基于MCD平台的机器人码垛工作站设计及虚拟调试

Robot Palletizing Workstation Design and Virtual Debugging Based on MCD Platform

针对机器人码垛工作站建设过程中开发周期长、调试成本高的问题,采用基于MCD平台的数字孪生方法,实现机器人码垛工作站的机电一体化设计与虚拟调试。基于NXUG平台建立机器人码垛工作站三维模型,赋予模型机械、物理属性,创建与控制系统交互的数据信号。基于西门子S7-1500PLC编写控制程序,设计机器人码垛工作站HMI人机界面,进行机电一体化联合调试,并开展虚拟码垛调试实验。实验结果表明:在夹具与工件的摩擦因数为0.2条件下,当工件的质量为1~3 kg时,机器人夹具正压力大于或等于80 N,可实现工件的稳定抓取,放置工件时机器人放置速度小于或等于0.2 m/s,可实现工件的精确放置。该方法可实现机器人码垛工作站的数字化设计和虚拟调试,通过机械系统与电气控制系统联合仿真,实现方案的前期验证和优化,降低开发成本。

Aiming at the problems of long development cycle and high commissioning cost in the construction process of robot palletizing workstation,the digital twin method based on MCD platform was adopted to realize the mechatronic design and virtual debugging of robot palletizing workstation.Based on the NX UG platform,the 3D model of the robot palletizing workstation was established,the model was given mechanical and physical properties,and the data signal that interacts with the control system was created.Based on Siemens S7-1500PLC,the control program is written,the HMI human-machine interface of the robot palletizing workstation was designed,the mechatronics was jointly debugged,and the virtual palletizing debugging experiment was carried out.The experimental results show that under the condition that the friction coefficient between the fixture and the workpiece is 0.2,when the mass of the workpiece is 1~3 kg,the positive pressure of the robot fixture is greater than or equal to 80 N,and the stable grasping of the workpiece can be realized.When the workpiece is placed,the robot placement speed is less than or equal to 0.2 m/s,and the accurate placement of the workpiece can be realized.The method can realize the digital design and virtual debugging of the robot stacking workstation.Through the joint simulation of the mechanical system and the electrical control system,the scheme can be verified and optimized in the early stage,and the development cost can be reduced.