CN113759753B - Simulation debugging system based on digital twin platform - Google Patents
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Abstract
The invention provides a simulation debugging system based on a digital twin platform, which is characterized in that a robot off-line simulation module is additionally arranged on the digital twin platform, the system is used for carrying out robot program point location re-alignment and virtual robot model simulation verification in the friction welding type changing production process, the robot motion track is re-planned through a robot off-line debugging interface in the digital twin platform, simulation verification is carried out, and the simulated robot program replaces the original program on the digital twin platform through integrating workpiece parameter setting information in a feeding PLC control system, so that rapid type changing is realized.
Description
Technical Field
The invention relates to the technical field of digital production assistance, in particular to a simulation debugging system based on a digital twin platform.
Background
The concept of digital twins is proposed in 2003 by the teaching of michael grieves in the united states, and the current research and application mainly focuses on product design, manufacturing shop modeling, product assembly, product quality analysis, life prediction and the like in the fields of aerospace, automobile manufacturing and the like, and draws wide attention as an emerging technology oriented to intelligent manufacturing. The digital twin technology is characterized in that a virtual model of a physical entity is established in a digital mode, the behavior of the physical entity in an entity environment is simulated by means of data, and the fusion of a physical world and an information world is realized by means of virtual-real interactive feedback, data fusion analysis, decision iterative optimization and the like. By applying the digital twin technology, the complex manufacturing process can be integrated, and the full life cycle optimization of product design, product manufacturing and product maintenance is realized. With the rapid development of new generation computer technologies such as internet of things, big data, cloud computing and the like, the intercommunication interconnection between a physical world and an information world is realized, a digital twin workshop concept is generated, an actual production process of the physical workshop is simulated mainly by means of a digital model equivalent to a physical entity, tasks such as process design, intelligent manufacturing unit scheduling and scheduling are developed based on the workshop digital model, the intelligent manufacturing units are effectively integrated and controlled based on network interconnection and data sharing, and information interaction and overall management among production links are realized, so that the aims of effectively improving the product assembly quality and reducing the production cost are fulfilled.
At present, a welding process is usually one-way information transmission from process design to processing field execution, and when an abnormality occurs in the welding process, the welding process cannot be adjusted in real time, so that welding defects are easily generated. In addition, in the face of diversified demands of production and processing, multiple products and equipment need to be subjected to model changing for multiple times in the production process, and parameter setting during each model changing needs to be adjusted, so that a model changing simulation debugging device needs to be designed urgently, and the method has great significance for improving the welding quality.
Disclosure of Invention
In order to effectively solve the problem of parameter setting during model changing, the invention provides a simulation debugging system based on a digital twin platform.
The technical scheme is as follows:
the invention relates to a simulation debugging system based on a digital twin platform.A robot off-line simulation system is newly added on the digital twin platform, a virtual scene, a UI panel and script codes meeting the requirements of a main frame of the digital twin platform are constructed, and the robot off-line simulation system is integrated into the digital twin platform; the robot off-line simulation system at least comprises an intelligent control module, a central control module, an off-line debugging module and a system setting module. Wherein,
the intelligent control module comprises: the main interface is used for displaying production information, production data, equipment state and quality statistics; the state monitoring interface is used for checking historical alarm data and operation logs; and full screen display for displaying the digital twin interface and the monitoring interface simultaneously.
The central control module comprises: the whole machine control unit is used for intelligent control and parameter setting when the whole machine is started; the parameter setting at least comprises a feeding parameter configuration unit which is used for feeding manufacturing and state control; and the processing parameter configuration unit is used for displaying and setting the process parameters and processing state control of the machine during processing.
The off-line debugging module is used for setting configuration parameters of a PLC (programmable logic controller) connected with the system, and the configuration parameters comprise teaching robot point location configuration data, off-line simulation configuration data and point location replacement upload data.
And the system setup module, comprising: modifying the password interface for managing the password of the user; account management, which is used for adding or deleting user information; and switching a user login management interface and a program closing button.
The virtual scene is a three-dimensional model of all or part of equipment loaded from an online virtual-real synchronization module of the digital twin platform; the virtual space is a digital mapping display of actual workshop equipment
Further, clicking the offline debugging module to display in a full screen at least comprises: the system comprises an operation panel of a right side area, a simulation information bar of a left side area and a virtual space presented in a full-screen middle area, wherein the virtual space is a display area of digital mapping of actual workshop equipment in the virtual scene.
Wherein, the operating panel still includes:
and (5) a robot name switching key is used for clicking the pull-down frame to switch the visual angle to operate the robot.
The joint angle configuration area comprises a joint teaching parameter configuration area which is used for carrying out joint teaching parameter configuration through input joint angle teaching, inching teaching and scroll bar teaching; and adjusting the stepping size by clicking the stepping adjusting button.
And the dragger button is generated by clicking the dragger button, a dragger is generated on the selected operation robot, and three axis arrows of the dragger button are pressed to carry out unidirectional dragging teaching of the robot.
And a cartesian coordinate display area for displaying cartesian coordinate information of the currently operating robot and performing jog teaching on cartesian coordinates.
Further, the operation panel further includes:
a point location operating area comprising: recording point location buttons, renaming point locations, deleting point locations and storing point locations; after the point position teaching is finished, the point position recording button is clicked to record a well-taught point position, any point position recorded in a selected table is clicked, the robot automatically jumps to the point position, the point position font can be changed into green, and the display width of a certain column can be adjusted by dragging a header frame; clicking the renaming point location to rename the point location; clicking the point location to delete, wherein if the point location is referred by the robot motion instruction, the point location cannot be deleted; and clicking the storage point position to store the magnetic disk operation if the simulation information interface needs to be clicked after the teaching point position is newly recorded.
Wherein, the simulation information bar further comprises: robot point location, robot end tool and simulation program; the point location information in the point location of the robot is consistent with the point location recorded by the operation panel, the robot end tool displays a robot clamp available for the robot, and the simulation program displays an existing simulation program.
And clicking the robot tail end tool, opening a robot tree node needing tool switching, clicking the selected tool node needing displaying or unloading, clicking a popup menu of a right key, and selecting an unloading tool or a loading tool.
The simulation information bar further comprises: and a product model button, wherein when the product model button is clicked, a product model switching dialog box is popped up and displayed, and the selected product model is displayed in a scene after the product model needing to be displayed is selected and confirmed.
Clicking the new program button to select an existing standard simulation program as a template new simulation program or selecting a blank option to newly create a blank simulation program; after the newly-built program button is saved, clicking the corresponding simulation program popup menu option, including simulation operation, renaming and deleting options, to select; when simulation operation is selected, popping up a simulation playing controller, selecting a robot to be simulated, clicking a playing button, and moving the selected robot according to a set simulation program; when renaming is selected, carrying out renaming operation; when the deletion option is clicked, deleting the current running program;
and the simulation program selects a corresponding program through the upload information button and uploads the program to the system.
Further, selecting a blank option to create a blank simulation program further includes the following steps:
s1: selecting a blank option to create a new simulation program;
s2: clicking the robot needing to add the instruction, and popping up an adding instruction menu by a right key;
s3: adding a SetToolLink instruction to set a simulation tool, then adding a motion instruction and tool action according to a motion track, and confirming a corresponding starting point, a corresponding end point and a corresponding simulation speed; wherein, the SetToolLink instruction is a setting tool instruction;
s4: clicking a storage button to store the current new program; clicking a right button program to perform simulation operation playing and checking the effect; or modifying the attribute; or deleting the instruction information.
The newly-built blank simulation program and point location replacement operation comprises the following steps:
and (4) SS1: recording new point positions needing to be replaced;
and (4) SS2: selecting a standard simulation program as a template to create a new simulation program;
and (4) SS3: expanding a newly-built simulation program, wherein a yellow mark is adopted to modify the instruction of the starting point and the end point, clicking and selecting any yellow instruction right key to pop up a modification instruction attribute menu, clicking a modification attribute option, and replacing the end point with a newly-recorded point location;
and (4) SS: and clicking a storage button to store the current setting, and selecting a newly added uploading simulation program in the central control module to upload the point location.
In summary, the invention provides a simulation debugging system based on a digital twin platform, a robot offline simulation module is additionally arranged on the digital twin platform, in the process of the model changing production of friction welding, the system provided by the invention is used for carrying out the realignment of the program point positions of the robot and the simulation verification of a virtual robot model, the motion track of the robot is re-planned through a robot offline debugging interface in the digital twin system, the simulation verification is carried out, and the simulated robot program replaces the original program on the digital twin platform through integrating the workpiece parameter setting information in a feeding PLC control system, so that the rapid model changing is realized.
Drawings
Fig. 1 is a schematic diagram of a digital twin platform-based simulation debugging system platform according to the present invention.
FIG. 2 is a joint teaching interface.
FIG. 3 is an exemplary diagram of a scrubber.
Figure 4 is a new emulator dialog box.
FIG. 5 is a diagram illustrating an example of the operation of the right button of the simulation program.
Fig. 6 is an exemplary diagram of an emulated playback controller.
Fig. 7 is a program upload dialog box.
Fig. 8 is an add instruction menu.
FIG. 9 is an example of adding a MoveJ instruction.
FIG. 10 is a command modification right menu.
FIG. 11 is a simulation program for unrolling a copy.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention relates to a simulation debugging system based on a digital twin platform, which is characterized in that a robot off-line simulation system is additionally arranged on the digital twin platform, a virtual scene, a UI panel and script codes meeting the requirements of a main frame of the digital twin platform are constructed, and the robot off-line simulation system is integrated into the digital twin platform.
Wherein, the robot off-line simulation system at least comprises: intelligent control module, central control module, off-line debugging module and system set up the module, specifically do:
specifically, the intelligent control module includes: the main interface is used for displaying production information, production data, equipment state and quality statistics; the state monitoring interface is used for checking historical alarm data and operation logs; and full screen display for displaying the digital twin interface and the monitoring interface simultaneously.
The central control module comprises: the whole machine control unit is used for controlling and setting parameters required when the whole machine is started; the joint material loading unit is used for displaying the control and control state of the material loading position of the joint; the rod body material loading level unit is used for displaying the control and control state of the rod body material loading level; and the welding machine unit is used for displaying the control and the control state of the welding machine.
The off-line debugging module is used for setting configuration parameters of a PLC (programmable logic controller) connected with the system, and the configuration parameters comprise teaching robot point location configuration data, off-line simulation configuration data and point location replacement upload data.
And the system setup module, comprising: modifying the password interface for managing the password of the user; account management, which is used for adding or deleting user information; and switching a user login management interface and a program closing button.
Further, clicking the offline debugging module, and displaying in a full screen display at least the following (as shown in fig. 1): the system comprises an operation panel of a right side area, a simulation information bar of a left side area and a virtual space presented in a full-screen middle area, wherein the virtual space is a display area of digital mapping of actual workshop equipment in the virtual scene.
The virtual scene is a three-dimensional model of all or part of equipment loaded from an online virtual-real synchronization module of the digital twin platform; the virtual space is displayed by digital mapping of actual workshop equipment.
Specifically, the operation panel on the right side region further includes:
and (5) a robot name switching key is used for clicking the pull-down frame to switch the visual angle to operate the robot.
The joint angle configuration area is used for configuring joint teaching parameters by inputting joint angle teaching, jog teaching and scroll bar teaching; and adjusting the stepping size by clicking the stepping adjusting button, as shown in fig. 2, optionally, performing input joint angle teaching, click teaching and scroll bar teaching by using a joint angle column. If the joint angle value is input in the joint angle input area of the column 01, or the angle is adjusted through the sliding strip on the right side of the joint angle input area; adjusting the angle reduction or the increase of the jog in the column 02; column 03 is the adjustment for the drag scroll bar teaching. Stepping size adjustment can also be performed by clicking the stepping bar.
As shown in fig. 3, the dragger button is generated by clicking the dragger button, a dragger is generated on the selected operation robot, and the three axial arrows of the dragger button are pressed to perform the unidirectional dragging teaching of the robot.
And a cartesian coordinate display area for displaying cartesian coordinate information of the currently operating robot and performing jog teaching on cartesian coordinates.
Further, in the operation panel of the right side region, there is further included: a point location operating area comprising: recording point location buttons, renaming point locations, deleting point locations and storing point locations; after the point position teaching is finished, the point position recording button is clicked to record a well-taught point position, any point position recorded in a selected table is clicked, the robot automatically jumps to the point position, the point position font can be changed into green, and the display width of a certain column can be adjusted by dragging a header frame; clicking the renaming point location to rename the point location; clicking the point location to delete, wherein if the point location is referred by the robot motion instruction, the point location cannot be deleted; and clicking the storage point position to store the magnetic disk operation if the simulation information interface needs to be clicked after the teaching point position is newly recorded.
The simulation information bar in the left area further includes: robot point location, robot end tool and simulation program; the point location information in the point location of the robot is consistent with the point location recorded by the operation panel, the robot end tool displays a robot clamp available for the robot, and the simulation program displays an existing simulation program.
Further, when the tool at the end of the robot is clicked, a robot tree node needing tool switching is opened, the selected tool node needing displaying or unloading is clicked, a menu is popped up by a right button, and an unloading tool or a loading tool is selected.
The simulation information bar further comprises: a product model button, wherein when the product model button is clicked, a product model switching dialog box is popped up and displayed, and a scene is displayed after the product model needing to be displayed is selected for confirmation;
clicking the new program button to select an existing standard simulation program as a template new simulation program, or selecting a blank option to newly create a blank simulation program, wherein the blank new program is selected and the point location uploading cannot be carried out; as shown in fig. 4, clicking the new program button, popping up a dialog box of the new simulation program, for example, selecting 1M73Standard as a template to create the simulation program, saving the new program button, right-clicking a corresponding pop-up menu option of the simulation program, including simulation operation, renaming and deleting options, to select (as shown in fig. 5); when the simulation operation is selected, a simulation playing controller (as shown in fig. 6) is popped up, a robot needing simulation is selected, a playing button is clicked, the selected robot moves according to a set simulation program, other interface buttons cannot be clicked when the simulation playing controller displays, and the user can be recovered by clicking an 'x' button. When renaming is selected, carrying out renaming operation; and when the deletion option is clicked, deleting the currently running program.
And an upload information button, where the simulation program selects a corresponding program through the upload information button and uploads the program to the system, as shown in fig. 7, the uploaded point location information includes a serial number, point location description, location information, configuration information, and angle information, and is presented in a table form, and uploading may be performed by clicking a confirmation key.
The selection of the blank option to create the blank simulation program further comprises the following steps:
s1: and selecting a blank option to create a new simulation program.
S2: clicking and selecting the robot needing to add the instruction, and popping up an adding instruction menu by a right key, as shown in fig. 8, wherein: the MoveJ instruction is a joint movement instruction; the MoveL instruction is a linear motion instruction; the Pause instruction is a Pause instruction; the Config command is a point position configuration command which does not influence the simulation motion; the SetToolLink instruction is a setting tool instruction; the ToolAction instruction is a tool motion instruction. The MoveL instruction needs to ensure that the postures of the starting point and the ending point are consistent (the euler angles are consistent), otherwise, the program may crash.
S3: adding a SetToolLink instruction to set a simulation tool, then adding a motion instruction and tool action according to a motion track, and confirming a corresponding starting point, a corresponding end point and a corresponding simulation speed; wherein the SetToolLink instruction is a tool setting instruction; for example: the Fanuc robot is required to articulate from point a to point B, and MoveJ instructions may be added, as shown in fig. 9.
S4: clicking a storage button to store the current new program; clicking a right button program to perform simulation operation playing and checking the effect; if the instruction needs to be adjusted, a right button of the current instruction is clicked and selected to pop up a modification menu (as shown in fig. 10), and a 'modification attribute' option is selected to pop up a modification dialog box for attribute modification; selecting the "delete instruction" option may delete the instruction.
Further, the newly-built blank simulation program and point location replacement operation comprise the following steps:
SS1: recording new points needing to be replaced;
and (4) SS2: selecting a standard simulation program as a template to create a new simulation program;
and (4) SS3: expanding the newly-built simulation program, as shown in fig. 11, wherein, using a yellow mark to modify the instruction of the starting point and the end point, clicking to select any yellow instruction, and popping up a modification instruction attribute menu, clicking to modify an attribute option, and replacing the end point with a newly-recorded point location;
and (4) SS: and clicking a storage button to store the current setting, and selecting a newly added simulation program capable of being uploaded in the central control module to upload the point location.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A simulation debugging system based on a digital twin platform is characterized in that a robot offline simulation system is newly added on the digital twin platform, a virtual scene meeting the requirements of a main frame of the digital twin platform, a UI panel and script codes are constructed, and the robot offline simulation system is integrated into the digital twin platform; the robot off-line simulation system at least comprises an intelligent control module, a central control module, an off-line debugging module and a system setting module;
the intelligent control module comprises: the main interface is used for displaying production information, production data, equipment state and quality statistics; the state monitoring interface is used for checking historical alarm data and operation logs; the full screen display is used for simultaneously displaying the digital twin interface and the monitoring interface;
the central control module comprises: the whole machine control unit is used for intelligent control and parameter setting when the whole machine is started; the parameter setting at least comprises a feeding parameter configuration unit which is used for feeding manufacturing and state control; the processing parameter configuration unit is used for displaying and setting process parameters and processing state control of the machine during processing;
the off-line debugging module is used for setting configuration parameters of a PLC (programmable logic controller) connected with the system, and the configuration parameters comprise point location configuration data, off-line simulation configuration data and point location replacement uploading data of the teaching robot; clicking the off-line debugging module, and displaying in a full-screen display at least comprises the following steps: the system comprises an operation panel of a right side area, a simulation information bar of a left side area and a virtual space presented in a full-screen middle area, wherein the virtual space is a display area of digital mapping of actual workshop equipment in a virtual scene;
and the system setup module, comprising: modifying the password interface for managing the password of the user; account management, which is used for adding or deleting user information; and switching a user login management interface and a program closing button.
2. The simulation debugging system based on the digital twin platform as claimed in claim 1, wherein the virtual scene is a three-dimensional model of all or part of the equipment loaded from an online virtual-real synchronization module of the digital twin platform; the virtual space is displayed by digital mapping of actual workshop equipment.
3. The simulation debugging system based on the digital twin platform as claimed in claim 1, wherein the operation panel further comprises:
the robot name switching key is used for clicking the pull-down frame to switch the visual angle to operate the robot;
the joint angle configuration area is used for configuring joint teaching parameters by inputting joint angle teaching, jog teaching and scroll bar teaching; and adjusting the stepping size by clicking a stepping adjusting button;
the dragger button is generated by clicking the dragger button, a dragger is generated on the selected operation robot, and three axial arrows of the dragger button are pressed to carry out unidirectional dragging teaching on the robot;
and a cartesian coordinate display area for displaying cartesian coordinate information of the currently operating robot and performing jog teaching on cartesian coordinates.
4. The simulation debugging system based on the digital twin platform as claimed in claim 3, wherein the operation panel further comprises:
a point location operating area comprising: recording point location buttons, renaming point locations, deleting point locations and storing point locations; after the point position teaching is finished, the point position recording button is clicked to record a well-taught point position, any point position recorded in a selected table is clicked, the robot automatically jumps to the point position, the point position font can be changed into green, and the display width of a certain column can be adjusted by dragging a header frame; clicking the renaming point location to rename the point location; clicking the point location to delete, wherein if the point location is referred by the robot motion instruction, the point location cannot be deleted; and clicking the storage point position to store the magnetic disk operation if the simulation information interface needs to be clicked after the teaching point position is newly recorded.
5. The simulation debugging system based on the digital twin platform as claimed in claim 1, wherein the simulation information bar further comprises: robot point location, robot end tool and simulation program; the point location information in the point location of the robot is consistent with the point location recorded by the operation panel, the robot end tool displays a robot clamp available for the robot, and the simulation program displays an existing simulation program.
6. The simulation debugging system based on the digital twin platform is characterized in that when the tool at the tail end of the robot is clicked, a robot tree node needing to be switched is opened, the selected tool node needing to be displayed or unloaded is clicked, a right-click popup menu is clicked, and an unloading tool or a loading tool is selected.
7. The system of claim 6, wherein the simulation information bar further comprises: a product model button, wherein when the product model button is clicked, a product model switching dialog box pops up and displays, and after the product model needing to be displayed is selected and confirmed, the selected product model is displayed in a scene;
clicking the new program button to select an existing standard simulation program as a template new simulation program or selecting a blank option to newly create a blank simulation program; after the newly-built program button is saved, clicking the corresponding simulation program popup menu option, including simulation operation, renaming and deleting options, to select; when simulation operation is selected, popping up a simulation playing controller, selecting a robot to be simulated, clicking a playing button, and moving the selected robot according to a set simulation program; when renaming is selected, carrying out renaming operation; when the deletion option is clicked, deleting the current running program;
and the simulation program selects a corresponding program through the upload information button and uploads the program to the system.
8. The system of claim 7, wherein the selection of the blank option creates a blank simulation program, further comprising the following steps:
s1: selecting a blank option to create a new simulation program;
s2: clicking the robot needing to add the instruction, and popping up an adding instruction menu by a right key;
s3: adding a SetToolLink instruction to set a simulation tool, then adding a motion instruction and tool action according to a motion track, and confirming a corresponding starting point, a corresponding end point and a corresponding simulation speed; wherein, the SetToolLink instruction is a setting tool instruction;
s4: clicking a storage button to store the current new program; clicking a right button program to perform simulation operation playing and checking the effect; or modifying the attribute; or deleting the instruction information.
9. The system according to claim 8, further comprising: the newly-built blank simulation program and point location replacement operation comprises the following steps:
SS1: recording new point positions needing to be replaced;
and (4) SS2: selecting a standard simulation program as a template to create a new simulation program;
and SS3: expanding a newly-built simulation program, wherein a yellow mark is adopted to modify the instruction of the starting point and the end point, clicking and selecting any yellow instruction right key to pop up a modification instruction attribute menu, clicking a modification attribute option, and replacing the end point with a newly-recorded point location;
and (4) SS: and clicking a storage button to store the current setting, and selecting a newly added simulation program capable of being uploaded in the central control module to upload the point location.
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| CN115148064A (en) * | 2022-06-23 | 2022-10-04 | 广东三向智能科技股份有限公司 | Intelligent factory simulation device of virtual simulation teaching system |
| CN114879536B (en) * | 2022-07-11 | 2022-09-16 | 山东交通学院 | Method and device for acquiring real-time characteristics of suspension system based on digital twinning technology |
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| CN115877736B (en) * | 2023-02-03 | 2024-02-06 | 广东工业大学 | Digital twinning-based multi-robot collaborative operation simulation monitoring method |
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