焊接机器人数字孪生系统的构建与实现

摘要

针对焊接车间焊接机器人品类繁杂，设备管理水平低下的问题，在Grieves教授提出的数字孪生这一理论背景下，通过构建数字孪生系统将物理世界与信息世界进行融合与交互来解决上述问题。本文通过实现焊接机器人物理实体的关键要素信息化建模、基于OPC UA的焊接机器人生产过程数据采集以及机器人物理实体与孪生模型之间的交互和实时映射这三部分关键技术，完成对数字孪生系统的框架构建。最后，基于实际焊接机器人的生产过程实现了单元级数字孪生系统，验证了方法的可行性和准确性。为焊接车间构建复杂系统级数字孪生系统奠定了基础，也为焊接车间向数字化、智能化、现代化方向迈进提供了方案。 Aiming at the problems of welding robots with multifarious categories and low equipment management level in welding workshop, under the theoretical background of digital twinning proposed by Professor Grieves, the above problems are solved by constructing digital twinning system to integrate and interact with the physical world and the information world. In this paper, the frame construction of digital twin system is completed by implementing three key technologies: information-based modeling of key elements of physical entity of welding robot, data acquisition of production process of welding robot based on OPC UA, and interaction and real-time mapping between physical entity of robot and twin model. Finally, the unit level digital twin system is realized based on the actual welding robot production process, and the feasibility and accuracy of the method are verified. This lays a foundation for the construction of complex system-level digital twin system in the welding workshop, and also provides a scheme for the welding workshop to step forward in the direction of digitization, intelligentization and modernization.