CN113246122A - Digital twin practical training method and system of industrial robot - Google Patents
Digital twin practical training method and system of industrial robot Download PDFInfo
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- CN113246122A CN113246122A CN202110456817.XA CN202110456817A CN113246122A CN 113246122 A CN113246122 A CN 113246122A CN 202110456817 A CN202110456817 A CN 202110456817A CN 113246122 A CN113246122 A CN 113246122A
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- 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
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- 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
- B25J9/1628—Programme controls characterised by the control loop
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- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
The invention discloses a digital twin practical training method of an industrial robot, which comprises the following steps: sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller; inputting the real-time data into a practical training virtual model for operation; and receiving a simulation result obtained by the operation of the practical training virtual model. The invention provides a digital twin practical training method and system for an industrial robot, which are characterized in that the operation of the industrial robot and the practical operation of operation and maintenance are simulated and operated by utilizing a digital twin technology, a virtual operation result is transferred to the real operation of the robot, virtual and real fusion practical training is realized, and a digital training platform is coordinated and consistent with an entity industrial robot.
Description
Technical Field
The invention relates to the technical field of intelligent equipment and robots, in particular to a digital twin practical training method and system of an industrial robot.
Background
The industrial robot market shows a vigorous development industrial situation, and the industrial robot is more and more widely applied to the operations of automobile manufacturing, machine tool feeding and discharging, blank manufacturing (stamping, die casting, forging and the like), machining, welding, heat treatment, surface coating, assembling, detecting, warehouse stacking and the like, and the industrial robot becomes a standard device and is widely applied. The demand of each field for industrial robots is continuously increasing, and the demand is increasing year by year. With the development of industrial robots in deeper and wider directions and the improvement of the intelligence level of the robots, the application range of the robots is continuously expanded, more and more enterprises of the industrial robots are used, but talents familiar with the aspects of industrial robot field programming, robot installation and debugging, maintenance and the like are seriously insufficient, the acceleration of the industrial robots is expected to reach 25% in the next 3-5 years, and gaps of high-skill talents are increased year by year.
The operation and maintenance skill training of the industrial robot is an important means for cultivating the technical skill talents of the industrial robot, but the industrial robot system is expensive, the maintenance cost of practical training equipment is high, the problems of insufficient training equipment, teachers and materials shortage, diversification of the training equipment and the like are faced at present, and the requirement of the industrial robot industry on the technical skill talents is difficult to meet.
Disclosure of Invention
Aiming at the technical problems, the invention provides a digital twin practical training method and a digital twin practical training system for an industrial robot. The technical scheme is as follows:
the embodiment of the invention provides a digital twin practical training method of an industrial robot, which comprises the following steps:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
As a preferred scheme, the practical training virtual model can be realized by the following steps:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body;
and constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
As preferred scheme, carry out three-dimensional modeling according to each component of real standard platform and industrial robot body, specifically do:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part;
and calling a plurality of simulation parts and assembling the simulation parts.
In order to solve the same technical problem, the embodiment of the invention provides a digital twin practical training system of an industrial robot, which comprises a monitoring module, a virtual module and an entity module;
the virtual module is used for operating the practical training virtual model;
the entity module comprises a training platform controller and an industrial robot controller and is used for controlling the training platform and the industrial robot body;
the monitoring module is used for:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
As a preferred scheme, the practical training virtual model can be realized by the following steps:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body;
and constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
As preferred scheme, carry out three-dimensional modeling according to each component of real standard platform and industrial robot body, specifically do:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part;
and calling a plurality of simulation parts and assembling the simulation parts.
As a preferred scheme, the practical training platform further comprises a sliding table, a feeding unit, a processing unit and a warehousing unit;
the practical training platform controller is connected with the industrial robot controller through an Ethernet interface for data exchange, and the practical training platform controller is respectively connected with the sliding table, the feeding unit, the processing unit and an executing mechanism of the warehousing unit through a profinet network so as to correspondingly control the sliding table, the feeding unit, the processing unit and the warehousing unit to simultaneously carry out data exchange.
As a preferred scheme, the entity module further comprises a plurality of sensors; the sensors can be divided into an internal sensor and an external sensor;
the internal sensor is used for detecting the state of the industrial robot body and inputting the detected robot state data to the industrial robot controller so as to assist the industrial robot controller to control the industrial robot body to complete specified movement and functions according to the robot state data;
the external sensor is used for detecting the state of the working environment of the industrial robot and inputting the detected environmental state data into the monitoring system so as to assist the monitoring system to formulate an operation instruction sent to the industrial robot controller.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the scheme provides a digital twin practical training method and system of an industrial robot, in the scheme, an operator can control the industrial robot to execute relevant work by sending an operation instruction to an industrial robot controller, and the industrial robot can generate real-time data when executing the relevant work; inputting the real-time data into a practical training virtual model for operation, wherein on one hand, the practical training virtual model changes along with the change of the real-time data, so that the practical training virtual model is more vivid; on the other hand, real-time data are input into the practical training virtual model, the practical training virtual model plans the motion path of the industrial robot in the virtual industrial robot application environment, dynamically simulates the motion process of the industrial robot, observes the motion result, verifies the correctness of a program and the feasibility of the process, then calculates a simulation result, completes the simulation practical training, saves the equipment cost, saves the field and time, overcomes the problem of insufficient teaching resources of the robot, shortens the programming and debugging period of the industrial robot, and improves the efficiency of students for learning the industrial robot.
In addition, the simulation result can be fed back to the monitoring system, and then an operator can generate an operation instruction according to the simulation result, so that the industrial robot controller is controlled, the industrial robot is controlled, the operation of the industrial robot and the actual operation of operation and maintenance in a real scene are completed, and further virtual-real fusion practice training of synchronous motion of the virtual system and the physical system is realized.
Drawings
Fig. 1 is a detailed flowchart of a digital twin practical training method of an industrial robot in an embodiment of the invention;
fig. 2 is a flowchart of a method for establishing a practical training virtual model of a digital twin practical training method of an industrial robot according to an embodiment of the invention;
fig. 3 is a flowchart of defining parts of a digital twin practical training method of an industrial robot according to an embodiment of the present invention;
FIG. 4 is a flow chart of part modeling of a method for digital twin training of an industrial robot in an embodiment of the present invention;
FIG. 5 is a flow chart of assembled parts of a method for digital twinning training of an industrial robot in an embodiment of the present invention;
FIG. 6 is a block diagram of a digital twin training system for an industrial robot in an embodiment of the present invention;
FIG. 7 is a schematic data flow diagram of a digital twin training system of an industrial robot in an embodiment of the present invention;
fig. 8 is a schematic diagram of control signals and real-time data flow directions of parts inside a digital twin practical training system of an industrial robot in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present solution provides an exemplary embodiment of a digital twin practical training method for an industrial robot, including the steps of:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
The practical training virtual model is a real digital mirror image of the physical model, can show the appearance structure, the geometric dimension and the motion state of the physical object, and can efficiently and accurately evaluate, predict and optimize the entity model and provide intelligence for the entity model under the driving of data transmission.
It can be understood that the real-time data is real data on the practical training platform and data in the operation process of the industrial robot, the data continuously change along with the movement of materials on the working platform and the movement of the robot, and the data on the working platform generally comprises a starting signal, a stopping signal, a material in-place signal, a conveying belt operation direction, a conveying belt operation speed, a conveying belt position, a motor operation state, an air cylinder expanding/clamping state, an air cylinder extending/retracting state, a feeding in-place state, a warehousing position number and the like; industrial robot related data typically includes gripper clamping/opening status, robot position, angle, velocity, angular velocity, acceleration, distance, etc. data.
In this embodiment, an operator sends an operation instruction through a human-computer interface of the monitoring system, and the practical training platform executes a corresponding action after receiving the instruction. It can be understood that an operator can operate according to a simulation result obtained by the operation of the practical training virtual model, and the simulation result at least comprises the shape, size, running direction, speed and position of the virtual practical training platform and the virtual industrial robot, the connection relation between the parts, the driving event of the part motion and the like.
The virtual model receives data of the practical training platform and data of the industrial robot, attributes and motion parameters of parts in the virtual model are updated, the model is further driven to operate, and a virtual system is enabled to be consistent with an entity system.
The monitoring system configuration software receives the data of the practical training platform and the data of the industrial robot at any time, monitors the running states of the practical training platform and the industrial robot in real time, and stops executing immediately when meeting an accident condition, so that the loss is reduced to the minimum; and storing the latest data in a database to form historical data, and performing data analysis to form a basis for improving the production process flow.
Referring to fig. 2, the present embodiment provides a preferred embodiment, and the practical training virtual model can be implemented by the following steps:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body; it can be understood that model rendering is also required after the three-dimensional modeling is completed.
And constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
In this embodiment, after the model rendering, that is, after the three-dimensional model is created, SolidWork is exported to a file in Stl format, and a file in Stl format is imported by using 3ds Max software, so that the model and the material are attached and fused together, and the model presents an image with real object-like and photo quality.
Referring to fig. 3, the attributes of the component, such as shape, size, running direction, speed, etc., are defined; defining the events of the parts, namely dividing the events into simple events, more complex events and complex events, and setting or defining the events of the parts, wherein the simple events only need to be set, for example, the event of the running condition of a transmission belt is the pressing of a starting button; more complicated events need to set a logical relation, for example, the event that the processing procedure is started when the material is in place is that the clamp is tightened and two signals of the material in place are effective simultaneously; complex events require specific event functions to be written in the scripting language in Unity 3D. The motion of the virtual model is controlled by events of the zero component.
In this embodiment, three-dimensional modeling is carried out according to each component of real standard platform and industrial robot body, specifically is:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part; it can be understood that the geometric dimensions, relative positions and the like of the parts of the training platform and the industrial robot body are measured.
And calling a plurality of simulation parts and assembling the simulation parts.
Referring to fig. 4, three-dimensional modeling is performed, and a model is designed by using SolidWork software, including modeling and assembling of parts. The modeling of the parts comprises modeling of a workbench, an operation panel, a clamp, a feeding unit, a processing unit, an assembling unit, a warehousing unit and the like, and the modeling of each part is the modeling design of a single part.
Referring to fig. 5, the assembly is to assemble the designed components according to the actual assembly requirements, such as the modeling process of the feeding unit, and respectively perform modeling design on the bracket, the discharging cylinder, the ejecting cylinder, the motor, the conveying belt, the roller, the bin, and the like; assembling a bracket, assembling a transmission belt and a roller and assembling a cylinder; they are then assembled into a solid model of the feed unit.
Referring to fig. 6, the present disclosure provides an exemplary embodiment of a digital twin practical training system for an industrial robot, which includes a monitoring module, a virtual module, and a physical module;
the virtual module is used for operating the practical training virtual model; the practical training virtual model is a real digital mirror image of the physical model, can show the appearance structure, the geometric dimension and the motion state of the physical object, and can efficiently and accurately evaluate, predict and optimize the entity model and provide intelligence for the entity model under the driving of data transmission.
The entity module comprises a training platform controller and an industrial robot controller and is used for controlling the training platform and the industrial robot body;
the monitoring module is used for:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
Referring to fig. 7, the communication connection for data interaction among the entity module, the virtual module, and the monitoring module is a channel for data interaction between the practical training device and the practical training virtual model. The practical training equipment transmits the acquired data of the physical object to the virtual model in real time through a TCP protocol, and drives the virtual model to realize synchronous motion.
The scheme provides a preferred embodiment, and the practical training virtual model can be realized through the following steps:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body; it can be understood that model rendering is also required after the three-dimensional modeling is completed.
And constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
In this embodiment, after the model rendering, that is, after the three-dimensional model is created, SolidWork is exported to a file in Stl format, and a file in Stl format is imported by using 3ds Max software, so that the model and the material are attached and fused together, and the model presents an image with real object-like and photo quality.
In this embodiment, three-dimensional modeling is carried out according to each component of real standard platform and industrial robot body, specifically is:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part; it can be understood that the geometric dimensions, relative positions and the like of the parts of the training platform and the industrial robot body are measured.
And calling a plurality of simulation parts and assembling the simulation parts.
The practical training system comprises a physical entity model, a virtual model, a monitoring system, data and communication connection for interaction between the data and the data.
The monitoring system is composed of a touch screen computer, and the functions of the monitoring system are realized through configuration software of the monitoring system. The system can communicate with a physical system and a virtual system in real time, and the configuration software of the monitoring system sends an instruction to the physical system through an operation interface to control the physical system to execute work; monitoring system configuration software receives data of the practical training platform and data of the industrial robot at any time, monitors the running states of the practical training platform and the industrial robot, and immediately stops executing when meeting an accident condition, so that the loss is reduced to the minimum; storing the latest data of the training platform and the industrial robot in a database to form historical data, and performing data analysis to form a basis for improving the production process flow; and the virtual system reads the data in the monitoring system database in real time and updates the attributes and parameters of the parts in real time, so that the virtual system and the entity system are kept consistent.
The industrial robot body includes frame and actuating mechanism, arm, wrist and hand etc. and this real standard system adopts IRB120 ABB industrial robot, the core of industrial robot body is industrial robot controller, including input interface, output interface, communication interface, input interface connects interior sensor, output interface connection driver, relay, pilot lamp etc..
The training platform controller comprises an operation panel and a control unit; the operation panel comprises a starting button, a stopping button and an emergency stopping button of the practical training platform, and a starting button and a stopping button of the feeding unit, the processing unit and the warehousing unit. The control unit mainly comprises an S7-1200PLC controller and an IO module, and comprises 64 paths of input channels and 48 paths of output channels, wherein the input channels are connected with devices such as switches and buttons, and the output channels are connected with devices such as relays and electromagnetic valves.
Referring to fig. 8, the present invention further provides a preferred embodiment, wherein the practical training platform further includes a sliding table, a feeding unit, a processing unit, and a warehousing unit;
the practical training platform controller is connected with the industrial robot controller through an Ethernet interface for data exchange, and the practical training platform controller is respectively connected with the sliding table, the feeding unit, the processing unit and an executing mechanism of the warehousing unit through a profinet network so as to correspondingly control the sliding table, the feeding unit, the processing unit and the warehousing unit to simultaneously carry out data exchange.
Specifically, the real standard platform still includes the workstation.
The workbench is formed by welding aluminum profiles and steel plates.
The sliding table is composed of a ball screw and a linear guide rail, and the guide rail is controlled to move through an actuating mechanism, so that the robot can move among the feeding unit, the processing unit and the warehousing unit. The corresponding actuating mechanism mainly comprises an alternating current servo driver and an alternating current servo motor.
The feeding unit mainly comprises a conveying device, an executing mechanism, a clamping jaw tool, raw materials to be processed and the like. The raw materials to be processed are placed in the material warehouse, after a start button is pressed, the S7-1200PLC controls the conveyor belt to convey the raw materials to the position where the robot grabs the raw materials through the execution mechanism and then the conveyor belt stops, the S7-1200PLC controls the sliding table to convey the industrial robot to the position where the material conveying unit is located along the guide rail through the execution mechanism of the sliding table, at the moment, the in-place signal is sent to the robot controller, the industrial robot is started to replace a clamping jaw tool, the clamping jaw tool is moved to the position where the raw materials are grabbed, and the raw materials are grabbed. The corresponding actuating mechanism mainly comprises an AC stepping driver and an AC stepping motor.
The processing unit mainly comprises a cutting machine, a grinding machine, a polishing machine, an actuating mechanism, a clamping jaw tool, a waste storage table and the like. After the robot grabs the raw material, the S7-1200PLC controls the sliding table to convey the industrial robot to the position of the processing unit along the guide rail through the executing mechanism of the sliding table, the robot loosens the clamp to put down the raw material, after the PLC detects a raw material in-place signal, the robot is started to replace a cutting tool, the S7-1200PLC controls the cutting machine to work through the executing mechanism of the processing unit, the robot rotates the raw material to enable the cutting machine to finish cutting, then the robot puts the raw material on the raw material table, the robot replaces a grinding tool, the S7-1200PLC controls the grinding machine to work through the executing mechanism of the processing unit, after grinding is finished, the S7-1200PLC controls the polishing machine to work through the executing mechanism of the processing unit, and material processing is finished. The corresponding actuating mechanism mainly comprises an AC stepping driver and an AC stepping motor.
The warehousing unit mainly comprises a vertical bin and the like. S7-1200PLC controls the sliding table to convey the industrial robot to the position of the warehousing unit along the guide rail through an actuating mechanism of the sliding table, the bin is of a vertical structure and has 9 position numbers of 3 rows and 3 columns, the lowest layer is a line 1, the uppermost layer is a line 3, each line is numbered from left to right, the number of the line 1 is 1,2,3, the number of the line 2 is 4,5,6, the number of the line 3 is 7,8,9, each bin has an occupation signal, when materials exist, the position is a signal 1, and otherwise the position is 0. After the robot finishes material processing, the clamp is replaced, the grabbed materials are moved to the warehousing unit along the guide rail, the PLC detects the target position where the warehouse materials are placed, the position from the No. 1 position to the No. 9 position is detected to be empty, the materials are placed into the empty bin position with a small serial number, after the materials are placed, the position signal is detected to be 1, and then warehousing is successful. The robot returns to the origin. The corresponding actuating mechanism mainly comprises an AC stepping driver and an AC stepping motor.
The scheme also provides a preferred embodiment, and the entity module further comprises a plurality of sensors; the sensors can be divided into an internal sensor and an external sensor;
the internal sensor is used for detecting the state of the industrial robot body and inputting the detected robot state data to the industrial robot controller so as to assist the industrial robot controller to control the industrial robot to complete specified movement and functions according to the robot state data;
the external sensor is used for detecting the state of the working environment of the industrial robot and inputting the detected environmental state data into the monitoring system so as to assist the monitoring system to formulate an operation instruction sent to the industrial robot controller.
It will be appreciated that the sensors detect the association of the work object and the environment with the robot, including internal sensors for detecting the state of the robot itself, such as sensors for detecting position and angle, and external sensors. The external sensor is used for detecting the environment of the robot, such as what object is, how far the robot is away from the object, the condition of the object, such as whether the grabbed object slides down, and an object identification sensor, an object flaw detection sensor, a proximity sensor, a distance sensor, a force sensor, an auditory sensor and the like are arranged. The output of the sensor can reflect the working state of the practical training platform and monitor the real-time running state of the physical object at any time.
In this embodiment, the internal sensor and the external sensor correspond to a two-stage control system.
The primary control system consists of a controller, a driver, an actuator and an internal sensor, and is a body control system of the robot. The data output by the internal sensor comprises information such as position, angle, speed, angular velocity, acceleration and the like, the data is connected to the controller, the controller is connected with the driver, and the controller governs the executing mechanism of the robot to complete specified movement and functions according to the working instruction of the robot and the signals fed back from the sensor. The robot is constantly changed in position, speed and other data in the action executing process, the controller adjusts and outputs the data to the driver and the actuator according to the change of the data, and the sensor feeds motion output signals of the robot back to the controller to form local closed-loop control, so that the motion of the robot in the space is controlled more accurately.
The secondary control system consists of a primary control system, a monitoring system, an external sensor and an operating environment, and is a control system of the practical training system. The operation environment is connected with the monitoring system through an external sensor, after the monitoring system receives an operation instruction of an operator, the monitoring system software analyzes the operation instruction and then converts the instruction and sends the instruction to a command which can be received by the controller, the controller determines the motion parameters of the robot, and the parameters are output to the driver to be used as given signals of the execution system to drive the robot to execute the motion. And the data of the sensor is output to a monitoring system to monitor the real-time running state of the physical object.
The scheme also provides a specific embodiment, a digital twin practical training method and a system of the industrial robot, and the specific operation steps are as follows:
1) and (4) preparing, electrifying all the equipment, preparing to work, and putting the raw materials to be processed in the material warehouse.
2) Selecting a full-flow practical training in monitoring system software, pressing a starting button, transmitting a command to a practical training platform, and starting the feeding unit;
3) the monitoring system configuration software receives the data of the practical training platform and the data of the industrial robot at any time, monitors the running states of the practical training platform and the industrial robot in real time, gives an audible and visual alarm when an accident happens, and pops up an alarm window on a computer; the virtual model receives the data of the practical training platform and the data of the industrial robot in real time, the attributes and the motion parameters of parts in the virtual model are updated, the model is further driven to operate, and the virtual system and the real system are kept consistent.
And in the following steps, the running state data of the practical training platform and the industrial robot are displayed in the monitoring system software in real time and are sent to the virtual system in real time to drive the virtual system model to run.
4) S7-1200, the PLC controls the conveyor belt to convey the raw material to a raw material grabbing position of the robot;
5) s7-1200PLC controls the sliding table to convey the industrial robot to the position of the feeding unit along the guide rail through the executing mechanism of the sliding table;
6) starting the industrial robot to replace the clamping jaw tool, moving to a raw material grabbing position, and grabbing the raw material;
7) s7-1200PLC controls the sliding table to convey the industrial robot to the position of the processing unit along the guide rail through the executing mechanism of the sliding table;
8) the robot loosens the clamp to put down the raw material, the cutting tool is replaced, the S7-1200PLC controller controls the cutting machine to work, and the robot rotates the raw material to enable the cutting machine to finish cutting;
9) the robot puts the raw materials into the raw material table, the robot changes the polishing tool, and the S7-1200PLC controller controls the polishing machine to work to finish polishing;
10) the S7-1200PLC controller controls the polishing machine to work to finish the material processing;
11) s7-1200, the PLC controls the sliding table to convey the industrial robot to the position of the warehousing unit along the guide rail;
12) the PLC detects the target position of the warehouse material, if no vacancy exists, an operator is informed to move out of the warehouse vacancy in an alarm mode on a software interface of a monitoring system, and an alarm window is automatically closed when the vacancy is detected;
13) the robot puts the material into the vacancy;
14) and detecting whether the material warehousing is successful, and returning the robot to the original point after the material warehousing is successful.
The practical training system can not only carry out virtual simulation practical training, but also carry out physical practical training and can carry out virtual and real combined practical training.
The practical training system can not only realize the practical training of the cognition and the use of the industrial robot, the use and the programming of the demonstrator, the conversion of the coordinate system, the joint motion control, the linear motion control and the circular motion control, but also realize the practical training of the industrial robot production application, such as the practical training of the feeding unit operation control, the practical training of the processing unit operation control and the storage unit operation control, and the practical training of the function expansion on the basis.
The practical training system not only can be used for carrying out independent practical training on each unit or combined practical training on a plurality of units, but also can be used for carrying out comprehensive application practical training of the whole process.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. A digital twin practical training method of an industrial robot is characterized by comprising the following steps:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
2. A method of digital twinning training of an industrial robot as claimed in claim 1, wherein said training virtual model is implemented by:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body;
and constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
3. A method according to claim 2, wherein said three-dimensional modeling is performed based on the training platform and the components of the industrial robot body, specifically:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part;
and calling a plurality of simulation parts and assembling the simulation parts.
4. A digital twin practical training system of an industrial robot is characterized by comprising a monitoring module, a virtual module and an entity module;
the virtual module is used for operating the practical training virtual model;
the entity module comprises a training platform controller and an industrial robot controller and is used for controlling the training platform and the industrial robot body;
the monitoring module is used for:
sending an operating instruction for controlling the practical training platform controller and the industrial robot controller to the practical training platform controller, and simultaneously acquiring real-time data of the practical training platform controller and the industrial robot controller;
inputting the real-time data into a practical training virtual model for operation;
and receiving a simulation result obtained by the operation of the practical training virtual model.
5. A digital twin practical training system for an industrial robot according to claim 4 characterised in that the practical training virtual model is realized by the following steps:
performing three-dimensional modeling according to the training platform and each component of the industrial robot body;
and constructing a virtual scene by defining the attribute and the event of each component and the logical relationship among the events of each component.
6. A digital twin practical training system for an industrial robot according to claim 5 characterised in that the three dimensional modelling is performed from the practical training table and the components of the industrial robot body, in particular:
after obtaining the geometric dimension obtained by measuring the parts, adding the geometric relationship of the parts to generate a simulation part;
and calling a plurality of simulation parts and assembling the simulation parts.
7. The digital twin practical training system of an industrial robot according to claim 4, wherein the practical training platform further comprises a sliding table, a feeding unit, a processing unit and a warehousing unit;
the practical training platform controller is connected with the industrial robot controller through an Ethernet interface for data exchange, and the practical training platform controller is respectively connected with the sliding table, the feeding unit, the processing unit and an executing mechanism of the warehousing unit through a profinet network so as to correspondingly control the sliding table, the feeding unit, the processing unit and the warehousing unit to simultaneously carry out data exchange.
8. A digital twin practical training system for an industrial robot according to claim 4 wherein the physical module further comprises a number of sensors; the sensors can be divided into an internal sensor and an external sensor;
the internal sensor is used for detecting the state of the industrial robot body and inputting the detected robot state data to the industrial robot controller so as to assist the industrial robot controller to control the industrial robot body to complete specified movement and functions according to the robot state data;
the external sensor is used for detecting the state of the working environment of the industrial robot and inputting the detected environmental state data into the monitoring system so as to assist the monitoring system to formulate an operation instruction sent to the industrial robot controller.
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