Mechanical arm construction method based on digital twin technology

Abstract

The invention discloses a mechanical arm construction method based on a digital twinning technology, and belongs to the technical field of digital twinning. The mechanical arm three-dimensional model and the mechanical arm clamping jaw three-dimensional model are designed in a distributed mode, secondary modeling can be conveniently achieved in multiple combination modes, and the mechanical arm clamping jaw twin model obtained after secondary modeling is assembled with a mechanical arm twin model in digital factory simulation software; after assembly, the mechanical arm clamping jaw twinning model is automatically bound with the mechanical arm twinning model so as to synchronously run in digital factory simulation software, and then simulation verification is carried out. By constructing the high-precision mechanical arm / mechanical arm clamping jaw twinning model, the motion state of the twinning mechanical arm / mechanical arm clamping jaw can be consistent with that of the solid mechanical arm / mechanical arm clamping jaw, the position of the solid mechanical arm / mechanical arm clamping jaw can be accurately and timely obtained, and the next operation of the mechanical arm is intelligently controlled.

Description

Technical Field

[0001] The present invention relates to a method for constructing a robotic arm based on digital twin technology, and belongs to the technical field of digital twin technology. Background Art

[0002] Manufacturing is an important pillar and foundation of the national economy. In order to accelerate the process of industrialization, the development of manufacturing is particularly important. With the rapid development of technologies such as robots and digital twins, the manufacturing industry has been continuously updated and iterated. The deep integration of new generation information technology and manufacturing has made intelligent manufacturing the key to promoting the upgrading of manufacturing. The core goal of intelligence is to achieve the integration of the physical world and the information world. The important purpose of intelligence is to achieve more accurate process status tracking and more complete real-time data acquisition. Therefore, solving the mutual integration of the physical world and the virtual world is the core issue of intelligent manufacturing.

[0003] As one of the important equipment for industrial automation and intelligent manufacturing, industrial robotic arms can effectively improve the degree of automation of production lines. However, there are many types of industrial robots on the market, which makes data collection difficult. To address this problem, the present invention proposes a robotic arm construction method based on digital twin technology. Summary of the invention

[0004] The present invention provides a method for constructing a robotic arm based on digital twin technology, which is used to realize the construction of a virtual robotic arm and a virtual robotic arm gripper based on digital twin technology.

[0005] The technical solution of the present invention is:

[0006] A method for constructing a robotic arm based on digital twin technology comprises the following steps:

[0007] S1. According to the shape and size of the physical robotic arm, three-dimensional modeling is performed on each joint and base of the robotic arm in a 1:1 manner; each joint and base after three-dimensional modeling is assembled and combined according to the corresponding hierarchy and assembly relationship to construct a three-dimensional model of the robotic arm;

[0008] S2, according to the shape and size of the physical robot arm gripper, three-dimensional modeling of the robot arm gripper is performed in a 1:1 manner to construct a three-dimensional model of the robot arm gripper;

[0009] S3. Use the DH method to establish the corresponding coordinate system for each joint of the robot arm and perform kinematic analysis;

[0010] S4, importing the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling, and obtaining a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm;

[0011] S5. After the robotic arm twin model is completed, simulation verification is performed;

[0012] S6, importing the three-dimensional model of the robot arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robot arm gripper;

[0013] S7. Assemble the robotic arm gripper twin model after secondary modeling with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will automatically bind to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification.

[0014] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes;

[0015] The physical properties include basic physical properties of the virtual robotic arm;

[0016] The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script;

[0017] The robot controller is used to set the end position of the virtual robot arm and the connection position between the virtual robot arm and the virtual robot arm gripper;

[0018] The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required to be run by the end of the virtual robotic arm to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm;

[0019] The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm;

[0020] The robot arm motion logic attributes include the robot arm joint motion relationship, robot arm joint motion coordinates, robot arm joint motion speed, and robot arm joint motion range related settings. The results of the robot arm kinematic analysis are written into the robot arm motion logic attributes, the motion logic of the robot arm twin model is established, and the establishment of the robot arm twin model is completed.

[0021] Furthermore, after the completion of the robotic arm twin model, a simulation verification is carried out, specifically: first, the end target coordinate position of the robotic arm twin model is given, and whether the movement of the robotic arm twin model is normal is judged according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through a first connection signal, and it is detected whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm; finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal, and it is detected whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model; at this point, the digitization of the robotic arm is completed, the virtual-real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained.

[0022] Furthermore, the secondary modeling of the three-dimensional model of the robot gripper includes modeling of physical attributes, behavioral attributes, and motion logic attributes;

[0023] The physical properties include basic physical properties of the robot gripper;

[0024] The robot arm gripper behavior attribute modeling includes three types of settings for controlling the robot arm gripper behavior: a servo controller, a second connection signal, and a second action script;

[0025] The servo controller is used to set the gripping center point of the robot arm gripper;

[0026] The second connection signal is used to receive the grasping action signal of the physical robot arm gripper, and to perform interaction and linkage between the physical robot arm gripper and the virtual robot arm gripper;

[0027] The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper;

[0028] The motion logic attributes of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the setting of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

[0029] Furthermore, simulation verification is performed in S7, specifically as follows: first, the end target coordinate position of the robotic arm gripper twin model is given, and the movement of the robotic arm twin model and the robotic arm gripper twin model is judged whether the movement of the robotic arm twin model and the robotic arm gripper twin model is operating normally according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm gripper is operated and the grasping action of the physical robotic arm gripper is transmitted to the robotic arm gripper twin model through a second connection signal, and it is detected whether the robotic arm gripper twin model grasps according to the grasping action of the physical robotic arm gripper; finally, the robotic arm gripper twin model is operated and the grasping action of the robotic arm gripper twin model is transmitted to the physical robotic arm gripper through a second connection signal, and it is detected whether the physical robotic arm gripper grasps according to the grasping action of the robotic arm gripper twin model; at this point, the digitization of the robotic arm gripper is completed, the virtual-real interaction of the robotic arm gripper is realized, and a verified robotic arm gripper twin model is obtained.

[0030] The beneficial effects of the present invention are as follows: the present invention facilitates secondary modeling in a variety of combinations through distributed design of the robotic arm three-dimensional model and the robotic arm clamp three-dimensional model, and further, by constructing a high-precision robotic arm / robotic arm clamp twin model, the motion state of the twin robotic arm / robotic arm clamp can be made consistent with the physical robotic arm / robotic arm clamp, and the position of the physical robotic arm / robotic arm clamp can be accurately and timely obtained, and the next operation of the robotic arm can be intelligently controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of the present invention;

[0032] Figure 2 A flowchart for verifying the twin model of the robotic arm of the present invention;

[0033] Figure 3 This is a rendering of the robotic arm twin model of the present invention;

[0034] Figure 4 This is a rendering of the twin model of the mechanical arm gripper of the present invention;

[0035] Figure 5 This is a rendering of the assembly effect of the robotic arm twin model and the robotic arm gripper twin model of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0037] refer to Figure 1-Figure 5 , a method for constructing a robotic arm based on digital twin technology, comprising the following steps:

[0038] S1. According to the shape and size of the physical robotic arm, three-dimensional modeling is performed on each joint and base of the robotic arm in a 1:1 manner; each joint and base after three-dimensional modeling is assembled and combined according to the corresponding hierarchy and assembly relationship to construct a three-dimensional model of the robotic arm; illustratively, this step can be constructed using Solidworks / CAD / UG as a platform; Figure 3 The three-dimensional model of the robotic arm shown is a visualization result obtained using the Solidworks platform.

[0039] S2. According to the shape and size of the physical mechanical arm gripper, the mechanical arm gripper is three-dimensionally modeled in a 1:1 manner to construct a three-dimensional model of the mechanical arm gripper; illustratively, this step can be constructed using Solidworks / CAD / UG as a platform; Figure 4 The visualization results of the three-dimensional model of the robotic arm gripper obtained using the Solidworks platform are shown.

[0040] In the above technology, the robotic arm and the robotic arm gripper are independently modeled, so that different models of robotic arms and robotic arm grippers are independent, which facilitates secondary modeling in a variety of combinations in the later stage.

[0041] S3. Use the DH method to establish the corresponding coordinate system for each joint of the robotic arm and perform kinematic analysis to ensure the simulation accuracy of the twin robotic arm model. Specifically, the position and posture representation of the end position of the robotic arm in the base coordinate system can be obtained by performing forward kinematic analysis on the robotic arm. The inverse kinematic analysis of the robotic arm can inversely solve the values ​​of each joint and verify the accuracy of the robotic arm model.

[0042] S4. Import the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling to obtain a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm.

[0043] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes;

[0044] Exemplarily, the physical properties include basic physical properties such as material, mass, friction coefficient, etc. of the virtual robotic arm;

[0045] The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script;

[0046] The robot controller is used to set the end position of the virtual robot arm and the connection position between the virtual robot arm and the virtual robot arm gripper;

[0047] The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required to be run by the end of the virtual robotic arm to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm;

[0048] The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm;

[0049] The robot arm motion logic attributes include the robot arm joint motion relationship, robot arm joint motion coordinates, robot arm joint motion speed, and robot arm joint motion range related settings. The results of the robot arm kinematic analysis are written into the robot arm motion logic attributes, the motion logic of the robot arm twin model is established, and the establishment of the robot arm twin model is completed.

[0050] S5. After the robotic arm twin model is completed, simulation verification is carried out. First, the end target coordinate position of the robotic arm twin model is given, and the position, posture and motion state of each joint of the robotic arm twin model are used to determine whether the movement of the robotic arm twin model is normal. Secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through the first connection signal to detect whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm. Finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal to detect whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model. At this point, the digitization of the robotic arm is completed, the virtual-real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained. The specific process is as follows: Figure 2 shown.

[0051] S6, importing the three-dimensional model of the robot arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robot arm gripper;

[0052] Furthermore, the secondary modeling of the three-dimensional model of the robotic arm gripper includes modeling of physical properties, behavioral properties, and motion logic properties.

[0053] Exemplarily, the physical properties include basic physical properties such as material, mass, and friction coefficient of the robot gripper;

[0054] The robot arm gripper behavior attribute modeling includes three types of settings for controlling the robot arm gripper behavior: a servo controller, a second connection signal, and a second action script;

[0055] The servo controller is used to set the gripping center point of the robot arm gripper;

[0056] The second connection signal is used to receive the grasping action signal of the physical robot arm gripper, and to perform interaction and linkage between the physical robot arm gripper and the virtual robot arm gripper;

[0057] The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper;

[0058] The motion logic attributes of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the setting of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

[0059] S7. Assemble the robotic arm gripper twin model after secondary modeling with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will bind itself to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification: first, give the end target coordinate position of the robotic arm gripper twin model, and judge whether the movement of the robotic arm twin model and the robotic arm gripper twin model is normal according to the position, posture and motion state of each joint of the robotic arm twin model; secondly, operate the physical robotic arm gripper and pass The grasping action of the physical robot arm gripper is transmitted to the robot arm gripper twin model through the second connection signal, and the robot arm gripper twin model is detected to detect whether the grasping action of the physical robot arm gripper is performed; finally, the robot arm gripper twin model is operated and the grasping action of the robot arm gripper twin model is transmitted to the physical robot arm gripper through the second connection signal, and the grasping action of the robot arm gripper twin model is detected to detect whether the physical robot arm gripper is grasped according to the grasping action of the robot arm gripper twin model; at this point, the digitization of the robot arm gripper is completed, the virtual-real interaction of the robot arm gripper is realized, and the verified robot arm gripper twin model is obtained. The specific verification process execution principle is similar to the verification of the robot arm twin model.

[0060] Through the verified robotic arm twin model and robotic arm gripper twin model, the robotic arm construction based on digital twin technology is completed. Figure 5 These are examples of verified robotic arm twin models and robotic arm gripper twin models.

[0061] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A method for constructing a robotic arm based on digital twin technology, characterized in that: The following steps are involved: S1. According to the shape and size of the physical robotic arm, three-dimensional modeling is performed on each joint and base of the robotic arm in a 1:1 manner; each joint and base after three-dimensional modeling is assembled and combined according to the corresponding hierarchy and assembly relationship to construct a three-dimensional model of the robotic arm; S2, according to the shape and size of the physical robot arm gripper, three-dimensional modeling of the robot arm gripper is performed in a 1:1 manner to construct a three-dimensional model of the robot arm gripper; S3. Use the DH method to establish the corresponding coordinate system for each joint of the robot arm and perform kinematic analysis; S4, importing the three-dimensional model of the robotic arm into the digital factory simulation software for secondary modeling, and obtaining a twin model of the robotic arm whose initial position is consistent with the initial position of the physical robotic arm; S5. After the robotic arm twin model is completed, simulation verification is performed; S6, importing the three-dimensional model of the robot arm gripper into the digital factory simulation software for secondary modeling to obtain a twin model of the robot arm gripper; S7. Assemble the robotic arm gripper twin model after secondary modeling with the robotic arm twin model in the digital factory simulation software. After assembly, the robotic arm gripper twin model will automatically bind to the robotic arm twin model to run synchronously in the digital factory simulation software, and then perform simulation verification.

2. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: The secondary modeling of the three-dimensional model of the robotic arm includes modeling of physical attributes, behavioral attributes, and motion logic attributes; The physical properties include basic physical properties of the virtual robotic arm; The robot arm behavior attribute modeling includes three types of settings for controlling the robot arm behavior: a robot controller, a first connection signal, and a first action script; The robot controller is used to set the end position of the virtual robot arm and the connection position between the virtual robot arm and the virtual robot arm gripper; The first connection signal is used to establish communication between the virtual robotic arm and ROS and the physical robotic arm according to the OPC UA communication protocol, so as to transmit the motion trajectory of the physical robotic arm to the virtual robotic arm, transmit the coordinates required to be run by the end of the virtual robotic arm to the first action script through ROS, and transmit the motion trajectory of the virtual robotic arm obtained according to the first action script to the physical robotic arm; The first action script is used to control the virtual robotic arm to move according to the received coordinates that the end of the virtual robotic arm needs to move to obtain a motion trajectory; and is used to transmit the motion trajectory to the physical robotic arm through the first connection signal to control the movement of the physical robotic arm; The robot arm motion logic attributes include the robot arm joint motion relationship, robot arm joint motion coordinates, robot arm joint motion speed, and robot arm joint motion range related settings. The results of the robot arm kinematic analysis are written into the robot arm motion logic attributes, the motion logic of the robot arm twin model is established, and the establishment of the robot arm twin model is completed.

3. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: After the robotic arm twin model is completed, simulation verification is performed, specifically: First, the end target coordinate position of the robotic arm twin model is given, and whether the movement of the robotic arm twin model is normal is judged according to the position posture and motion state of each joint of the robotic arm twin model; secondly, the physical robotic arm is operated and the motion trajectory of the physical robotic arm is transmitted to the robotic arm twin model through the first connection signal, and it is detected whether the robotic arm twin model moves according to the motion trajectory of the physical robotic arm; finally, the robotic arm twin model is operated and the motion trajectory of the robotic arm twin model is transmitted to the physical robotic arm through the first connection signal, and it is detected whether the physical robotic arm moves according to the motion trajectory of the robotic arm twin model; at this point, the digitization of the robotic arm is completed, the virtual-real interaction of the robotic arm is realized, and a verified robotic arm twin model is obtained.

4. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: The secondary modeling of the three-dimensional model of the robot gripper includes modeling of physical attributes, behavioral attributes, and motion logic attributes; The physical properties include basic physical properties of the robot gripper; The robot arm gripper behavior attribute modeling includes three types of settings for controlling the robot arm gripper behavior: a servo controller, a second connection signal, and a second action script; The servo controller is used to set the gripping center point of the robot arm gripper; The second connection signal is used to receive the grasping action signal of the physical robot arm gripper, and to perform interaction and linkage between the physical robot arm gripper and the virtual robot arm gripper; The second action script is used to control the virtual robotic arm gripper to perform a grasping action according to the action signal to be grasped transmitted by the second connection signal, and then transmit the second connection signal to the physical robotic arm gripper to control the grasping of the physical robotic arm gripper; The motion logic attributes of the robotic arm gripper are used to set the gripping action of the robotic arm gripper to obtain a twin model of the robotic arm gripper; specifically, they include the setting of the motion mode, motion range, and motion speed of each joint of the robotic arm gripper.

5. The method for constructing a robotic arm based on digital twin technology according to claim 1, characterized in that: The simulation verification is performed in S7, specifically: First, the end target coordinate position of the robotic arm gripper twin model is given, and the position, posture and motion state of each joint of the robotic arm twin model are used to determine whether the movement of the robotic arm twin model and the robotic arm gripper twin model is normal; secondly, the physical robotic arm gripper is operated and the grasping action of the physical robotic arm gripper is transmitted to the robotic arm gripper twin model through a second connection signal to detect whether the robotic arm gripper twin model grasps according to the grasping action of the physical robotic arm gripper; finally, the robotic arm gripper twin model is operated and the grasping action of the robotic arm gripper twin model is transmitted to the physical robotic arm gripper through a second connection signal to detect whether the physical robotic arm gripper grasps according to the grasping action of the robotic arm gripper twin model; at this point, the digitization of the robotic arm gripper is completed, the virtual-real interaction of the robotic arm gripper is realized, and a verified robotic arm gripper twin model is obtained.

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