Simulation method and device of digital twin system of industrial robot

A technology for industrial robots and system simulation, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., to solve problems such as unreachable axes, limited robot applications, and lack of self-adaptability of robots.

Inactive Publication Date: 2018-11-02
XI AN JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

At present, the use of industrial robots is mainly realized through teaching programming. The robot must be online and the efficiency is low. For the axis overrun or collision problem that occurs during the movement of the robot, it cannot be warned in advance, and the safety is poor.
At the same time, a large number of industrial robots used in p

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  • Simulation method and device of digital twin system of industrial robot
  • Simulation method and device of digital twin system of industrial robot
  • Simulation method and device of digital twin system of industrial robot

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Embodiment Construction

[0055] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0056] (1) The establishment of an industrial robot digital twin system includes the following steps:

[0057] Step 1: build a hardware platform, the hardware system architecture diagram of the present invention is as follows figure 1 As shown, it includes a six-axis robot, a camera mounted on the end of the robot, a wire-structured light emitter, and a computer.

[0058] Such as figure 1 As shown, the present invention adopts an oblique structured light three-dimensional measurement structure, which has strong anti-interference ability, good real-time performance, and does not require feature matching. Install the camera and the line laser symmetrically on both sides of the end of the flange of the robot, the camera is installed vertically, and the line laser is installed obliquely at a certain angle. The present invention selects a red visi...

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Abstract

The invention provides a simulation method and device of a digital twin system of an industrial robot. The simulation device comprises the industrial robot, a vision perception unit and a computer, wherein the vision perception unit is arranged at the tail end of the robot and is composed of a camera and a wire structure light emitter; an industrial robot simulation system is established, the robot is modeled, and three instructions are analyzed and run; a target three-dimensional measurement model of a robot visual system is acquired by using a wire structure optical geometric triangular method; a motion instruction is determined for the working task of the robot, virtual simulation is carried out through the computer, and reachable points and collision point detection are carried out; and the robot is actually used for identifying a target object through the visual perception unit, and the actual movement of the robot is driven. The simulation device is safe and reliable in virtual simulation, abnormal operation possibly in actual operation is avoided, the visual perception unit is used for identifying the target object through three-dimensional visual technology, the self-adaptive capacity of the robot to the field environment is improved, and flexibility and intelligence are enhanced.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a simulation method and device for an industrial robot digital twin system. Background technique [0002] With the development of robot technology, industrial robots are widely used in industrial production, playing an important role in machining, welding, assembly, spraying, handling and other fields, and become an important indicator to measure the country's comprehensive national strength and manufacturing level. At present, the use of industrial robots is mainly realized through teaching programming. The robot must be online, which is inefficient. For the axis overrun or collision problem that occurs during the movement of the robot, it cannot be warned in advance, and the safety is poor. At the same time, a large number of industrial robots used in production at home and abroad do not have the ability to perceive the on-site environment. The robot is no...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607
Inventor 韩九强杨若琪郑辑光吕红强
Owner XI AN JIAOTONG UNIV
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