车身焊接工业机器人的路径规划及仿真

发布时间：2019-02-28 09:13

【摘要】：目前,随着自动化技术的快速发展,以工业机器人为核心的自动化装备已经遍及到机械生产的各个领域,特别是在焊接方面,工业机器人以其稳定可靠的焊接质量、高效率的工作、可重复性等特点受到各大制造厂商的青睐。尤其是在汽车整车制造中,白车身的焊接质量对于提高整车的稳定性有着至关重要的作用,有超过三分之二以上的焊点都是由工业机器人来焊接完成。但是因自动化水平较高,传统的经验加工方式不能够满足机器人的工作需求,经常有机器人工作顺序不合理的情况产生,严重影响了机器人焊接时的工作效率。因此,如何在保证焊接质量的同时,规划出一条节省机器人的焊接时间、提高生产效率的焊接路径成为了当前研究的重点。本文以工业机器人在车身焊接时的工作过程为研究对象,对工业机器人点焊时的路径进行规划研究。工业机器人在工作时的运动路径受到很多因素的影响,包括焊接工艺、机器人的运动方式、机器人的干涉问题等等。所以,本文首先对白车身的结构和应用工业机器人的白车身生产过程进行了分析,重点研究了工业机器人焊接系统的组成和焊接过程中的影响因素。通过对工业机器人位姿表达方式的研究,运用D-H方法构建了机器人的连杆坐标系和机器人运动学方程,并应用MATLAB软件中的Robotics Toolbox工具箱对其进行仿真求解。在以上研究的基础上,以白车身制造中的车门焊接为例,对其中的一个机器人工位进行路径规划。建立了工业机器人路径规划的系统方案,将路径规划问题转化成数学语言来表达,构建了路径规划的数学模型,通过对路径规划算法的研究,采用将蚁群算法和遗传算法结合起来的改进蚁群算法来进行路径规划求解,并应用MATLAB软件编写程序运算得到初始的焊接路径。最后,应用ROBCAD软件对路径规划结果进行模拟仿真,详细阐述了仿真的过程,通过ROBCAD软件中的点焊模块建立了规划后的焊接路径,并结合实际对机器人工作时的干涉问题进行分析,提出了解决问题的办法,最终确定了工业机器人在车身焊接工作中的路径规划方案。
[Abstract]:At present, with the rapid development of automation technology, industrial robots as the core automation equipment has spread to various fields of mechanical production, especially in welding, industrial robots with its stable and reliable welding quality, High efficiency work, repeatability and other characteristics are favored by major manufacturers. Especially in automobile manufacturing, the welding quality of body-in-white plays an important role in improving the stability of whole vehicle. More than 2/3 solder joints are welded by industrial robots. However, because of the high level of automation, the traditional experience machining method can not meet the working requirements of the robot, and it is often caused by the unreasonable working order of the robot, which seriously affects the working efficiency of the robot during welding. Therefore, how to plan a welding path which can save the welding time and improve the production efficiency while ensuring the welding quality has become the focus of current research. Taking the working process of industrial robot in body welding as the research object, the path planning of industrial robot during spot welding is studied in this paper. The movement path of industrial robot is affected by many factors, including welding process, robot motion mode, robot interference and so on. Therefore, the structure of the body-in-white and the production process of the industrial robot are analyzed firstly, and the composition of the welding system of the industrial robot and the influencing factors in the welding process are mainly studied in this paper. Based on the research on the expression of industrial robot's position and pose, the connecting rod coordinate system and kinematics equation of robot are constructed by using DH method, and they are simulated and solved by using Robotics Toolbox toolbox of MATLAB software. On the basis of the above research, the path planning of one of the robot stations is carried out by taking the car door welding in body-in-white as an example. The system scheme of path planning of industrial robot is established, the problem of path planning is transformed into mathematical language to express, the mathematical model of path planning is constructed, and the algorithm of path planning is studied. The improved ant colony algorithm, which combines ant colony algorithm and genetic algorithm, is used to solve the path planning, and the initial welding path is obtained by programming with MATLAB software. Finally, the simulation results of path planning are simulated with ROBCAD software, and the simulation process is described in detail. The planned welding path is established by the spot welding module in ROBCAD software. Based on the analysis of the interference problem of the robot, the method to solve the problem is put forward, and finally the path planning scheme of the industrial robot in the welding work of the car body is determined.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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