Method for conducting virtual simulation on breaker assembly robot

Abstract

The invention provides a method for conducting virtual simulation on a breaker assembly robot. The method comprises the steps that relevant information of a breaker assembly production line is collected to be guided into preset model software, a physical model of the breaker assembly production line is built, and the assembly time and sequences of all components are determined; according to assembly information, logical models of all mechanical assembly devices in breaker assembly are designed based on a Petri network; a mechanical arm three-dimensional model, adapting to the breaker assemblyinformation, of the assembly robot is built, and motion parameters of mechanical arms are calculated to build a motion model; and the motion parameters are subjected to motion simulation, reasonability of model parameters is ensured, and finally a breaker assembly model and the mechanical arm model are introduced into a unity3d scene to achieve virtual motion of the breaker assembly robot. According to the method, the motion parameters of the mechanical arms are solved based on inverse kinematics, through the Petri network, the logical relationship is built, and a virtual assembly system is built for motion simulation of the breaker assembly robot to achieve synchronous-interaction-type display of reality and virtuality.

Description

technical field [0001] The invention relates to the technical field of circuit breakers, in particular to a method and system for virtual simulation of a circuit breaker assembly robot. Background technique [0002] The miniature circuit breaker is an important electrical equipment in the distribution network, and its reliability is of great significance to the stable and safe operation of the power grid. The daily output of miniature circuit breakers is huge, and its assembly process and manufacturing process are very complicated. The traditional manual production mainly restricts the improvement of product performance and efficiency. Research and development of new circuit breakers with automation and digitalization as the main features The device integrated manufacturing system is of great significance for improving product performance and overall production efficiency. [0003] Time Petri net modeling can improve the process layout and scheme design problems of the manu...

AI Technical Summary

Problems solved by technology

The daily output of miniature circuit breakers is huge, and its assembly process and manufacturing process are very complicated. The traditional manual production mainly restricts the improvement of product performance and efficiency. Research and development of new circuit breakers with automation and digitalization as the main features The device integrated manufacturing system is of great significance for improving product performance and overall production efficiency

[0003] Time Petri net modeling can improve the process layout and scheme design problems of the manufacturing system, and can solve the assembly line of the circuit breaker digital manufacturing system. Due to the large number of parts and complex manufacturing processes, the assembly process involves hardware equipment, assembly objects, and parts constraints. Complicated factors such as assembly sequences, complex processes, and various logical relationships lead to production cycle adjustment and time control problems

[0004] However, the existing temporal Petri net modeling is limited to the research and discussion of the model and process, lacks follow-up simulation verification, does not compare and display the model calculation results visually, and lacks interactivity, especially in the In the modern manufacturing system where the assembly line is the main form of organization, the deep participation of robots has become the main manifestation of its digitalization and automation characteristics. Researchers have not yet developed the use of virtual reality technology to realize the dynamic simulation of robot arms to achieve synchronous interaction between reality and virtual reality. display

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