基于NX MCD与TIA的机器人打磨联合虚拟调试研究

Research of joint virtual commissioning of robotic grinding based on NX MCD and TIA

针对工业机器人在生产现场调试时间较长且风险较高的问题,以机器人打磨叶片为例,设计了一种基于NX软件机电一体化概念设计(Mechatronics Concept Designer,MCD)解决方案与全集成自动化入口(Totally Integrated Automation Portal,TIA Portal)的机器人打磨联合虚拟调试系统。首先基于NX MCD设计并建立机器人打磨虚拟调试平台;其次采用等残留高度法规划叶片打磨轨迹,并约束打磨时机器人末端位姿;然后采用TIA Portal软件进行PLC程序设计和HMI组态,并下载到硬件设备;最后通过OPC UA通信协议实现机器人打磨叶片系统软/硬件联合虚拟调试。仿真结果表明,该系统有效验证和优化了机器人打磨轨迹,同时可以缩短生产现场调试周期,降低了设计阶段电气硬件的调试风险和成本投入。

Aiming at the problem of long commissioning time and high risk of industrial robots at the production site,taking robotic blade grinding as an example,a joint virtual commissioning system for robotic grinding based on NX Mechatronics Concept Designer(MCD)and Totally Integrated Automation Portal(TIA Portal)was designed.Firstly,a virtual commissioning platform of robotic grinding was designed and established based on NX MCD.Secondly,the iso-scallop method was used to plan the blade grinding trajectory,and to constrain the pose of the end effector during grinding.Then TIA Portal software was used for PLC programming and HMI configuration,and the program was downloaded to the hardware.Finally,the virtual commissioning of the software and hardware of the robotic blade grinding system was realized through the OPC UA communication protocol.The simulation results show that the system effectively verifies and optimizes the robotic grinding trajectory,and at the same time the on-site commissioning cycle can be shortened,the system can also reduce the commissioning risk and the cost of electrical hardware in the design stage.