数字孪生驱动的离心铸管机服务机器人虚拟调试的研究  

Research on Virtual Debugging of Service Robot of Centrifugal Pipe Casting Machine Based on Digital Twin

作　　者：李振杰 张艳 宋彦 LI Zhen-jie;ZHANG Yan;SONG Yan(School of Mechanical Engineering,Henan University of Engineering,Zhengzhou 451191,Henan,China;School of Intelligent Engineering,Zhengzhou College of Finance and Economics,Zhengzhou 451191,Henan,China)

机构地区：[1]河南工程学院机械工程学院,河南郑州451191 [2]郑州财经学院智能工程学院,河南郑州451191

出　　处：《铸造》2023年第8期1056-1062,共7页Foundry

基　　金：河南省高等学校重点科研项目(23A460026)。

摘　　要：机电虚拟调试可以避免机械运动产生干涉,缩短系统调试时间。本文针对离心铸管机服务机器人集成系统,进行了机电联合虚拟调试研究。建立了机器人集成系统的几何模型和数字孪生模型,研发了集成系统的控制系统和控制程序。借助于MCD平台,以PLCSIM Advance作为虚拟PLC,搭建了数字孪生模型与PLC程序的双向通信模型。实现了PLC程序驱动数字孪生模型的运动,同时数字孪生模型也将运动状态反馈给PLC程序。进行了机器人集成系统的虚拟调试、整改直至其运行无误,然后进行了实物调试。结果表明:实物运行与数字孪生模型运行逻辑基本相同,并且实物联调的时间约是传统调试时间的三分之一。对铸造业自动化系统的调试方法具有借鉴作用。Electromechanical virtual debugging can avoid the interference of mechanical movement and shorten the debugging time of the system.Based on the service robot integrated system of centrifugal pipe casting machine,the research of electromechanical joint virtual debugging was carried out in this paper.The geometric model and digital twin model of the robot integrated system were established.The control system and control program of the integrated system were developed.With the aid of MCD platform,a two-way communication model between digital twin model and PLC program was built with PLCSIM advance as a virtual PLC.The motion of the digital twin model was driven by the PLC program,and the digital twin model also fed back the motion state to the PLC program.The virtual debugging and rectification of the robot integrated system were carried out until it ran correctly,and then the physical debugging was carried out.The results showed that the logic of physical operation was basically the same as that of digital twin model,and the time of physical joint debugging was about one third of that of traditional debugging.This paper can be used for reference to the traditional debugging methods of the foundry automation systems.

关 键 词：离心铸管 服务机器人 数字孪生 虚拟调试 

分 类 号：TG249.4[金属学及工艺—铸造] TP278[自动化与计算机技术—检测技术与自动化装置]