基于OPC UA和RobotStudio的工业机器人工作站集成仿真

Design of Industrial Robot Workstation Based on OPC UA and Robot Studio

针对工业机器人工作站现场集成调试周期长、效率低的问题,基于OPC UA服务器将RobotStudio平台与西门子虚拟PLC控制器建立通信,搭建搬运码垛工作站集成仿真调试环境。在RobotStudio中设计动态工具的Smart组件,离线规划和编写机器人运动轨迹和程序;使用TIA软件编写工作站逻辑程序并下载至虚拟控制器;通过OPC UA建立连接,再利用RobotStudio完成工作站逻辑设计、调试和运动节拍优化。结果表明:该仿真能够有效验证工业机器人运动轨迹和PLC逻辑程序控制的合理性和准确性;调试机器人TCP与外围设备的速度能优化工作站的运动节拍,缩短了工作站现场集成调试周期。为降低工作站集成成本和提高生产效率提供理论依据。

In view of the problems of long field integration and debugging cycle and low efficiency of industrial robot workstation,the communication between RobotStudio platform and Siemens virtual PLC controller is established based on OPC UA server,and the integrated simulation and debugging environment of handling palletizing workstation is built.Design Smart components of dynamic tool in RobotStudio,plan and write robot motion trajectory and program offline,and use TIA software and download it to virtual controller.The results show that the simulation can effectively verify the rationality and accuracy of the industrial robot motion trajectory and PLC logic program control;the speed of the debugging robot TCP and the peripheral equipment can optimize the motion beat of the workstation.