Design of Digital Twin System for Circuit Breaker Flexible Assembly Workshop

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

Abstract

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

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

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.

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.

References

[1] 孙曙光，张伟，王景芹，等.基于动作过程振动检测的低压断路器机械寿命预测[J].仪器仪表学报，2020，41（12）：146-157.
SUN Shuguang，ZHANG Wei，WANG Jingqin，et al.Mechanical life prediction of low-voltage circuit breaker based on vibration detection during operation[J].Chinese Journal of Scientific Instrument，2020，41（12）：146-157.
[2] 周宏明，沈艳，黄沈权，等.塑壳式断路器操作机构的动力学模型及性能分析[J].计算机集成制造系统，2015，21（5）：1350-1358.
ZHOU Hongming，SHEN Yan，HUANG Shenquan，et al.Dynamic model of molded case circuit breaker operating mechanism and its performance analysis[J].Computer Integrated Manufacturing Systems，2015，21（5）：1350-1358.
[3] MAREK B，PIOTR B，EWA R，et al.The new family of low-voltage，hyper-speed arcless，hybrid，DC circuit breakers for urban traction vehicles and related industrial applications[J].IEEE Transactions on Power Delivery，2019，34（1）：251-259.
[4] 张恩政，唐宁敏，陈刚，等.基于改进IGG3权函数距离误差模型的工业机器人标定[J].中国机械工程，2021，32（13）：1539-1546.
ZHANG Enzheng，TANG Ningmin，CHEN Gang，et al.Industrial robot calibration based on improved IGG3 weight function of distance error model[J].China Mechanical Engineering，2021，32（13）：1539-1546.
[5] 吴锦辉，陶友瑞.工业机器人定位精度可靠性研究现状综述[J].中国机械工程，2020，31（18）：2180-2188.
WU Jinhui，TAO Yourui.Review on research status of positioning accuracy reliability of industrial robots[J].China Mechanical Engineering，2020，31（18）：2180-2188.
[6] 陶飞，刘蔚然，刘检华，等.数字孪生及其应用探索[J].计算机集成制造系统，2018，24（1）：1-18.
TAO Fei，LIU Weiran，LIU Jianhua，et al.Digital twin and its potential application exploration[J].Computer Integrated Manufacturing Systems，2018，24（1）：1-18.
[7] CAI Y，STARLY B，SINGH S，et al.Sensor data and infor-mation fusion to construct digital-twins virtual machine toolsfor cyber-physical manufacturing[C]//Proceedings of Conference on the 45th SME North American Manufacturing Research，2017：1031-1042.
[8] 杨林瑶，陈思远，王晓，等.数字孪生与平行系统：发展现状、对比及展望[J].自动化学报，2019，45（11）：2001-2031.
YANG Linyao，CHEN Siyuan，WANG Xiao，et al.Digital twins and parallel systems：state of the art，comparisons and prospect[J].Acta Automatica Sinica，2019，45（11）：2001-2031.
[9] TAO Fei，ZHANG Meng.Digital twin shop-floor：a new shopfloor paradigm towards smart manufacturing[J].IEEE Access，2017，5：20418-20427.
[10] 刘大同，郭凯，王本宽.数字孪生技术综述与展望[J].仪器仪表学报，2018，39（11）：1-10.
LIU Datong，GUO Kai，WANG Benkuan.Overview and prospects of digital twin technology[J].Chinese Journal of Scientific Instrument，2018，39（11）：1-10.
[11] GRIEVES M，VICKERSJ.Digital twin：mitigating unpredictable，undesirable emergent behavior in complex systems[M]//Transdisciplinary perspectives on complex systems.Berlin，Germany：Springer International Publishing，2017.
[12] 陶飞，张萌，程江峰，等.数字孪生车间一种未来车间运行新模式[J].计算机集成制造系统，2017，23（1）：1-9.
TAO Fei，ZHANG Meng，CHENG Jiangfeng，et al.Digital twin workshop：a new paradigm for future workshop[J].Computer Integrated Manufacturing Systems，2017，23（1）：1-9.
[13] 姜康，柯容，赵小勇，等.数字化车间虚拟监控系统研究[J].航空制造技术，2016（20）：97-100.
JIANG Kang，KE Rong，ZHAO Xiaoyong，et al.Study on virtual monitoring system for digital workshop[J].Aeronautical Manufacturing Technology，2016（20）：97-100.
[14] 梁兴明.基于虚实融合的车间实时生产监控系统的设计与实现[D].合肥：合肥工业大学，2017.
LIANG Xingming.The design and implementation of real-time production monitoring system based on virtual-real fusion[D].Hefei：Hefei University of Technology，2017.
[15] CHEN Gaige，WANG Pei，FENG Bo，et al.The framework design of smart factory in discrete manufacturing industry based on cyber-physical system[J].International Journal of Computer Integrated Manufacturing，2020，33（1）：79-101.
[16] 杨艳芳，贺焕，舒亮，等.断路器柔性装配数字孪生机器人及其运动控制[J].计算机集成制造系统，2020，26（11）：2915-2926.
YANG Yanfang，HE Huan，SHU Liang，et al.Digital twin robot and its motion control for flexible assembly of circuit breaker[J].Computer Integrated Manufacturing Systems，2020，26（11）：2915-2926.
[17] ZHANG Mengyang，TIAN Guohui，LI Cici，et al.Construction of 3D scene with cloud robot platform based on intelligent space[C]//Proceedigs of IEEE International Conference on Information & Automation.Washington，DC，USA：IEEE，2017.
[18] 凌正阳，曹恒，王瑜，等.900 t级架桥机多软件协同仿真平台试验研究[J].振动、测试与诊断，2009，29（3）：295-298.
LING Zhengyang，CAO Heng，WANG Yu，et al.Test of a simulation platform of multi-software for 900 ton brigde-erecting machine[J].Journal of Vibration，Measurement & Diagnosis，2009，29（3）：295-298.
[19] 张繁，王通，黄可蒙，等.基于Unity3D的改进实时红外仿真系统[J].计算机辅助设计与图形学报，2018，30（7）：1177-1186.
ZHANG Fan，WANG Tong，HUANG Kemeng，et al.One improved real-time infrared simulation system based on Unity3D[J].Journal of Computer-Aided Design & Computer Graphics，2018，30（7）：1177-1186.
[20] HESHMAT M，SHARIEF M，SEBAIE M.Simulation modelling and analysis of a production line[J].International Journal of Simulation and Process Modelling，2017，12（3/4）：369.