多机器人虚实一体化协作工作站设计与实现  

Design and realization of multi robot cooperative system with virtual-actual integration

作　　者：张晓芳[1,2] 程瑞龙[1] 张子瑜[1] ZHANG Xiaofang;CHENG Ruilong;ZHANG Ziyu(Department of Intelligent Manufacturing(Preparing),Suzhou Chien-Shiung Institute of Technology,Taicang 215411,China;Soochow University,Suzhou 215006,China)

机构地区：[1]苏州健雄职业技术学院智能制造学院(筹),太仓215411 [2]江苏大学,苏州215006

出　　处：《现代制造工程》2022年第10期27-33,共7页Modern Manufacturing Engineering

基　　金：2022年江苏省教育科学规划课题项目(D/2021/03/42);2020年江苏高校“青蓝工程”优秀青年骨干教师培养对象资助项目(苏教师[2020]10号);江苏省高职院校教师专业带头人高端研修项目(2022GRGDYX101);第四届太仓市高校专业建设领军人才资助项目(苏健职[2019]83号)。

摘　　要：针对多机器人实物生产线研究投入大、不易规划等问题,提出了将实物和仿真软件结合构建多机器人虚实一体化的编程方法。以可编程逻辑控制器(Programmable Logic Controller, PLC)为核心控制器,在RobotStudio软件中通过套接字(socket)、在实物中通过Profinet技术实现机器人与PLC的通信。压铸单元仿真工业机器人接收到真实PLC控制信号后,通过Smart组件和机器人信号逻辑配置完成压铸动画和机器人运动;检测单元实物工业机器人接收到真实PLC控制信号后,与欧姆龙相机通过socket形式进行图像正、反面采集和检测。多机器人虚实一体化协调控制及节拍优化方法,解决了现有硬件资源瓶颈问题,能进一步指导实际生产线设计和生产计划调整。To solve the cost and planning difficulty of production line, the programming method of virtual-actual integration with multi robot combining physical unit with simulation software was presented. The Programmable Logic Controller(PLC) was the main controller, connecting the robot in physical unit with Profinet technology and the robot in the RobotStudio software with socket. After die-casting unit simulation industrial robot received real PLC control signal, Smart components and logic configuration of robot signal were created to realize die-casting animation and the moving of the robot. After detection unit physical industrial robot received real PLC control signal, the front and back image acquisition and detection with socket were made which was connected with Omron vision. When the method of the cooperative control of multi robot virtual-actual integration was constructed and production time was optimized, the bottleneck problem of the cost with the hardware was solved, which can make further efforts on the design of actual production line and the adjustment of production plan.

关 键 词：虚实一体化 套接字 PROFINET技术 RobotStudio软件 可编程逻辑控制器 工业机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]