面向智能制造场景的机器人数字孪生建模与控制

doi:10.16182/j.issn1004731x.joss.23-0481

摘要/Abstract

摘要：

工业4.0及中国制造2025发展方针的提出，加速了制造业从自动化向智能化的转型。工业机器人作为智能制造的代表性设备也将变得更智能化。针对在实际生产中工业机器人点焊调试存在的干涉碰撞、操作繁琐、效率低等问题，基于数字孪生技术进行数字建模和仿真调试。利用TECNOMATIX系列软件中的Process Simulate进行机器人点焊工位的数字化建模与运动定义，综合利用TIA Portal和S7-PLCSIM Advanced搭建虚拟仿真调试环境，实现由外部虚拟PLC控制加工工位的多机器人协同工作。仿真结果表明，机器人在运动过程中所有工作点均可达且关节速度始终保持在合理区间内，满足实际生产过程中安全性和稳定性的要求；通过数字孪生技术进行机器人点焊工位仿真可及时发现产品缺陷，缩短调试周期，降低成本。

关键词: 数字孪生, 虚拟调试, Tecnomatix, TIA, 仿真

Abstract:

The introduction of Industry 4.0 and the Made in China 2025 development policy has accelerated the transformation of the manufacturing industry from automation to intelligence. Industrial robots, as the representative equipment of intelligent manufacturing, will also become more intelligent. Based on digital twin technology, digital modeling, and simulation debugging are conducted for such problems as interference and collision, tedious operation, and low efficiency of industrial robot spot welding debugging in production. Process Simulate from TECNOMATIX software is utilized to digitally model the robot spot welding station and define its motion, and TIA Portal and S7-PLCSIM Advanced are applied to build a virtual simulation and commissioning environment to realize multi-robot cooperative work at the processing station controlled by an external virtual PLC. The simulation results show that the robot can reach all working points during the motion and the joint speed is always kept within a reasonable range, which meets the requirements of safety and stability in the actual production process. At the same time, the robot spot welding station simulation by digital twin technology can find product defects in time, shorten the debugging cycle, and reduce the cost.

Key words: digital twin, virtual commissioning, Tecnomatix, TIA, simulations

中图分类号:

TP391.9

李颖,高岚,朱志松 . 面向智能制造场景的机器人数字孪生建模与控制[J]. 系统仿真学报, 2024, 36(7): 1536-1545.

Li Ying,Gao Lan,Zhu Zhisong . Digital Twin Modeling and Control of Robots for Intelligent Manufacturing Scenarios[J]. Journal of System Simulation, 2024, 36(7): 1536-1545.

图/表 15

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参考文献 17

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信号名称	信号类型	信号地址	IEC标准信号地址	外部链接	关联资源
clamps12_mtp_OPN	Bool	0.4	Q0.4	test_advanced	clamps12
clamps12_mtp_CLS	Bool	0.5	Q0.5	test_advanced	clamps12
clamps12_at_OPN	Bool	0.4	I0.4	test_advanced	clamps12
clamps12_at_CLS	Bool	0.5	I0.5	test_advanced	clamps12
turntable11_HME	Bool	1.0	I1.0	test_advanced	turntable11
turntable11_FWD	Bool	1.1	I1.1	test_advanced	turntable11
kr2210_rob1_startProgram	Bool	5.0	Q5.0	test_advanced	kr2210_rob1
kr2210_rob1_programNumber	Bool	No Address		test_advanced	kr2210_rob1

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