断路器柔性装配车间数字孪生系统设计

doi:10.3778/j.issn.1002-8331.2112-0545

摘要/Abstract

摘要： 为优化断路器装配车间的产线结构和作业方法，结合数字孪生技术，提出一种基于多机器人运动控制的断路器柔性自动化车间装配方案。面向自动化装配单元，结合工业机器人的柔性装配工艺及方法，对实体装配车间进行全物理属性的数字化建模，同时建立多机器人的运动学控制模型，将机器人的三维运动模型应用于虚拟孪生场景。通过数据的交互传递，实现物理单元与虚拟单元的实时链接，将车间机器人的运动轨迹、装配状态、作业运送流程等数据信息进行实时显示，从而实现断路器柔性装配数字孪生系统的搭建与同步映射。实验结果证明，所提方案对实现断路器柔性装配有显著效果。

关键词: 断路器, 柔性装配, 数字孪生, 工业机器人, 运动控制, 信息交互

Abstract: In order to optimize the production line structure and operation methods of the circuit breaker assembly workshop, combined with digital twin technology, a circuit breaker flexible automated workshop assembly scheme based on multi-robot motion control is proposed. For the automated assembly unit, combined with the flexible assembly process and method of industrial robots, the physical assembly workshop is digitally modeled with all physical attributes, and the kinematics control model of multi-robots is established at the same time, and the three-dimensional motion model of the robot is applied to the virtual twin scene. Through the interactive transmission of data, the real-time link between the physical unit and the virtual unit is realized, and the movement trajectory, assembly status, job delivery process and other data information of the workshop robot are displayed in real time, so as to realize the construction and synchronous mapping of the circuit breaker flexible assembly digital twin system. Experimental results show that the proposed scheme has a significant effect on the realization of flexible circuit breaker assembly.

Key words: circuit breaker, flexible assembly, digital twin, industrial robot, motion control, information interaction

陈璇, 舒亮, 冷玉祥, 杨艳芳. 断路器柔性装配车间数字孪生系统设计[J]. 计算机工程与应用, 2022, 58(14): 245-257.

CHEN Xuan, SHU Liang, LENG Yuxiang, YANG Yanfang. Design of Digital Twin System for Circuit Breaker Flexible Assembly Workshop[J]. Computer Engineering and Applications, 2022, 58(14): 245-257.

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