Abstract: To improve the intelligent level of industrial robot palletizing,the digital twinning system of industrial robot palletizing was researched and designed by combining the digital twinning technology with the robot palletizing process.The architecture of digital stacking twinning system was analyzed,the function module and operation mechanism of the system was designed,and the implementation methods of data integration module,virtual scene construction module,virtual robot stacking module and visual auxiliary service module of digital twinning system of industrial robots were expounded.The virtual visualization prediction and strategy optimization information feedback of industrial robot palletizing based on digital twin technology were realized by integrating the robot operation data in real palletizing scenario.The digital twinning system for industrial robot palletizing was designed and developed.The effectiveness of the system was verified through the physical palletizing scene data as an example,and the application of digital twinning technology in industrial robot intelligent palletizing was tried.

Key words: industrial robot, intelligence, digital twin technology, palletizing scene

摘要： 为提高工业机器人码垛的智能化水平,将数字孪生技术与机器人码垛作业流程相结合,研究并设计了工业机器人码垛数字孪生系统。分析了码垛数字孪生系统架构,规划并设计了系统的功能模块和运行机制,阐述了工业机器人数字孪生系统数据集成模块、虚拟场景构建模块、虚拟机器人码垛模块和可视化辅助服务模块的实现方法,融合真实码垛场景下的机器人作业数据,实现了对基于数字孪生技术的工业机器人码垛虚拟可视化仿真与策略优化的信息反馈。设计并开发了面向工业机器人码垛作业的数字孪生系统,以物理码垛场景数据为例,验证了本系统的有效性,为探索数字孪生技术在工业机器人智能码垛的应用进行了尝试。

关键词: 工业机器人, 智能化, 数字孪生技术, 码垛场景