基于NX MCD的工业机器人视觉分拣数字孪生系统设计

针对制造业中多类型、多颜色工件人工重复分拣出错率高的问题，设计一个基于工业视觉的工业机器人自动分拣物理控制系统和数字孪生系统。提出融合工业视觉、工业机器人、PLC等设备的以太网通信控制方案；基于视觉检测原理，应用视觉检测工具，结合PLC程序能够正确识别工件信息；基于NX MCD软件构建了工业机器人、输送带、工件等数字孪生系统；最后，对工业机器人和PLC进行联合编程，实现视觉分拣虚实系统同步作业。实验结果证明：该系统工件识别正确率高，工件分拣效率高，数字孪生系统能够实现虚实同步，为系统的动态监控、维护管理与虚拟调试提供了便利。

Design of Industrial Robot Visual Sorting Digital Twin System Based on NX MCD

Aiming at the high error rate of manual repeated sorting for multi-type and multi-color workpieces in manufacturing,a physical control system and a digital twin system for automatic sorting of industrial robot based on industrial vision were designed.The control scheme integrating industrial vision,industrial robot,PLC and other equipment was proposed;based on the visual inspection principle,visual inspection tools combined with PLC program were used to correctly identify the workpieces;based on NX MCD,the digital twin systems of industrial robot,conveyor and workpieces were constructed.Finally,the industrial robot and PLC were jointly programmed to realize synchronous operation of the virtual and real visual sorting systems.Experimental results show that the system has high accuracy of workpiece recognition and high efficiency of workpiece sorting,and the digital twin system can realize the virtual and real synchronization,which provides convenience for the dynamic monitoring,maintenance management and virtual debugging of the system.