工业机器人装箱与码垛工作站数字孪生系统设计与优化

Design and optimization of digital twin systems for packing and palletizing of industrial robot workstation

为优化工业机器人装箱与码垛的作业效率,结合数字孪生技术,在Visual Components软件中搭建了数字孪生模型,完成了基于Siemens S7和Modbus协议的信息物理融合系统架构设计,实现了物理实体与数字模型的实时链接。采用遗传算法规划了工业机器人装箱与码垛最优路径,利用Visual Components软件完成了编程与数字孪生同步验证。利用搭建的数字孪生模型对动力辊道线和机器人的参数进行优化后消除了码垛机器人的怠工状态,同时将装箱与码垛工作站的工作效率提高了13%。该研究可对装箱与码垛工作站提供参考和理论依据。

In order to optimize the efficiency of packing and palletizing of industrial robot workstation,a digital twin model was built in Visual Components,and the cyber-physical fusion system architecture design based on Siemens S7 and Modbus protocol was completed,realizing the real-time link between physical entity and digital model.The optimal path of packing and pallettizing was planned by genetic algorithm,and Visual Components was used to program and verify the synchronization of the digital twin.The parameters of the power roller line and robot were optimized by the digital twin,eliminating the idle state of the palletizing robot,and the efficiency of packing and palletizing is increased by 13%.This research can provide a reference and theoretical basis for case packing and palletizing of the industrial robot stations.