CN117496785A - Industrial collaboration simulation platform, collaboration simulation method and medium - Google Patents
Industrial collaboration simulation platform, collaboration simulation method and medium Download PDFInfo
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- 238000007689 inspection Methods 0.000 claims 4
- 238000012549 training Methods 0.000 abstract description 25
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application provides an industrial collaborative simulation platform, a collaborative simulation method and a medium, wherein the industrial collaborative simulation platform comprises: a workbench and a digital twin operation end arranged at one side of the workbench; one end of the top of the workbench is provided with a storage module which is used for storing products; a cooperative robot is arranged on one side of the storage module, a gluing and stacking module is arranged on one side of the cooperative robot, and the storage module and the gluing and stacking module are respectively positioned on two sides of the cooperative robot; the top of the workbench is provided with a split charging module which is arranged right in front of the cooperative robot; the top of the workbench is provided with a visual detection module which is arranged in parallel with the storage module and is used for detecting product parameter information in the storage module; the digital twin technology is utilized to provide a simulation platform, so that safety accidents and equipment loss of physical operation are effectively reduced, the cooperative production situation in reality is simulated, and the industrial cooperative robot is known more quickly in a practical training mode.
Description
Technical Field
The application relates to the field of industrial robots, in particular to an industrial collaborative simulation platform, a collaborative simulation method and a medium.
Background
The conventional practical training courses of the industrial collaborative robots and the digital twin technology are designed mainly aiming at practical training of a certain object or a certain single technology, the integration is poor, the conventional working collaborative simulation platform is too theoretical and does not fit with practical production application, the conventional working collaborative simulation platform cannot combine the Ajin industrial collaborative robots and the digital twin technology, and multi-project practical training, namely visual detection practical training, simulation stacking and gluing practical training, liquid split-charging practical training, digital twin practical training and general control PLC practical training can not be performed; in addition, the existing work cooperation simulation platform is difficult to perform simulation cooperation according to a visual image segmentation technology, a visual hand-eye calibration technology, a digital twin technology, a stacking technology and a gluing technology, has low integration and large volume, and is difficult to compound multiple practical training projects; the teaching purpose cannot be achieved, and an effective technical solution is needed at present aiming at the problems.
Disclosure of Invention
The embodiment of the application aims to provide an industrial collaborative simulation platform, a collaborative simulation method and a medium, which can provide the simulation platform by utilizing a digital twin technology, effectively reduce the safety accidents and equipment loss of physical operation, simulate the collaborative production situation in reality and realize the industrial collaborative robot more quickly in a practical training mode.
The embodiment of the application also provides an industrial collaborative simulation platform, which comprises: a workbench and a digital twin operation end arranged at one side of the workbench;
one end of the top of the workbench is provided with a storage module, and the storage module is used for storing products;
a cooperative robot is arranged on one side of the storage module, a gluing and stacking module is arranged on one side of the cooperative robot, and the storage module and the gluing and stacking module are respectively positioned on two sides of the cooperative robot;
the top of the workbench is provided with a split charging module, and the split charging module is arranged right in front of the cooperative robot;
the top of the workbench is provided with a visual detection module, the visual detection module is arranged in parallel with the storage module, and the visual detection module is used for detecting product parameter information in the storage module;
the top of the workbench is provided with a master control module, the master control module is electrically connected with the storage module, the cooperative robot, the sub-packaging module and the gluing and stacking module, and the master control module is electrically connected with the digital twin operation end.
Optionally, in the industrial collaborative simulation platform according to the embodiments of the present application, the storage module includes a storage table fixedly installed on a top of the workbench, one corner of the top of the storage table is provided with an indicator light, an array of the top of the storage table is provided with a plurality of grooves, and the product is disposed in the grooves.
Optionally, in the industrial collaborative simulation platform according to the embodiment of the present application, a storage sensor is disposed at a central position inside the groove, the storage sensor is used for detecting a product storage state, two limiting blocks are symmetrically disposed on two sides of the groove, the product is disposed on an inner side of the two limiting blocks, a concave curved surface is disposed on one side, opposite to the two limiting blocks, of the product, and curvature of the concave curved surface is identical to that of an outer wall of the product.
Optionally, in the industrial collaborative simulation platform according to the embodiments of the present application, the visual detection module includes a visual detection platform and a visual support, the visual detection platform is fixedly installed at the top of the workbench, the visual support is fixedly installed at the top of the visual detection platform, one end of the visual support is provided with a visual camera and a visual light source, and the visual light source is located below the visual camera.
Optionally, in the industrial collaborative simulation platform according to the embodiments of the present application, the collaborative robot includes a mechanical arm and a robot clamping jaw, the mechanical arm is of a multi-segment structure, the number of the robot clamping jaws is two, the relative movement of the robot clamping jaw clamps and moves a product, a collaboration table is arranged at the bottom of the collaborative robot, and the collaboration table is fixedly mounted at the top of the workbench.
Optionally, in the industrial collaborative simulation platform described in the embodiments of the present application, a demonstrator is disposed at one side of the sub-packaging module, and the demonstrator is configured to provide a teaching programming of the industrial collaborative robot; the split charging module comprises a split charging table, a clamping mechanism is arranged on one side of the top of the split charging table and used for clamping and fixing products, a plurality of positioning mechanisms are arranged on the other side of the top of the split charging table and used for fixing cups, and the collaborative robot can grab the products on the top of the split charging table and simulate split charging of the products in a plurality of cups.
Optionally, in the industrial collaborative simulation platform according to the embodiment of the present application, the glue spreading and stacking module includes a glue spreading module and a stacking module, the glue spreading module is detachably mounted above the stacking module, a calibration module is disposed on one side of the glue spreading and stacking module, and the calibration module is used for calibrating the position of the visual detection module.
In a second aspect, an embodiment of the present application provides a collaborative simulation method, applied to an industrial collaborative simulation platform, including the following steps:
acquiring product storage state information on the simulation module, wherein the product storage state information comprises product storage quantity and product storage positions;
acquiring state information of the cooperative robot, and matching the state information of the cooperative robot with product storage state information to generate moving grabbing information of the cooperative robot;
controlling the collaborative robot to move to the position above the storage module according to the mobile grabbing information to grab the product;
selecting a corresponding simulation station according to the simulation project, and generating position information of the simulation station, wherein the simulation station comprises a sub-packaging module and a gluing stacking module;
comparing the position information of the simulation station with the product storage position to obtain product transfer information, and controlling the cooperative robot to grasp the product according to the product transfer information and place the product on the simulation station to obtain simulation information;
the analog information is transmitted to the digital twin terminal in a predetermined manner.
Optionally, in the collaborative simulation method described in the embodiments of the present application, before obtaining the product storage status information on the simulation module, the position calibration of the visual detection module is performed, and the calibration method is as follows:
the method comprises the steps of obtaining a visual image through a visual detection module, and dividing the visual image to obtain a plurality of sub-images;
extracting a plurality of sub-image features, removing noise features, and fusing the sub-images with the noise features removed to obtain a fused image;
calibrating the image center point position of the fusion image through a calibration module, and comparing the image center point position with the workbench center point position to obtain a position deviation rate;
judging whether the position deviation rate is larger than or equal to a set position deviation rate threshold value;
if the position of the visual camera is greater than or equal to the position of the visual camera, generating correction information, and adjusting the position of the visual camera according to the correction information;
if the calibration is smaller than the preset value, the calibration is judged to be successful.
In a third aspect, embodiments of the present application further provide a computer readable storage medium, where a collaboration simulation method program is included, where the collaboration simulation method program, when executed by a processor, implements the steps of the collaboration simulation method as described above.
From the above, the industrial collaborative simulation platform, the collaborative simulation method and the medium provided by the embodiments of the present application pass through a workbench and a digital twin operation end disposed at one side of the workbench; one end of the top of the workbench is provided with a storage module which is used for storing products; a cooperative robot is arranged on one side of the storage module, a gluing and stacking module is arranged on one side of the cooperative robot, and the storage module and the gluing and stacking module are respectively positioned on two sides of the cooperative robot; the top of the workbench is provided with a split charging module which is arranged right in front of the cooperative robot; the top of the workbench is provided with a visual detection module which is arranged in parallel with the storage module and is used for detecting product parameter information in the storage module; the digital twin technology is utilized to provide a simulation platform, so that safety accidents and equipment loss of physical operation are effectively reduced, the cooperative production situation in reality is simulated, and the industrial cooperative robot is known more quickly in a practical training mode.
Additional features and advantages of the application will be set forth in the description which follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of an industrial collaborative simulation platform provided in an embodiment of the present application;
FIG. 2 is a top view of an industrial collaborative simulation platform provided by an embodiment of the present application;
fig. 3 is an enlarged schematic view of a portion a structure according to an embodiment of the present application;
fig. 4 is a schematic position diagram of a palletizing module according to an embodiment of the present application;
fig. 5 is a flowchart of a collaborative simulation method provided in an embodiment of the present application.
In the figure: 1. the robot clamping jaw comprises a roller, 2, a workbench, 3, a robot clamping jaw, 4, a storage module, 401, a storage table, 402, a storage sensor, 403 and a limiting block;
5. the visual inspection system comprises an indicator lamp 6, a visual inspection module 601, a visual inspection table 602, a visual support 603, a visual camera 604 and a visual light source;
7. collaborative robot 701, collaboration table 702, robotic arm; 8. the device comprises a gluing and stacking module 801, a gluing module 802 and a stacking module; 9. the device comprises a calibration module, a digital twin operation end, a 1001 operation desk, a 1002 display screen, a 1003 mouse, a 1004 and an operation keyboard, wherein the calibration module is used for calibrating the digital twin operation end; 11. the device comprises a main control module, 12, a split charging module, 1201, a split charging table, 1202, a clamping mechanism, 1203 and a positioning mechanism; 13. demonstrator, 14, product.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present invention and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present invention will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1-4, the present application discloses an industrial collaborative simulation platform, comprising: a table 2 and a data twin operation terminal 10 provided on one side of the table 2;
one end of the top of the workbench 2 is provided with a storage module 4, and the storage module 4 is used for storing products 14;
a cooperative robot 7 is arranged on one side of the storage module 4, a gluing and stacking module 8 is arranged on one side of the cooperative robot 7, and the storage module 4 and the gluing and stacking module 8 are respectively positioned on two sides of the cooperative robot 7;
the top of the workbench 2 is provided with a split charging module 12, and the split charging module 12 is arranged right in front of the cooperative robot 7;
the top of the workbench 2 is provided with a visual detection module 6, the visual detection module 6 is arranged in parallel with the storage module 4, and the visual detection module 6 is used for detecting parameter information of a product 14 in the storage module 4;
the top of the workbench 2 is provided with a master control module 11, the master control module 11 is electrically connected with the storage module 4, the cooperative robot 7, the sub-packaging module 12 and the gluing and stacking module 8, and the master control module 11 is electrically connected with the data twinning operation end 10; the master control module 11 is used for controlling the programming operation of the whole platform.
It should be noted that, the industrial collaborative simulation platform in the application cooperates with the visual detection module 6, can identify the product 14, and the guiding position carries out practical training such as bottle cap opening and liquid split charging, and the platform also merges the working procedures such as installation and debugging of the robot clamping jaw 3, debugging and application of the gluing and stacking module 8, robot programming and debugging, general control PLC programming and application, digital twin virtual reality combination and the like, and excites the learning interest of students and the comprehensive capability of cultivating students on the industrial collaborative robot 7 and digital twin technology.
According to the embodiment of the invention, the storage module 4 comprises a storage table 401 fixedly installed on the top of the workbench 2, an indicator lamp 5 is arranged at one corner of the top of the storage table 401, a plurality of grooves are formed in the top of the storage table 401 in an array manner, and products 14 are arranged in the grooves.
It should be noted that, pilot lamp 5 is the trichromatic lamp, and pilot lamp 5 can show the running state of simulation platform through different colours to the running safety of accurate control simulation platform, recess size are greater than the product 14 size, guarantee that product 14 can put into the recess.
According to the embodiment of the invention, the storage sensor 402 is arranged at the center position inside the groove, the storage sensor 402 is used for detecting the storage state of the product 14, two limiting blocks 403 are symmetrically arranged at two sides of the groove, the product 14 is provided with the inner sides of the two limiting blocks 403, and a concave curved surface is arranged at one side opposite to the two limiting blocks 403, and the curvature of the concave curved surface is identical to the curvature of the outer wall of the product 14.
According to the embodiment of the invention, the visual detection module 6 comprises a visual detection platform 601 and a visual support 602, wherein the visual detection platform 601 is fixedly arranged on the top of the workbench 2, the visual support 602 is fixedly arranged on the top of the visual detection platform 601, one end of the visual support 602 is provided with a visual camera 603 and a visual light source 604, and the visual light source 604 is positioned below the visual camera 603.
It should be noted that, the visual support 602 is mounted on the detection platform and can be adjusted vertically and horizontally to support the visual camera 603, and the middle position of the detection platform is located right below the visual camera 603, so that the detection range is ensured to be in the middle position, and the visual light source 604 can select a round light source or a square light source or a bar light source under different detection conditions.
It should be noted that, the visual support 602 includes a vertical rod and a cross rod, the vertical rod is vertically installed at the top of the visual detection platform 601, the cross rod is hinged to the vertical rod, the cross rod is vertical to the vertical rod, one end of the cross rod is provided with the visual camera 603 and the visual light source 604, and the cross rod can rotate to adjust the positions of the camera and the visual light source 604.
According to the embodiment of the invention, the cooperative robot 7 comprises a mechanical arm 702 and robot clamping jaws 3, the mechanical arm 702 is of a multi-section structure, the number of the robot clamping jaws 3 is two, the relative movement of the robot clamping jaws 3 clamps and moves a product 14, a cooperative table 701 is arranged at the bottom of the cooperative robot 7, and the cooperative table 701 is fixedly arranged at the top of the workbench 2.
According to the embodiment of the invention, one side of the sub-packaging module 12 is provided with a demonstrator 13, and the demonstrator 13 is used for providing teaching programming of the industrial cooperative robot 7; the split charging module 12 includes a split charging platform 1201, and split charging platform 1201 top one side is provided with clamping mechanism 1202, and clamping mechanism 1202 is used for the fixed product 14 of centre gripping, and split charging platform 1201 top opposite side is provided with a plurality of positioning mechanism 1203, and positioning mechanism 1203 is used for fixed cup, and collaborative robot 7 can snatch the product 14 at split charging platform 1201 top to with the simulation split charging of product 14 in a plurality of cups, can pour the liquid to the appointed height of cup during split charging, split charging control is accurate.
According to the embodiment of the invention, the gluing and stacking module 8 comprises a gluing module 801 and a stacking module 802, wherein the gluing module 801 is detachably arranged above the stacking module 802, and the gluing module 801 is taken away when stacking training is performed; one side of the gluing and stacking module 8 is provided with a calibration module 9, and the calibration module 9 is used for calibrating the position of the visual detection module 6.
According to the embodiment of the invention, the data twin operation terminal 10 comprises an operation console 1001, a display screen 1002, an operation keyboard 1004 and a mouse 1003 are arranged on the operation console 1001, the display screen 1002 is operated by the operation keyboard 1004 and the mouse 1003, and the display screen 1002 is electrically connected with a host.
It should be noted that, the display 1002 may display, in real time, the data detected by the visual detection module 6, the position data for performing position calibration by the calibration module 9, the product 14 storage status data of the storage module 4, the split charging status data of the split charging module 12, the movement status data and the grabbing status data of the cooperative robot 7.
According to the embodiment of the invention, the rollers 1 are arranged at four corners of the bottom of the workbench 2, when the workbench 2 needs to be moved, the workbench 2 can be conveniently moved through the rollers 1, the rollers 1 are provided with the fixing mechanism or the braking mechanism, and when the workbench 2 moves to a preset position, the position is fixed.
In summary, according to the method, the robot clamping jaw 3 is designed and manufactured for clamping jaw assembly according to different training objects, positioning identification can be performed through visual application according to the training objects, uncapping training of the training objects can be performed, liquid of the training objects is split-packed, no liquid leakage phenomenon is ensured in the operation process, a digital twin technology is utilized to provide a simulation platform for students, safety accidents, equipment loss and the like of physical operation can be effectively reduced, and real-time monitoring of a virtual environment is realized; the industrial cooperative robot 7 and the digital twin technology innovation application platform simulate the cooperative production situation in reality, and the social production is fused; the students can quickly know the practical application of the industrial cooperative robot 7 in a practical training mode; the visual detection module 6 can detect information such as the position, the shape and the like of the product 14, and can perform practical training of visual identification through visual software; and expands the linkage knowledge of the operation and visual recognition of the industrial cooperative robot 7 and the linkage knowledge of the industrial cooperative robot 7 and the digital twin technology. Basic practical training such as a gluing and stacking module 8 and a master control module 11 are added, so that platform practical training content is enriched, platform knowledge is strong in transmissibility and easy to operate, and understanding of students on visual application, related clamping jaw design application and digital twin technology of the industrial cooperative robot 7 is enhanced.
Referring to fig. 5, fig. 5 is a flowchart of a collaborative simulation method according to some embodiments of the present application. In a second aspect, an embodiment of the present application provides a collaborative simulation method, applied to an industrial collaborative simulation platform, including the following steps:
s501, acquiring product storage state information on a simulation module, wherein the product storage state information comprises product storage quantity and product storage positions;
s502, acquiring state information of the cooperative robot, matching the state information of the cooperative robot with product storage state information to generate moving grabbing information of the cooperative robot, and controlling the cooperative robot to move to the position above the storage module to grab products according to the moving grabbing information;
s503, selecting a corresponding simulation station according to the simulation items, and generating position information of the simulation station, wherein the simulation station comprises a sub-packaging module and a gluing stacking module;
s504, comparing the position information of the simulation station with the product storage position to obtain product transfer information, and controlling the cooperative robot to grasp the product according to the product transfer information and place the product on the simulation station to obtain simulation information;
s505, the analog information is transmitted to the digital twin terminal according to a preset mode.
It is to be noted that, carry out accurate snatch to the simulation station that corresponds through the cooperation robot to the product and carry out simulation practical training, improve the simulation effect and the snatch precision of product, guarantee that the display precision of digital twin terminal is higher.
According to the embodiment of the invention, before the storage state information of the product on the simulation module is acquired, the position calibration of the visual detection module is carried out, and the calibration method is as follows:
the method comprises the steps of obtaining a visual image through a visual detection module, and dividing the visual image to obtain a plurality of sub-images;
extracting a plurality of sub-image features, removing noise features, and fusing the sub-images with the noise features removed to obtain a fused image;
calibrating the image center point position of the fusion image through a calibration module, and comparing the image center point position with the workbench center point position to obtain a position deviation rate;
judging whether the position deviation rate is larger than or equal to a set position deviation rate threshold value;
if the position of the visual camera is greater than or equal to the position of the visual camera, generating correction information, and adjusting the position of the visual camera according to the correction information;
if the calibration is smaller than the preset value, the calibration is judged to be successful.
It should be noted that, in order to guarantee that the vision detection camera of vision detection module can carry out a plurality of real states of instructing of detection workstation top in a larger range, need carry out the position with the vision camera position and mark to guarantee that the product of cooperation robot snatchs state, the partial shipment state of partial shipment module and the rubber coating state and the pile up neatly state of rubber coating pile up neatly module carry out complete show, improve simulation bandwagon effect.
According to an embodiment of the present invention, further comprising:
acquiring state information of the sub-packaging platform, and analyzing product clamping state and cup distribution state information according to the state information of the sub-packaging platform;
grabbing the product from the storage module to a split charging platform through a cooperative robot;
generating set solution level information in the cup according to the simulation item;
generating standard collaborative robot attitude information according to the solution level information;
acquiring current posture information of the cooperative robot, and comparing the current posture information with the posture information of the standard cooperative robot to obtain posture deviation;
and adjusting the posture information of the cooperative robot according to the posture deviation.
It should be noted that, in order to ensure that the solution in the product can be accurately split into different cups, the gesture information of the cooperative robot can be accurately adjusted, and the control precision and the simulation effect of the cooperative robot are improved.
A third aspect of the present invention provides a computer readable storage medium having embodied therein a collaborative simulation method program which, when executed by a processor, performs the steps of a collaborative simulation method as any of the above.
It should be noted that, the computer instructions may be stored in a computer readable storage medium, or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (e.g., coaxial cable, optical fiber), or wireless (e.g., infrared, wireless, microwave, etc.), or from one website, computer, server, or data center to a mobile phone processor by wired. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc., that contain an integration of one or more available media.
The invention discloses an industrial collaborative robot, a collaborative simulation method and a medium, which are characterized by comprising a workbench and a digital twin operation end arranged on one side of the workbench; one end of the top of the workbench is provided with a storage module which is used for storing products; a cooperative robot is arranged on one side of the storage module, a gluing and stacking module is arranged on one side of the cooperative robot, and the storage module and the gluing and stacking module are respectively positioned on two sides of the cooperative robot; the top of the workbench is provided with a split charging module which is arranged right in front of the cooperative robot; the top of the workbench is provided with a visual detection module which is arranged in parallel with the storage module and is used for detecting product parameter information in the storage module; the digital twin technology is utilized to provide a simulation platform, so that safety accidents and equipment loss of physical operation are effectively reduced, the cooperative production situation in reality is simulated, and the industrial cooperative robot is known more quickly in a practical training mode.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of units is only one logical function division, and there may be other divisions in actual implementation, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
It should also be understood that the memory referred to in the embodiments of the present application may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable ROM (Electrically EPROM, EEPROM), or a flash Memory. The volatile memory may be a random access memory (RandomAccess Memory, RAM for short) which acts as an external cache.
By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (Direct Rambus RAM, DR RAM).
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (10)
1. An industrial collaborative simulation platform, comprising: a workbench and a digital twin operation end arranged at one side of the workbench; it is characterized in that the method comprises the steps of,
one end of the top of the workbench is provided with a storage module, and the storage module is used for storing products;
a cooperative robot is arranged on one side of the storage module, a gluing and stacking module is arranged on one side of the cooperative robot, and the storage module and the gluing and stacking module are respectively positioned on two sides of the cooperative robot;
the top of the workbench is provided with a split charging module, and the split charging module is arranged right in front of the cooperative robot;
the top of the workbench is provided with a visual detection module, the visual detection module is arranged in parallel with the storage module, and the visual detection module is used for detecting product parameter information in the storage module;
the top of the workbench is provided with a master control module, the master control module is electrically connected with the storage module, the cooperative robot, the sub-packaging module and the gluing and stacking module, and the master control module is electrically connected with the digital twin operation end.
2. The industrial collaborative simulation platform of claim 1, wherein the storage module comprises a storage table fixedly mounted on a top of the table, a corner of the top of the storage table is provided with an indicator light, the top array of storage tables is provided with a plurality of grooves, and the product is disposed within the grooves.
3. The industrial collaborative simulation platform according to claim 2, wherein a storage sensor is arranged at the central position inside the groove and used for detecting a storage state of a product, two limiting blocks are symmetrically arranged on two sides of the groove, the product is provided with inner sides of the two limiting blocks, a concave curved surface is arranged on one side, opposite to the two limiting blocks, of the product, and the curvature of the concave curved surface is identical to that of the outer wall of the product.
4. The industrial collaborative simulation platform according to claim 3, wherein the vision inspection module comprises a vision inspection station and a vision support, the vision inspection station is fixedly mounted on top of the table, the vision support is fixedly mounted on top of the vision inspection station, one end of the vision support is provided with a vision camera and a vision light source, and the vision light source is located below the vision camera.
5. The industrial collaborative simulation platform according to claim 4, wherein the collaborative robot comprises a mechanical arm and a robot jaw, the mechanical arm is of a multi-section structure, the number of the robot jaws is two, the robot jaw moves relatively to clamp and move a product, a collaboration table is arranged at the bottom of the collaborative robot, and the collaboration table is fixedly mounted at the top of the workbench.
6. The industrial collaborative simulation platform according to claim 5, wherein a demonstrator is arranged at one side of the sub-packaging module, the demonstrator being configured to provide a demonstrator programming of the industrial collaborative robot; the split charging module comprises a split charging table, a clamping mechanism is arranged on one side of the top of the split charging table and used for clamping and fixing products, a plurality of positioning mechanisms are arranged on the other side of the top of the split charging table and used for fixing cups, and the collaborative robot can grab the products on the top of the split charging table and simulate split charging of the products in a plurality of cups.
7. The industrial collaborative simulation platform according to claim 6, wherein the glue spreading and stacking module comprises a glue spreading module and a stacking module, the glue spreading module is detachably mounted above the stacking module, a calibration module is arranged on one side of the glue spreading and stacking module, and the calibration module is used for calibrating the position of the visual detection module.
8. A collaborative simulation method applied to the industrial collaborative simulation platform of any of claims 1-7, comprising the steps of:
acquiring product storage state information on the simulation module, wherein the product storage state information comprises product storage quantity and product storage positions;
acquiring state information of the cooperative robot, and matching the state information of the cooperative robot with product storage state information to generate moving grabbing information of the cooperative robot;
controlling the collaborative robot to move to the position above the storage module according to the mobile grabbing information to grab the product;
selecting a corresponding simulation station according to the simulation project, and generating position information of the simulation station, wherein the simulation station comprises a sub-packaging module and a gluing stacking module;
comparing the position information of the simulation station with the product storage position to obtain product transfer information, and controlling the cooperative robot to grasp the product according to the product transfer information and place the product on the simulation station to obtain simulation information;
the analog information is transmitted to the digital twin terminal in a predetermined manner.
9. The collaborative simulation method according to claim 8, wherein the visual inspection module is calibrated before obtaining the product storage status information on the simulation module, the calibration method is as follows:
the method comprises the steps of obtaining a visual image through a visual detection module, and dividing the visual image to obtain a plurality of sub-images;
extracting a plurality of sub-image features, removing noise features, and fusing the sub-images with the noise features removed to obtain a fused image;
calibrating the image center point position of the fusion image through a calibration module, and comparing the image center point position with the workbench center point position to obtain a position deviation rate;
judging whether the position deviation rate is larger than or equal to a set position deviation rate threshold value;
if the position of the visual camera is greater than or equal to the position of the visual camera, generating correction information, and adjusting the position of the visual camera according to the correction information;
if the calibration is smaller than the preset value, the calibration is judged to be successful.
10. A computer readable storage medium, characterized in that the computer readable storage medium comprises a collaboration simulation method program, which, when executed by a processor, implements the steps of the collaboration simulation method as claimed in claim 9.
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