CN114260893A - Method for constructing digital twin model in industrial robot assembly pick-and-place process - Google Patents
Method for constructing digital twin model in industrial robot assembly pick-and-place process Download PDFInfo
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Abstract
The invention discloses a method for constructing a digital twin model in an industrial robot assembly pick-and-place process, which comprises the following steps of: constructing a digital twin virtual model of the industrial robot; a data interaction instruction is established, so that data interaction between the industrial robot digital twin virtual model and the industrial robot is realized, and actual assembly work is completed; and collecting the action of the industrial robot under each data interaction instruction, constructing a digital twin model of the industrial robot in the assembling pick-and-place process, and simulating the assembling process. The method establishes the digital twin virtual model of the industrial robot assembly pick-and-place process, can be used for simulating the real industrial robot assembly process, is beneficial to simulating the real industrial robot assembly pick-and-place process in a high fidelity manner in a virtual environment, and provides support for efficiently designing the industrial robot assembly process.
Description
Technical Field
The invention belongs to the field of automatic assembly, and particularly relates to a method for constructing a digital twin model in an industrial robot assembly pick-and-place process.
Background
The digital twin aims to complete high-fidelity mapping of the physical entity in the virtual space by using elements such as physical entity sensing data, heterogeneous virtual models and the like. The digital twin technology is widely applied to various fields such as workshop management and control, product design and assembly and the like. The method comprises the steps of carrying out high-fidelity simulation on the assembly process of a real industrial robot, and optimizing the assembly process by acquiring sensing data (time, position, angle, moment and the like) in the high-fidelity simulation process and analyzing the data collected in the simulation process by the constructed digital twin model so as to achieve the effect of reducing the cost. And in the assembly process, the real working state of the industrial robot is monitored in real time, and faults are discovered and checked in time. However, in the prior art, how to improve the fitting degree of the virtual space and the entity space, and achieve high-fidelity simulation data collection and rapid interaction with a real industrial robot become a new technical problem.
Disclosure of Invention
The invention aims to provide a method for constructing a digital twin model in an industrial robot assembly pick-and-place process, which is used for constructing a digital twin virtual model in the industrial robot assembly pick-and-place process, can be used for simulating a real industrial robot assembly process, is beneficial to simulating a real industrial robot assembly pick-and-place process in a virtual environment in a high fidelity manner, and provides support for efficiently designing the industrial robot assembly process.
In order to solve the technical problems, the technical scheme of the invention is as follows: a digital twin model construction method for an industrial robot assembly pick-up and release process comprises the following steps:
constructing a digital twin virtual model of the industrial robot;
a data interaction instruction is established, so that data interaction between the industrial robot digital twin virtual model and the industrial robot is realized, and actual assembly work is completed;
and collecting the action of the industrial robot under each data interaction instruction, constructing a digital twin model of the industrial robot in the assembling pick-and-place process, and simulating the assembling process.
The specific process of constructing the industrial robot digital twin virtual model comprises the following steps:
acquiring basic parameters of the industrial robot, wherein the basic parameters at least comprise wheelbase, limiting angle of an axle, height and size;
establishing one-to-one virtual models of all parts of the industrial robot through 3D software, and adjusting the gravity center of each virtual model;
and splicing all the virtual models through 3D software to complete the construction of the industrial robot digital twin virtual model.
The protocol data interaction instruction at least comprises:
data bidirectional interaction: the interaction of the rotation angle and the position information of each axis of the industrial robot and the industrial robot digital twin virtual model is realized;
the method comprises the following steps of (1) constructing a kinematic model of the industrial robot under a virtual scene: building a kinematics model of the industrial robot, completing reverse solution of the tail end position of the industrial robot to obtain a rotation angle suitable for each shaft of the industrial robot, and completing rotation of each shaft of the industrial robot through forward kinematics;
the friendly interactive interface of the industrial robot digital twin virtual model is constructed: the interface is provided with a display area and an instruction input area, and the display area displays the coordinates, the rotation angle and the assembly time of each axis in the digital twin virtual model of the industrial robot; the instruction input area is a window for sending a control instruction to the industrial robot digital twin virtual model, and the instruction is input to control the industrial robot digital twin virtual model to work;
and setting and classifying motion control instructions of various sub-motion processes in the assembly pick-and-place process of the industrial robot, wherein the motion control instructions comprise but are not limited to designated position movement, workpiece clamping, workpiece releasing and workpiece rotating.
The specific working process of the digital twin model in the industrial robot assembling, picking and placing process is as follows:
setting a UI (user interface), simulating a starting switch of the industrial robot through a starting button set on the UI, starting a digital twin virtual model of the industrial robot, waiting for receiving a target part position instruction, inputting a position instruction, enabling the digital twin virtual model of the industrial robot to reach a specified position under the action of a kinematics model, inputting a grabbing instruction, binding an object with a clamping jaw of the digital twin virtual model of the industrial robot, waiting for a next step instruction, inputting an assembly point position instruction, enabling the digital twin virtual model of the industrial robot to move to an area to be assembled, inputting a releasing instruction, unbinding the object, completing fixed point movement of a single object, and repeating the steps to simulate an assembly process.
The 3D software includes 3DMAX and Unity 3D.
There is also provided a system for constructing a digital twin model using an industrial robot assembly pick and place process as described above, comprising:
the industrial robot digital twin virtual model building module is used for building an industrial robot digital twin virtual model;
the data interaction instruction module is used for stipulating a data interaction instruction, realizing data interaction between the industrial robot digital twin virtual model and the industrial robot and finishing actual assembly work;
and the industrial robot assembly pick-and-place process digital twin model building module is used for collecting the actions of the industrial robot under each data interaction instruction, building the industrial robot assembly pick-and-place process digital twin model and simulating the assembly process.
The specific working process of the industrial robot digital twin virtual model building module is as follows:
acquiring basic parameters of the industrial robot, wherein the basic parameters at least comprise wheelbase, limiting angle of an axle, height and size;
establishing one-to-one virtual models of all parts of the industrial robot through 3D software, and adjusting the gravity center of each virtual model;
and splicing all the virtual models through 3D software to complete the construction of the industrial robot digital twin virtual model.
The functions of the data interaction instruction module at least comprise:
data bidirectional interaction: the interaction of the rotation angle and the position information of each axis of the industrial robot and the industrial robot digital twin virtual model is realized;
the method comprises the following steps of (1) constructing a kinematic model of the industrial robot under a virtual scene: building a kinematics model of the industrial robot, completing reverse solution of the tail end position of the industrial robot to obtain a rotation angle suitable for each shaft of the industrial robot, and completing rotation of each shaft of the industrial robot through forward kinematics;
the friendly interactive interface of the industrial robot digital twin virtual model is constructed: the interface is provided with a display area and an instruction input area, and the display area displays the coordinates, the rotation angle and the assembly time of each axis in the digital twin virtual model of the industrial robot; the instruction input area is a window for sending a control instruction to the industrial robot digital twin virtual model, and the instruction is input to control the industrial robot digital twin virtual model to work;
and setting and classifying motion control instructions of various sub-motion processes in the assembly pick-and-place process of the industrial robot, wherein the motion control instructions comprise but are not limited to designated position movement, workpiece clamping, workpiece releasing and workpiece rotating.
The specific working process of the digital twin model in the industrial robot assembling, picking and placing process is as follows:
setting a UI (user interface), simulating a starting switch of the industrial robot through a starting button set on the UI, starting a digital twin virtual model of the industrial robot, waiting for receiving a target part position instruction, inputting a position instruction, enabling the digital twin virtual model of the industrial robot to reach a specified position under the action of a kinematics model, inputting a grabbing instruction, binding an object with a clamping jaw of the digital twin virtual model of the industrial robot, waiting for a next step instruction, inputting an assembly point position instruction, enabling the digital twin virtual model of the industrial robot to move to an area to be assembled, inputting a releasing instruction, unbinding the object, completing fixed point movement of a single object, and repeating the steps to simulate an assembly process.
There is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to any one of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method is beneficial to simulating the assembling pick-up and placement process of the physical industrial robot in a virtual environment in a high fidelity mode, and provides support for efficiently designing and simulating the assembling process of the industrial robot.
(2) The method is beneficial to trial and error before the actual assembly process is executed, and provides guidance and reference for the execution of the subsequent actual assembly process.
Drawings
FIG. 1 is a schematic flow chart of a digital twin model for constructing an industrial robot assembling pick-and-place process in an embodiment of the invention;
FIG. 2 is a diagram illustrating a digital twin virtual model of an industrial robot according to an embodiment of the present invention;
FIG. 3 is a diagram of an industrial robot and an industrial robot digital twin virtual model interaction in an embodiment of the invention;
fig. 4 is a flow chart of an industrial robot assembly pick-and-place process in an embodiment of the invention;
fig. 5 is a set of instructions for specifying data interaction according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to a method for constructing a digital twinning model in an industrial robot assembly pick-and-place process, which aims to simulate a real industrial robot assembly pick-and-place process in a virtual environment in high fidelity by constructing the digital twinning model in the industrial robot assembly pick-and-place process and provide support for the assembly process of an efficient design simulation industrial robot, and as shown in figure 1, the method mainly comprises the following steps:
1) constructing a digital twin virtual model of the industrial robot;
2) a protocol data interaction instruction is used for realizing data interaction between the real industrial robot and the digital twin virtual model;
3) and constructing a digital twin model of the industrial robot assembly pick-and-place process.
The steps are from the establishment of the virtual model to the completion of the virtual assembly process.
Wherein, in the virtual industrial robot construction process in the step 1), the construction of the digital twin virtual model of the industrial robot is completed through the following contents:
basic data of the robot, such as a wheel base, a rotation limiting angle and the like, are searched through an official manual of the real industrial robot to construct a model. And adjusting the axial center position of each part according to the running condition of the real industrial robot to assemble a complete industrial robot digital twin virtual model, as shown in fig. 2.
Compiling each function script and stipulating a data interaction instruction in the step 2) to form a system, so as to realize data interaction between the real industrial robot and the digital twin virtual model, wherein the instruction set is shown in fig. 5.
(1) The method adopts a Socket data communication method to realize data interaction between a real industrial robot and a digital twin virtual model, adopts a CCDIK plug-in to complete a kinematic model of the industrial robot in a virtual scene, sets a UI interface, and realizes the display of coordinates, a rotation angle and the like and the input of control instructions.
(2) And the instruction of protocol data interaction sets and classifies the motion control instructions of various sub-motion processes in the assembly pick-and-place process of the industrial robot, including but not limited to designated position movement, workpiece clamping, workpiece release, workpiece rotation and the like, so that the control function of the system is perfected. A real industrial robot interacts with an industrial robot digital twin virtual model as shown in fig. 3.
In step 3), the digital twin model of the assembly pick-and-place process of the industrial robot is realized, and the work flow chart is shown in fig. 4.
Simulating a real industrial robot starting switch through a starting button of a UI (user interface), starting a digital twin virtual model of the industrial robot, waiting for receiving a target part position instruction, inputting a position instruction, enabling the digital twin virtual model of the industrial robot to reach a specified position under the action of a kinematic model, inputting a grabbing instruction, binding an object with a clamping jaw of the digital twin virtual model of the industrial robot, waiting for a next step instruction, inputting an assembly point position instruction, moving the digital twin virtual model of the industrial robot to an area to be assembled, inputting a releasing instruction, unbinding the object, completing fixed point movement of a single object, and repeating the steps to realize the whole assembly process.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for constructing a digital twin model in an industrial robot assembly pick-and-place process is characterized by comprising the following steps:
constructing a digital twin virtual model of the industrial robot;
a data interaction instruction is established, so that data interaction between the industrial robot digital twin virtual model and the industrial robot is realized, and actual assembly work is completed;
and collecting the action of the industrial robot under each data interaction instruction, constructing a digital twin model of the industrial robot in the assembling pick-and-place process, and simulating the assembling process.
2. The construction method of the digital twin model of the industrial robot assembling pick-and-place process according to claim 1, characterized in that the concrete process of constructing the digital twin virtual model of the industrial robot is as follows:
acquiring basic parameters of the industrial robot, wherein the basic parameters at least comprise a wheelbase, a limiting angle of a shaft, a height and a size;
establishing one-to-one virtual models of all parts of the industrial robot through 3D software, and adjusting the gravity center of each virtual model;
and splicing all the virtual models through 3D software to complete the construction of the industrial robot digital twin virtual model.
3. The industrial robot assembly pick-and-place process digital twin model construction method according to claim 1, characterized in that the protocol data interaction instructions at least comprise:
data bidirectional interaction: the interaction of the rotation angle and the position information of each axis of the industrial robot and the industrial robot digital twin virtual model is realized;
the method comprises the following steps of (1) constructing a kinematic model of the industrial robot under a virtual scene: building a kinematics model of the industrial robot, completing reverse solution of the tail end position of the industrial robot to obtain a rotation angle suitable for each shaft of the industrial robot, and completing rotation of each shaft of the industrial robot through forward kinematics;
the friendly interactive interface of the industrial robot digital twin virtual model is constructed: the interface is provided with a display area and an instruction input area, and the display area displays the coordinates, the rotation angle and the assembly time of each axis in the digital twin virtual model of the industrial robot; the instruction input area is a window for sending a control instruction to the industrial robot digital twin virtual model, and the instruction is input to control the industrial robot digital twin virtual model to work;
and setting and classifying motion control instructions of various sub-motion processes in the assembly pick-and-place process of the industrial robot, wherein the motion control instructions comprise but are not limited to designated position movement, workpiece clamping, workpiece releasing and workpiece rotating.
4. The construction method of the industrial robot assembly pick-and-place process digital twin model according to claim 1, characterized in that the specific working process of the industrial robot assembly pick-and-place process digital twin model is as follows:
setting a UI (user interface), simulating a starting switch of an industrial robot through a starting button set on the UI, starting a digital twin virtual model of the industrial robot, waiting for receiving a target part position instruction, inputting a position instruction, enabling the digital twin virtual model of the industrial robot to reach a specified position under the action of a kinematics model, inputting a grabbing instruction, binding an object with a clamping jaw of the digital twin virtual model of the industrial robot, waiting for a next step instruction, inputting an assembly point position instruction, enabling the digital twin virtual model of the industrial robot to move to a region to be assembled, inputting a releasing instruction, unbinding the object, completing fixed point movement of a single object, and repeating the steps to simulate an assembly process.
5. The method for constructing a digital twin model of an industrial robot assembly pick and place process according to claim 2, wherein the 3D software includes 3DMAX and Unity 3D.
6. A system for constructing a digital twin model in an industrial robot assembling pick-and-place process according to claim 1, comprising:
the industrial robot digital twin virtual model building module is used for building an industrial robot digital twin virtual model;
the data interaction instruction module is used for stipulating a data interaction instruction, realizing data interaction between the industrial robot digital twin virtual model and the industrial robot and finishing actual assembly work;
and the industrial robot assembly pick-and-place process digital twin model building module is used for collecting the actions of the industrial robot under each data interaction instruction, building an industrial robot assembly pick-and-place process digital twin model and simulating an assembly process.
7. The system of claim 6, wherein the specific working process of the industrial robot digital twin virtual model building module is as follows:
acquiring basic parameters of the industrial robot, wherein the basic parameters at least comprise a wheelbase, a limiting angle of a shaft, a height and a size;
establishing one-to-one virtual models of all parts of the industrial robot through 3D software, and adjusting the gravity center of each virtual model;
and splicing all the virtual models through 3D software to complete the construction of the industrial robot digital twin virtual model.
8. The system of claim 6, wherein the functions of the data interaction instruction module at least comprise:
data bidirectional interaction: the interaction of the rotation angle and the position information of each axis of the industrial robot and the industrial robot digital twin virtual model is realized;
the method comprises the following steps of (1) constructing a kinematic model of the industrial robot under a virtual scene: building a kinematics model of the industrial robot, completing reverse solution of the tail end position of the industrial robot to obtain a rotation angle suitable for each shaft of the industrial robot, and completing rotation of each shaft of the industrial robot through forward kinematics;
the friendly interactive interface of the industrial robot digital twin virtual model is constructed: the interface is provided with a display area and an instruction input area, and the display area displays the coordinates, the rotation angle and the assembly time of each axis in the digital twin virtual model of the industrial robot; the instruction input area is a window for sending a control instruction to the industrial robot digital twin virtual model, and the instruction is input to control the industrial robot digital twin virtual model to work;
and setting and classifying motion control instructions of various sub-motion processes in the assembly pick-and-place process of the industrial robot, wherein the motion control instructions comprise but are not limited to designated position movement, workpiece clamping, workpiece releasing and workpiece rotating.
9. The system of claim 6, wherein the specific working process of the industrial robot assembling the pick-and-place process digital twin model is as follows:
setting a UI (user interface), simulating a starting switch of an industrial robot through a starting button set on the UI, starting a digital twin virtual model of the industrial robot, waiting for receiving a target part position instruction, inputting a position instruction, enabling the digital twin virtual model of the industrial robot to reach a specified position under the action of a kinematics model, inputting a grabbing instruction, binding an object with a clamping jaw of the digital twin virtual model of the industrial robot, waiting for a next step instruction, inputting an assembly point position instruction, enabling the digital twin virtual model of the industrial robot to move to a region to be assembled, inputting a releasing instruction, unbinding the object, completing fixed point movement of a single object, and repeating the steps to simulate an assembly process.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN115401696A (en) * | 2022-09-29 | 2022-11-29 | 中国科学院沈阳自动化研究所 | Data/model hybrid-driven robot remote driving method |
| WO2024055397A1 (en) * | 2022-09-14 | 2024-03-21 | 上海智能制造功能平台有限公司 | Observation viewing angle traceable method and system based on digital twin, and terminal |
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