Digital Twin Technology for Collaborative Manufacturing of Major Equipment by Cluster Robots: A Review
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摘要: 航空航天、海洋舰船、轨道交通等领域的重大装备制造在服务于国家重大需求、引领国民经济发展与保障国防安全中占据举足轻重的作用. 传统人工加工一致性差、效率低, 专机加工工作空间受限、柔性不足, 车间加工协同性弱、智能化程度低, 这些都难以满足大型化、多品种的柔性制造需求. 集群机器人协同制造利用生物集群的智能协作机理, 能在大型复杂场景中不断拓展并优化各类作业的执行能力, 克服传统制造模式中的不足, 实现制造过程的高效协同和智能制造. 数字孪生技术作为新兴制造技术, 为集群机器人协同制造系统的构建部署、虚拟调试、智能感知、通信协作、调度规划和协同控制等方面提供技术集成方案和工具链支撑, 能有效提升制造系统的效率, 保障制造过程安全性. 本文详细介绍数字孪生技术的研究背景与意义、国内外研究现状、关键技术及应用和发展趋势, 并以自主研发的一套面向飞机壁板装配的集群机器人数字孪生系统为例进行具体分析. 本文对于了解数字孪生在制造领域的技术方案和工具体系以及数字孪生在重大装备集群机器人协同制造方面的应用研究具有参考价值.Abstract: Aerospace, marine vessels, rail transportation and other fields of major equipment manufacturing in the service of the country＇s major needs, leading the development of the national economy and safeguarding national defense and security occupy a pivotal role. Traditional manual processing has poor consistency and low efficiency. Special-purpose machine processing is limited by workspace constraints and lacks flexibility. Workshop processing collaboration is weak and the degree of intelligence is low. All these factors make it difficult to meet the needs of large-scale, multi-variety flexible manufacturing. Cluster robot collaborative manufacturing, based on the intelligent collaboration mechanisms of biological clusters, can continuously expand and optimize the execution capabilities of various operations in large-scale complex scenarios, overcoming the limitations of traditional manufacturing models, and enabling efficient collaboration and intelligent manufacturing in the production process. As an emerging manufacturing technology, digital twins provide technical integration solutions and tool chain support for the construction and deployment, virtual debugging, intelligent perception, communication and collaboration, scheduling planning and collaborative control of cluster robot collaborative manufacturing systems, which can effectively improve the efficiency of the manufacturing system and ensure the safety of the manufacturing process. This paper introduces in detail the research background and significance of digital twins technology, the current status of research at home and abroad, key technologies and applications and development trends, and analyzes the self-developed set of cluster robot digital twins system for the assembly of aircraft wall panels as an example. This paper is of reference value for understanding the technical solutions and tool systems of digital twins in the manufacturing field as well as the application research of digital twins in the collaborative manufacturing of cluster robots for major equipment.
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Key words:
- Digital twins /
- intelligent manufacturing /
- cluster robots /
- collaborative manufacturing
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图 1 重大装备对于国民经济和国防安全十分重要
Fig. 1 Major equipment is important for national economy and national defense security
图 2 国际研究机构在集群机器人协同制造开展的相关应用研究
Fig. 2 Applied research related to collaborative manufacturing of cluster robots by international research institutes
图 3 数字孪生结构由三维到五维模型的完善
Fig. 3 Refinement of digital twin structures from 3D to 5D models
图 6 海尔与Unity开发基于数字孪生技术的智能柔性产线
Fig. 6 Haier and Unity develop intelligent flexible production line based on digital twin technology
图 7 英伟达与西门子公司联合开发多机器人制造数字孪生系统
Fig. 7 NVIDIA and Siemens co-develop digital twins system for muti-robot manufacturing
图 10 集群机器人协同制造数字孪生系统框架
Fig. 10 A framework of digital twins system for collaborative manufacturing of cluster robots
图 11 集群机器人协同制造数字孪生系统用户界面
Fig. 11 User interface of digital twins system for collaborative manufacturing of cluster robots
图 12 机械臂虚实同步实验测试
Fig. 12 Mechanical arm virtual-physical synchronization experiment test
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