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

摘要： 为解决我国电解铝工业中炭块表面清理难的问题,结合数字孪生技术提出一种支持机器人路径规划和运动控制的表面清理机器人控制系统解决方案。该方案基于数字孪生的五维结构系统框架,构建了虚拟空间和物理空间互联互通的数字孪生体。首先整理了炭块清理单元的生产管控框架,明确了五层系统架构的组成,分别阐述了具体各部分架构的构建方法和过程;其次对机器人清理空间进行运动学分析,通过算法优化机器人的运动路径;最后将该控制系统应用于该炭块表面清理系统,验证了所提解决方法的可行性和有效性,该方法的应用为数字孪生技术应用到实际的智能制造系统提供了参考。

关键词: 炭块清理, 数字孪生, 五维模型, 机器人, 轨迹规划