焊接机器人系统可靠性设计技术的研究与应用

发布时间：2018-08-22 20:49

【摘要】：随着产业转型升级的需要、人力成本的上升以及国家政策的扶持,我国工业机器人市场占有率越来越高,应用范围也越来越广泛。目前,焊接机器人由于其焊接质量好、焊接效率高等特点,被应用到了许多工程机械的焊接生产线上。本文以PR1400焊接机器人为研究对象,对其进行可靠性设计技术的研究。首先,本文对PR1400焊接机器人系统的结构组成进行了详细的阐述,明确了焊接机器人的基本参数与性能要求。根据PR1400焊接机器人系统的结构组成与系统划分的结果,绘制了 PR1400焊接机器人系统的可靠性框图,构建了简化的可靠性数学模型。然后,以子系统为研究对象对机器人进行可靠性分析,运用故障树分析法确定主要故障模式,接着运用 FMECA(Failure Mode Effect and Criticality Analysis)分析法对焊接机器人的故障表现形式进行分析并查找其原因,制定相应的纠正措施,之后运用模糊综合评价对故障模式的危害性进行排序,并结合关键零部件的判定原则与危害性分析的结果确定了焊接机器人本体子系统的关键零部件。其次,根据系统的可靠性数学模型,对PR1400焊接机器人系统进行可靠性预计与分配。由于控制子系统主要由电子元器件组成,所以该系统可采用传统的元器件计数法进行可靠性预计。本体子系统和焊接子系统中都含有大量自制件,其可靠性水平不可知,无法运用传统方法解决。于是引入基于模糊理论的专家评分法先求出三个子系统的评分系数,再对其进行可靠性预计。为了使企业研发人员明确机器人系统具体的可靠性要求,对机器人系统从上到下进行合理的可靠性分配,明确了各部分的可靠性指标。最后,为公司建立了 PANDA-FRACAS(Failure Reporting Analysis and Corrective ActionSystem)信息管理系统,用来对焊接机器人的项目信息、故障数据、可靠性分析结果、可靠性预计与分配等信息进行管理。
[Abstract]:With the need of industrial transformation and upgrading, the increase of manpower cost and the support of national policies, the market share of industrial robots in China is becoming higher and higher, and the scope of application is becoming more and more extensive. At present, welding robot has been applied to many welding production lines of construction machinery because of its good welding quality and high welding efficiency. In this paper, the reliability design technology of PR1400 welding robot is studied. Firstly, the structure of the PR1400 welding robot system is described in detail, and the basic parameters and performance requirements of the welding robot are clarified. According to the structure of PR1400 welding robot system and the result of system division, the reliability block diagram of PR1400 welding robot system is drawn, and a simplified reliability mathematical model is constructed. Then, taking the subsystem as the research object, the reliability of the robot is analyzed, and the fault tree analysis method is used to determine the main fault mode. Then the FMECA (Failure Mode Effect and Criticality Analysis) analysis method is used to analyze the fault form of the welding robot and find out the cause of the fault, and make the corresponding corrective measures, and then use fuzzy comprehensive evaluation to sort out the harm of the fault mode. The key parts of the body subsystem of welding robot are determined by combining the judging principle of key parts and the result of harmfulness analysis. Secondly, according to the reliability mathematical model of the system, the reliability prediction and distribution of PR1400 welding robot system are carried out. Because the control subsystem is mainly composed of electronic components, the system can be predicted by the traditional counting method of components. There are a large number of homemade parts in the body subsystem and welding subsystem. The reliability level is unknown and can not be solved by traditional methods. Therefore, the expert scoring method based on fuzzy theory is introduced to calculate the scoring coefficients of the three subsystems, and then to predict the reliability of the three subsystems. In order to make sure the specific reliability requirements of the robot system, the rational reliability distribution of the robot system from top to bottom is carried out, and the reliability index of each part is clarified. Finally, a PANDA-FRACAS (Failure Reporting Analysis and Corrective ActionSystem) information management system is established for the company to manage the project information, fault data, reliability analysis results, reliability prediction and distribution of the welding robot.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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