汽车外覆盖件冲压自动线运动规划及仿真系统的开发与应用
发布时间：2019-01-11 19:09
【摘要】：汽车工业是高度技术密集型的综合性工业。冲压、焊接、涂装和总装是现代汽车生产制造的四大工艺。目前我国汽车生产制造的四大工艺除冲压外其它三大工艺设备长期大量依赖进口。但冲压自动线运动规划及虚拟仿真系统和部分配置的自动化送料设备等技术掌握在德国、日本等国外几家公司手中,与国外相比差距较大,特别是自主知识产权缺乏,不能满足要求。本文依托国家大型精密复合冲压成形机床创新能力平台(项目编号:2011ZX04016-091),围绕汽车外覆盖件冲压自动线运动规划及虚拟仿真系统开展了系统深入的研究,取得了一些具有重要应用价值的创新成果。研究成果已成功应用于比亚迪汽车有限公司单臂送料冲压自动线项目的规划设计及仿真。论文的主要研究内容和取得的成果如下:通过分析汽车外覆盖件冲压线的运行环节,确定了冲压线运动规划及仿真系统的研究方法和功能模块,建立了冲压线运动规划及仿真系统的框架结构,对冲压线运动规划及仿真系统进行了功能性分解,分析了建立冲压线运动规划及仿真系统过程中的关键技术,为冲压线运动规划及仿真系统的开发提供决策支持。将冗余度机器人逆运动学解法应用到JWS送料臂的典型作业求解中;建立了送料臂的运动学、动力学模型以及不同任务的环境模型,研究了 JWS两冗余度送料臂的行动规划问题;基于Newton-Raphson迭代法、最优控制数值法以及组合多项式曲线参数优化法,分别对冗余度送料臂进行了行动规划并作出评价;对NR迭代法进行了改进与程序实现,结果表明改进的NR迭代法运行稳健,能够满足实用要求。建立了整线运动规划问题的数学描述模型,提出了送料线整线规划的分解规划法求解思路及其基本算法;提出了整线运行模拟的体系架构,该架构具有接口规范、易于扩展等优点。建立了汽车外覆盖件虚拟冲压线仿真模型,分析了整线运动仿真结果,优化了送料机构的送料路径及整线的生产节拍;实际测试了冲压线生产时送料臂及整线的性能,结果表明单臂送料规划系统合理可行、稳定可靠,已在济南二机床集团有限公司的单臂冲压线产品中得到应用。
[Abstract]:Automobile industry is a high-tech-intensive comprehensive industry. Stamping, welding, painting and assembly are the four major technologies of modern automobile production and manufacture. At present, the four major processes of automobile manufacturing in China, except stamping, depend heavily on imports for a long time. However, the automatic stamping line motion planning and virtual simulation system and some configured automatic feeding equipment are held in the hands of several foreign companies, such as Germany, Japan and so on. Compared with foreign countries, there is a big gap, especially the lack of independent intellectual property rights. Can't meet the demand. Based on the National Innovation capability platform of large Precision compound stamping Machine tool (item number: 2011ZX04016-091), this paper has carried out a systematic and in-depth research on the automatic stamping line motion planning and virtual simulation system of automobile outer panel. Some innovative results with important application value have been obtained. The research results have been successfully applied to the planning, design and simulation of single arm feed stamping automatic line project of BYD Automobile Co., Ltd. The main research contents and achievements are as follows: through analyzing the running link of stamping line of automobile outer panel, the research method and function module of stamping line motion planning and simulation system are determined. The frame structure of the stamping line motion planning and simulation system is established. The functional decomposition of the stamping line motion planning and simulation system is carried out. The key technologies in the process of establishing the stamping line motion planning and simulation system are analyzed. It provides decision support for the development of stamping line motion planning and simulation system. The inverse kinematics solution of redundant robot is applied to the solution of typical operation of JWS feed arm, the kinematics, dynamics model and environment model of different tasks are established, and the action planning problem of JWS two redundant feeding arms is studied. Based on Newton-Raphson iterative method, optimal control numerical method and combinatorial polynomial curve parameter optimization method, action planning and evaluation of redundant feed arm are carried out respectively. The NR iterative method is improved and the program is implemented. The results show that the improved NR iteration method is robust and can meet the practical requirements. The mathematical description model of the whole line motion planning problem is established, and the idea and the basic algorithm of the decomposition programming method for the whole line feeding line planning are put forward. The architecture of whole-line operation simulation is presented, which has the advantages of interface specification and easy extension. The virtual stamping line simulation model of automobile outer panel is established, the simulation results of the whole line motion are analyzed, and the feeding path of the feeding mechanism and the production beat of the whole line are optimized. The performance of feed arm and whole line in stamping line production is tested. The results show that the single arm feeding planning system is reasonable, feasible, stable and reliable, and has been applied in the single-arm stamping line products of Jinan No. 2 Machine tool Group Co., Ltd.
【学位授予单位】：山东大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U466
本文编号：2407368
[Abstract]:Automobile industry is a high-tech-intensive comprehensive industry. Stamping, welding, painting and assembly are the four major technologies of modern automobile production and manufacture. At present, the four major processes of automobile manufacturing in China, except stamping, depend heavily on imports for a long time. However, the automatic stamping line motion planning and virtual simulation system and some configured automatic feeding equipment are held in the hands of several foreign companies, such as Germany, Japan and so on. Compared with foreign countries, there is a big gap, especially the lack of independent intellectual property rights. Can't meet the demand. Based on the National Innovation capability platform of large Precision compound stamping Machine tool (item number: 2011ZX04016-091), this paper has carried out a systematic and in-depth research on the automatic stamping line motion planning and virtual simulation system of automobile outer panel. Some innovative results with important application value have been obtained. The research results have been successfully applied to the planning, design and simulation of single arm feed stamping automatic line project of BYD Automobile Co., Ltd. The main research contents and achievements are as follows: through analyzing the running link of stamping line of automobile outer panel, the research method and function module of stamping line motion planning and simulation system are determined. The frame structure of the stamping line motion planning and simulation system is established. The functional decomposition of the stamping line motion planning and simulation system is carried out. The key technologies in the process of establishing the stamping line motion planning and simulation system are analyzed. It provides decision support for the development of stamping line motion planning and simulation system. The inverse kinematics solution of redundant robot is applied to the solution of typical operation of JWS feed arm, the kinematics, dynamics model and environment model of different tasks are established, and the action planning problem of JWS two redundant feeding arms is studied. Based on Newton-Raphson iterative method, optimal control numerical method and combinatorial polynomial curve parameter optimization method, action planning and evaluation of redundant feed arm are carried out respectively. The NR iterative method is improved and the program is implemented. The results show that the improved NR iteration method is robust and can meet the practical requirements. The mathematical description model of the whole line motion planning problem is established, and the idea and the basic algorithm of the decomposition programming method for the whole line feeding line planning are put forward. The architecture of whole-line operation simulation is presented, which has the advantages of interface specification and easy extension. The virtual stamping line simulation model of automobile outer panel is established, the simulation results of the whole line motion are analyzed, and the feeding path of the feeding mechanism and the production beat of the whole line are optimized. The performance of feed arm and whole line in stamping line production is tested. The results show that the single arm feeding planning system is reasonable, feasible, stable and reliable, and has been applied in the single-arm stamping line products of Jinan No. 2 Machine tool Group Co., Ltd.
【学位授予单位】：山东大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U466
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