半实物半仿真多机器人加工检测协作系统设计  

Design of multi-robot processing and detection cooperative system based on semi-physical and semi-simulation

作　　者：张晓芳[1] ZHANG Xiaofang(Department of Intelligent Manufacturing(preparing),Suzhou Chien-Shiung Institute of Technology,Taicang 215411,China)

机构地区：[1]苏州健雄职业技术学院智能制造学院(筹),江苏太仓215411

出　　处：《实验技术与管理》2021年第9期237-240,245,共5页Experimental Technology and Management

基　　金：2020年江苏省现代教育技术研究课题(2019-R-76427);2020年江苏高校“青蓝工程”优秀青年骨干教师培养对象项目(苏教师〔2020〕10号);第四届太仓市高校专业建设领军人才项目(苏健职〔2019〕83号)。

摘　　要：针对职业院校实践教学中多机器人生产线资金投入大、不易更新等问题,提出构建一种半实物半仿真多机器人工作站的方法,实现用较低投入建设工业机器人实训室。以汽车指示灯部件加工和检测为案例,在RobotStudio中通过PLC的Smart组件与SIMIT连接,通过Profinet实现PLC与实物机器人、虚拟机器人的通信。加工单元仿真机器人通过Smart组件和机器人信号逻辑配置完成机器人运行控制,检测单元采用实物机器人与欧姆龙相机通过以太网套接字形式进行图像采集和数据处理。在半实物基础上结合仿真,可灵活进行不同控制要求的生产线开发,进行多机器人协调控制及节拍优化,解决硬件资源短缺问题,提升学生实际编程调试能力。Aiming at the problems of large capital investment and difficult updating of multi-robot production line in practical teaching of vocational colleges, a method of constructing the multi-robot workstation based on semi-physical and semi-simulation is proposed to realize low investment in the construction of the industrial robot training room. By taking the processing and detection of automobile indicator light components as an example, the PLC is connected with SIMIT through the Smart component of PLC in RobotStudio, and the communication between PLC and physical robots and virtual robots is realized by Profinet. The simulation robot in the processing unit completes the operation control by logical configuration between Smart components and robot signals. The detection unit uses the physical robot and the OMRON camera to perform image acquisition and data processing through the Ethernet socket. Based on semi-physical and combined with simulation, the development of production lines with different control requirements can be carried out flexibly, and multi-robot coordinated control and cycle optimization can be conducted, which solves the problem of shortage of hardware resources and improves the actual programming and debugging ability of students.

关 键 词：半实物半仿真 虚实结合 PROFINET 可编程序逻辑控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] G642[自动化与计算机技术—控制科学与工程]