;
D. The life evaluation function plug-in can optimize the program to maximize the life of the reducer within a given beat; it can also minimize the life of the beat within a given life;
Roboguide software can load different functional modules, which can be distinguished by application, such as handling, glue coating, arc welding and spot welding. When installing the software, you can only select one of the application modules for installation. In handling applications, simulation and simulation of machine tool loading and unloading, stamping, metal and non-metal processing applications can also be carried out.
3. Roboguide simulation points
Generally speaking, no matter which application it is, Roboguide software simulation can be used to confirm the layout between the workstation or welding room and the robot, analyze the accessibility of the robot and estimate the production rhythm of the system, etc. But the specific content targeted by each application is different.
For example, to confirm the layout between the robot and the workstation, for handling applications, the main distance between the robot and the machine tool, conveyor belt, material rack, camera, claw changer and fence grating; glue coating application mainly determines the distance between the robot and the fixture, turntable, oil cup, rubber scraper and fence; arc welding application confirms the distance between the robot and the fixture, turntable, wire bucket, wire feeder, gun cleaner and weld room grating; spot welding application confirms the distance between the robot and the fixture, grinder, turntable, slide table, gun change disc and fence grating.
When conducting robot accessibility analysis, for handling applications, the main consideration is whether the robot claws can reach the material rack, claw change table and conveyor belt position in a specific posture; the spot welding application is to confirm the accessibility of the robot to the turntable, slide table and fixture; the glue coating application is to confirm the accessibility of the robot to the glue scraper and oil cup; the arc welding application is to confirm the accessibility of the robot and fixture, turntable and gun cleaner. When analyzing the interference of the robot, in addition to considering the interference between the robot and the peripheral equipment, the handling robot and the spot welding robot must also fully consider the interference between the pipeline package on the robot, the robot body and peripheral equipment. Arc welding and glue coating applications mainly consider the interference between robots and peripheral equipment.
In addition to optimizing the trajectory of the robot when calculating the system, the transporting robot needs to calculate the time of the claw movement and the time when waiting for the claw to hold it firmly; the spot welding robot mainly calculates the beat of the turntable flip, the time of sliding table sliding, and the duration of spot welding; the glue coating robot calculates the time of scraping glue and the time of turningtable flip; the arc welding robot calculates the time of starting and closing arc, welding time, gun cleaning time and turntable shift machine rotation time.
When performing Roboguide simulation, the working posture of the robot must be consistent with the actual situation.TCPThe settings should be as accurate as possible. The robot avoids limits and singular points of each axis during movement, and optimizes the trajectory of the robot so that the simulation results can be obtained relatively accurately.