CN113759753B - Simulation debugging system based on digital twin platform - Google Patents

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

A simulation debugging system based on digital twin platform

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 technique

The concept of digital twins was proposed by Professor Michael Grieves of the United States in 2003. The current research and application mainly focus on product design, manufacturing workshop modeling, product assembly, product quality analysis and life prediction in the fields of aerospace and automobile manufacturing. Emerging technologies for intelligent manufacturing have attracted widespread attention. Digital twin technology is to establish a virtual model of a physical entity in a digital way, use data to simulate the behavior of a physical entity in a physical environment, and realize the integration of the physical world and the information world through means such as virtual-real interactive feedback, data fusion analysis, and decision-making iterative optimization. . Using digital twin technology, complex manufacturing processes can be integrated to realize the optimization of the entire life cycle of "product design-product manufacturing-product maintenance". With the rapid development of new-generation computer technologies such as the Internet of Things, big data, and cloud computing, the interconnection between the physical world and the information world has been realized. The model simulates the actual production process of the physical workshop, and based on the digital model of the workshop, tasks such as process design, intelligent manufacturing unit scheduling, and production scheduling are carried out, and intelligent manufacturing units are effectively integrated and controlled based on network interconnection and data sharing. Information exchange and overall management between production links, so as to effectively improve product assembly quality and reduce production costs.

At present, the welding process is often a one-way information transmission from process design to processing site execution. When an abnormality occurs during the welding process, the welding process cannot be adjusted in real time, and welding defects are likely to occur. In addition, in the face of diverse needs in production and processing, various products and equipment need to be changed multiple times during the production process, and the parameter settings for each changeover also need to be adjusted, so it is urgent to design a model for simulation debugging , which is of great significance to improve the welding quality.

Contents of the invention

In order to effectively solve the above-mentioned parameter setting problem during model change, the present invention proposes a simulation debugging system based on a digital twin platform.

The specific technical scheme adopted is as follows:

A simulation debugging system based on a digital twin platform according to the present invention adds a robot offline simulation system to the digital twin platform, constructs a virtual scene that meets the requirements of the main frame of the digital twin platform, UI panels and script codes, and converts the The robot offline simulation system is integrated into the digital twin platform; the robot offline simulation system at least includes an intelligent control module, a central control module, an offline debugging module and a system setting module. in,

The intelligent control module includes: a main interface for displaying production information, production data, equipment status, and quality statistics; a state monitoring interface for viewing historical alarm data and operation logs; and a full-screen display for simultaneously displaying a digital twin interface and monitoring interface.

The central control module includes: a complete machine control unit for intelligent control and parameter setting when the complete machine is turned on; the parameter setting includes at least a feeding parameter configuration unit for feeding and state control; processing parameter configuration The unit is used to display and set the machine process parameters and process status control during processing.

The off-line debugging module is used to set the configuration parameters of the PLC connected to the system, and the configuration parameters include teaching robot point configuration data, off-line simulation configuration data and point replacement upload data.

And the system setting module, including: password modification interface, used to manage user passwords; account management, used to add or delete user information; switch user login management interface and program close button.

Wherein, the virtual scene is all or part of the equipment three-dimensional model loaded from the online virtual-real synchronization module of the digital twin platform; the virtual space is the digital mapping display of the actual workshop equipment

Further, click on the offline debugging module, and the display in the full screen display at least includes: the operation panel in the right area, the simulation information bar in the left area, and the virtual space presented in the middle area of the full screen, the virtual space is the The display area of the digital twin of the actual workshop equipment in the virtual scene.

Wherein, the operation panel also includes:

Robot name switching key, click the drop-down box to switch the viewing angle to operate the robot.

Joint angle configuration area, including joint teaching parameter configuration through input joint angle teaching, jog teaching and scroll bar teaching; and step size adjustment through jog step adjustment buttons.

The dragger button is generated by clicking the dragger button, and a dragger is generated on the selected operating robot. Press and hold the three axis arrows of the dragger button to drag and teach the robot in one direction.

And the Cartesian coordinate display area, which is used to display the Cartesian coordinate information of the currently operating robot, and perform jog teaching on Cartesian coordinates.

Further, the operation panel also includes:

Point operation area, including: record point button, rename point, delete point and save point; among them, after the point teaching is completed, click the record point button to record the taught point , click to select any point recorded in the table, the robot will automatically jump to the point, the font of the point will turn green, drag the border of the table header to adjust the display width of a column; click the rename point point to rename the point; click delete point to delete the point, if the point is referenced by the robot motion command, it cannot be deleted; and after the new record teaching point needs to click on the simulation information interface, click save point to save disk operations.

Wherein, the simulation information column also includes: robot point, robot end tool and simulation program; wherein the point information in the robot point is consistent with the point recorded on the operation panel, and the robot end tool displays the robot's available Robot gripper, the simulation program shows the existing simulation program.

Click the robot end tool to open the robot tree node that needs to switch tools, click to select the tool node that needs to be displayed or uninstalled, right-click to pop up a menu, and select Uninstall Tool or Load Tool.

The simulation information bar also includes: a product model button. When the product model button is clicked, a product model switching dialog box pops up, and the product model to be displayed is selected and confirmed. After confirmation, the selected product model will be displayed in the scene.

and the New Program button, click the New Program button to select an existing standard simulation program as a template to create a new simulation program, or select the blank option to create a new blank simulation program; after saving the newly created program button, click the corresponding simulation program pop-up menu option Including simulation run, rename and delete options for selection; when the simulation run is selected, the simulation playback controller will pop up, select the robot to be simulated, click the play button, and the selected robot will move according to the set simulation program; When renaming, the renaming operation will be performed; when the delete option is clicked, the current running program will be deleted;

And an upload information button, the simulation program selects the corresponding program through the upload information button and uploads it to the system.

Further, the selection of the blank option to create a new blank simulation program also includes the following steps:

S1: Select the blank option to create a new simulation program;

S2: Click to select the robot that needs to add instructions, and right click to pop up the add instruction menu;

S3: Add the SetToolLink command to set the simulation tool, then add motion commands and tool actions according to the motion trajectory, and confirm the corresponding starting point, end point and simulation speed; among them, the SetToolLink command is the tool setting command;

S4: Click the save button to store the current newly added program; and right-click the program to simulate, run and play to view the effect; or modify properties; or delete command information.

Wherein, the new blank simulation program and the point replacement operation include the following steps:

SS1: Record the new point that needs to be replaced;

SS2: Select the standard simulation program as a template to create a new simulation program;

SS3: Expand the newly created simulation program, among which, the start point and end point can be modified by using the yellow mark. Click to select any yellow command and right-click to pop up the modification command attribute menu. Click the modify attribute option to replace the end point with the newly recorded point;

SS4: Click the save button to save the current settings, and upload the points through the newly added uploadable simulation program in the central control module.

In summary, the present invention provides a simulation debugging system based on a digital twin platform. By adding a robot offline simulation module on the digital twin platform, in the production process of friction welding, the system of the present invention performs robot The re-alignment of the program points and the simulation verification of the virtual robot model, re-plan the robot trajectory through the offline debugging interface of the robot in the digital twin system, and perform simulation verification, and integrate the workpiece parameter setting information in the loading PLC control system , replace the original program with the simulated robot program on the digital twin platform to achieve quick changeover.

Description of drawings

Fig. 1 is a schematic diagram of a simulation debugging system platform based on a digital twin platform according to the present invention.

Figure 2 is the joint teaching interface.

Figure 3 is an example diagram of the dragger.

Figure 4 shows the new simulation program dialog box.

Figure 5 is an example diagram of the right-click operation of the simulation program.

Fig. 6 is an example diagram of a simulated playback controller.

Figure 7 is the program upload dialog box.

Figure 8 is the menu for adding commands.

Figure 9 is an example of adding a MoveJ command.

Figure 10 shows the instruction modification right-click menu.

Figure 11 is the simulation program for unfolding and duplication.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

According to the present invention, a simulation debugging system based on a digital twin platform is to build a virtual scene that meets the requirements of the main frame of the digital twin platform by adding a robot offline simulation system on the digital twin platform, UI panels and script codes, and convert all The robot offline simulation system is integrated into the digital twin platform.

Wherein, the robot offline simulation system at least includes: an intelligent control module, a central control module, an offline debugging module and a system setting module, specifically:

Specifically, the intelligent control module includes: a main interface for displaying production information, production data, equipment status, and quality statistics; a status monitoring interface for viewing historical alarm data and operation logs; and a full-screen display for simultaneously displaying Digital twin interface and monitoring interface.

The central control module includes: the whole machine control unit, which is used for the control and parameter setting required when the whole machine is turned on; the joint upper material level unit, which is used to display the control and control status of the joint upper material level; the rod body upper material level unit, It is used to display the control and control state of the material level on the rod body; the welding unit is used to display the control and control state of the welding machine.

The off-line debugging module is used to set the configuration parameters of the PLC connected to the system, and the configuration parameters include teaching robot point configuration data, off-line simulation configuration data and point replacement upload data.

And the system setting module, including: password modification interface, used to manage user passwords; account management, used to add or delete user information; switch user login management interface and program close button.

Further, click the offline debugging module, and the display in the full-screen display includes at least (as shown in Figure 1): the operation panel in the right area, the simulation information bar in the left area, and the virtual space presented in the middle area of the full screen, The virtual space is a display area of digital mapping of actual workshop equipment in the virtual scene.

Wherein, the virtual scene is all or part of the equipment three-dimensional model loaded from the online virtual-real synchronization module of the digital twin platform; the virtual space is the digital mapping display of the actual workshop equipment.

Specifically, the operation panel in the right area also includes:

Robot name switching key, click the drop-down box to switch the viewing angle to operate the robot.

Joint angle configuration area, including joint teaching parameter configuration by inputting joint angle teaching, jog teaching and scroll bar teaching; and step size adjustment by jog step adjustment buttons, as shown in Figure 2, If selected, input joint angle teaching, jog teaching, and scroll bar teaching through the joint angle column. For example, enter the joint angle value in the joint angle input area of column 01, or adjust the angle through the sliding bar on the right; adjust the angle reduction or increase jog in column 02; drag the scroll bar to teach in column 03 adjustment. You can also adjust the size of the step in the jog step bar.

As shown in Figure 3, the dragger button is generated by clicking the dragger button, and the dragger is generated on the selected operating robot. Press and hold the three axis arrows of the dragger button to drag and teach the robot in one direction. .

And the Cartesian coordinate display area, which is used to display the Cartesian coordinate information of the currently operating robot, and perform jog teaching on Cartesian coordinates.

Further, the operation panel in the right area also includes: point operation area, including: record point button, rename point, delete point and save point; among them, after the point teaching is completed, Click the record point button to record the taught point, click to select any point recorded in the table, the robot will automatically jump to the point, the font of the point will turn green, drag the header The border can adjust the display width of a certain column; click the rename point to rename the point; click delete point to delete the point, if the point is referenced by the robot motion command, it cannot be deleted; and in the new record teaching point After clicking the simulation information interface, click the save point to save the disk operation.

The simulation information column in the left area also includes: robot point, robot end tool and simulation program; wherein the point information in the robot point is consistent with the point recorded on the operation panel, and the robot end tool displays The robot gripper available for the robot, the simulation program shows the existing simulation program.

Further, click on the robot terminal tool to open the robot tree node that needs to switch tools, click to select the tool node that needs to be displayed or uninstalled, right-click to pop up a menu, and select Uninstall Tool or Load Tool.

The simulation information bar also includes: a product model button. When the product model button is clicked, a product model switching dialog box pops up, and the selected product model will be displayed in the scene after confirmation of the product model to be displayed;

and the New Program button, click the New Program button to select an existing standard simulation program as a template to create a new simulation program, or select the blank option to create a new blank simulation program, wherein, the blank new program cannot be uploaded; as shown in Figure 4 If you select 1M73Standard as the template to create a new simulation program, after saving the newly created program button, right-click the corresponding simulation program and the pop-up menu options include simulation run, rename and Delete the option to select (as shown in Figure 5); when the simulation is selected to run, the simulation playback controller will pop up (as shown in Figure 6), select the robot to be simulated, click the play button, the selected robot will follow the settings The simulation program movement, in which, when the simulation playback controller is displayed, other interface buttons cannot be clicked, and it can be restored by clicking the "x" button to exit. When renaming is selected, the renaming operation will be performed; when the delete option is clicked, the currently running program will be deleted.

And the upload information button, the simulation program selects the corresponding program through the upload information button and uploads it to the system, as shown in Figure 7, the uploaded point information includes number, point description, position information, configuration information, and angle information , and present it in the form of a table, click the OK button to upload.

The selection of the blank option to create a new blank simulation program also includes the following steps:

S1: Select the blank option to create a new simulation program.

S2: Click to select the robot that needs to add instructions, and right click to pop up the add instruction menu, as shown in Figure 8, where: the MoveJ instruction is a joint movement instruction; the MoveL instruction is a linear movement instruction; the Pause instruction is a pause instruction; the Config instruction is a configuration Point instruction, this instruction does not affect the simulation motion; SetToolLink instruction is a tool setting instruction; ToolAction instruction is a tool movement instruction. Among them, the MoveL command needs to ensure that the attitudes of the starting point and the ending point are consistent (the Euler angles are consistent), otherwise the program may crash.

S3: Add the SetToolLink command to set the simulation tool, then add motion commands and tool actions according to the motion trajectory, and confirm the corresponding starting point, end point and simulation speed; among them, the SetToolLink command is a tool setting command; for example: the Fanuc robot needs to move from point A joint to At point B, a MoveJ command can be added, as shown in Figure 9.

S4: Click the save button to save the current newly added program; and right click the program to simulate and play to view the effect; if you need to adjust the command, you can click to select the current command and right click to pop up the modification menu (as shown in Figure 10), select "Modify Properties " option pops up a modification dialog box to modify properties; select the "Delete Instruction" option to delete the instruction.

Further, the operation of creating a new blank simulation program and point replacement includes the following steps:

SS1: Record the new point that needs to be replaced;

SS2: Select the standard simulation program as a template to create a new simulation program;

SS3: Expand the newly created simulation program, as shown in Figure 11, among them, use the yellow mark to modify the start point and end point commands, click to select any yellow command and right-click to pop up the command attribute menu, click the Modify property option, and replace the end point with a new record point;

SS4: Click the save button to save the current settings, and upload the points through the newly added uploadable simulation program in the central control module.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on 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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