关键词: 炭块清理, 数字孪生, 五维模型, 机器人, 轨迹规划

Abstract: With the steady development of China's electrolytic aluminum industry,traditional carbon block cleaning methods cannot meet the current production requirements.To solve the problem of difficult surface cleaning of carbon blocks,combined with digital twin technology,a solution for a surface cleaning robot control system that supported robot motion planning and motion control was proposed.Based on the five-dimensional structural system framework of the digital twin,an interconnection digital twin between the virtual space and the physical space was built.The production management and control framework of the carbon block cleaning unit was proposed,the composition of the five-layer system architecture was clarified,and the specific construction methods and processes of each part of the architecture were described respectively.The kinematics analysis was carried out on the cleaning space of the robot,and the movement path of the robot was optimized through an algorithm.The control system was applied to the carbon block surface cleaning system to verify the feasibility and effectiveness of the proposed solution.The application of the proposed method provided a method reference for the application of digital twin technology to the actual intelligent manufacturing system.

Key words: carbon block cleaning, digital twin, five-dimension digital twin model, robot, trajectory planning