基于混合控制系统的大部件自动化作业仿真

Automatic Manufacturing Simulation for Large-scale Components Based on Hybrid Control System

针对飞机大部件自动化制造过程中离线程序检查方法效率低、运行风险大的问题,基于RobotStudio二次开发构建自动化作业仿真平台作为离线仿真工具。在仿真平台中构建ABB控制器与数控系统的虚拟混合控制系统以及设备物理模型,实现仿真系统结构参数、运动控制参数与实际自动化系统统一。基于C#与RobotStudio API开发大部件位姿计算模块、导轨与机器人运动程序编译模块,实现仿真平台中大部件位姿快速变换与程序自动编译。以飞机外形扫描为应用场景进行试验,结果表明:仿真平台中的导轨、机器人与实际自动化系统运动一致,该平台能够实现结构碰撞检查与程序正确性检查,减少自动化作业前程序检查时间及提高自动化系统的安全性能。

Aiming at the problems of low efficiency and high operation risk of offline program inspection methods in the automated manufacturing process of large-scale aircraft components,an automatic manufacturing simulation platform based on the secondary development of RobotStudio was built as an offline simulation tool.The virtual hybrid control system integrated with ABB controller and numerical control system and the physical model of the equipment were built in the simulation platform to realize the unification of the structure parameters,motion control parameters of the simulation system and the actual automation system.The calculation module of aircraft position and posture,compilation module of track and robot motion program were both developed based on C#and RobotStudio API to realize the rapid transformation of large-scale aircraft components posture and automatic program compilation.Aircraft profile scanning was used as an application scene for testing.The results show that the guide rail and robot in the simulation platform move in the same way as the actual automation system;through this platform,the structure collision check and program correctness check can be realized,the program check time before automatic operation can be reduced and the safety performance of the automation system can be improved.