【摘要】：汽車工業(yè)是高度技術(shù)密集型的綜合性工業(yè)。沖壓、焊接、涂裝和總裝是現(xiàn)代汽車生產(chǎn)制造的四大工藝。目前我國(guó)汽車生產(chǎn)制造的四大工藝除沖壓外其它三大工藝設(shè)備長(zhǎng)期大量依賴進(jìn)口。但沖壓自動(dòng)線運(yùn)動(dòng)規(guī)劃及虛擬仿真系統(tǒng)和部分配置的自動(dòng)化送料設(shè)備等技術(shù)掌握在德國(guó)、日本等國(guó)外幾家公司手中,與國(guó)外相比差距較大,特別是自主知識(shí)產(chǎn)權(quán)缺乏,不能滿足要求。本文依托國(guó)家大型精密復(fù)合沖壓成形機(jī)床創(chuàng)新能力平臺(tái)(項(xiàng)目編號(hào):2011ZX04016-091),圍繞汽車外覆蓋件沖壓自動(dòng)線運(yùn)動(dòng)規(guī)劃及虛擬仿真系統(tǒng)開展了系統(tǒng)深入的研究,取得了一些具有重要應(yīng)用價(jià)值的創(chuàng)新成果。研究成果已成功應(yīng)用于比亞迪汽車有限公司單臂送料沖壓自動(dòng)線項(xiàng)目的規(guī)劃設(shè)計(jì)及仿真。論文的主要研究?jī)?nèi)容和取得的成果如下:通過(guò)分析汽車外覆蓋件沖壓線的運(yùn)行環(huán)節(jié),確定了沖壓線運(yùn)動(dòng)規(guī)劃及仿真系統(tǒng)的研究方法和功能模塊,建立了沖壓線運(yùn)動(dòng)規(guī)劃及仿真系統(tǒng)的框架結(jié)構(gòu),對(duì)沖壓線運(yùn)動(dòng)規(guī)劃及仿真系統(tǒng)進(jìn)行了功能性分解,分析了建立沖壓線運(yùn)動(dòng)規(guī)劃及仿真系統(tǒng)過(guò)程中的關(guān)鍵技術(shù),為沖壓線運(yùn)動(dòng)規(guī)劃及仿真系統(tǒng)的開發(fā)提供決策支持。將冗余度機(jī)器人逆運(yùn)動(dòng)學(xué)解法應(yīng)用到JWS送料臂的典型作業(yè)求解中;建立了送料臂的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)模型以及不同任務(wù)的環(huán)境模型,研究了 JWS兩冗余度送料臂的行動(dòng)規(guī)劃問(wèn)題;基于Newton-Raphson迭代法、最優(yōu)控制數(shù)值法以及組合多項(xiàng)式曲線參數(shù)優(yōu)化法,分別對(duì)冗余度送料臂進(jìn)行了行動(dòng)規(guī)劃并作出評(píng)價(jià);對(duì)NR迭代法進(jìn)行了改進(jìn)與程序?qū)崿F(xiàn),結(jié)果表明改進(jìn)的NR迭代法運(yùn)行穩(wěn)健,能夠滿足實(shí)用要求。建立了整線運(yùn)動(dòng)規(guī)劃問(wèn)題的數(shù)學(xué)描述模型,提出了送料線整線規(guī)劃的分解規(guī)劃法求解思路及其基本算法;提出了整線運(yùn)行模擬的體系架構(gòu),該架構(gòu)具有接口規(guī)范、易于擴(kuò)展等優(yōu)點(diǎn)。建立了汽車外覆蓋件虛擬沖壓線仿真模型,分析了整線運(yùn)動(dòng)仿真結(jié)果,優(yōu)化了送料機(jī)構(gòu)的送料路徑及整線的生產(chǎn)節(jié)拍;實(shí)際測(cè)試了沖壓線生產(chǎn)時(shí)送料臂及整線的性能,結(jié)果表明單臂送料規(guī)劃系統(tǒng)合理可行、穩(wěn)定可靠,已在濟(jì)南二機(jī)床集團(tuán)有限公司的單臂沖壓線產(chǎn)品中得到應(yīng)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.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：U466

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