【摘要】：隨著產(chǎn)業(yè)轉(zhuǎn)型升級的需要、人力成本的上升以及國家政策的扶持,我國工業(yè)機(jī)器人市場占有率越來越高,應(yīng)用范圍也越來越廣泛。目前,焊接機(jī)器人由于其焊接質(zhì)量好、焊接效率高等特點(diǎn),被應(yīng)用到了許多工程機(jī)械的焊接生產(chǎn)線上。本文以PR1400焊接機(jī)器人為研究對象,對其進(jìn)行可靠性設(shè)計(jì)技術(shù)的研究。首先,本文對PR1400焊接機(jī)器人系統(tǒng)的結(jié)構(gòu)組成進(jìn)行了詳細(xì)的闡述,明確了焊接機(jī)器人的基本參數(shù)與性能要求。根據(jù)PR1400焊接機(jī)器人系統(tǒng)的結(jié)構(gòu)組成與系統(tǒng)劃分的結(jié)果,繪制了 PR1400焊接機(jī)器人系統(tǒng)的可靠性框圖,構(gòu)建了簡化的可靠性數(shù)學(xué)模型。然后,以子系統(tǒng)為研究對象對機(jī)器人進(jìn)行可靠性分析,運(yùn)用故障樹分析法確定主要故障模式,接著運(yùn)用 FMECA(Failure Mode Effect and Criticality Analysis)分析法對焊接機(jī)器人的故障表現(xiàn)形式進(jìn)行分析并查找其原因,制定相應(yīng)的糾正措施,之后運(yùn)用模糊綜合評價(jià)對故障模式的危害性進(jìn)行排序,并結(jié)合關(guān)鍵零部件的判定原則與危害性分析的結(jié)果確定了焊接機(jī)器人本體子系統(tǒng)的關(guān)鍵零部件。其次,根據(jù)系統(tǒng)的可靠性數(shù)學(xué)模型,對PR1400焊接機(jī)器人系統(tǒng)進(jìn)行可靠性預(yù)計(jì)與分配。由于控制子系統(tǒng)主要由電子元器件組成,所以該系統(tǒng)可采用傳統(tǒng)的元器件計(jì)數(shù)法進(jìn)行可靠性預(yù)計(jì)。本體子系統(tǒng)和焊接子系統(tǒng)中都含有大量自制件,其可靠性水平不可知,無法運(yùn)用傳統(tǒng)方法解決。于是引入基于模糊理論的專家評分法先求出三個(gè)子系統(tǒng)的評分系數(shù),再對其進(jìn)行可靠性預(yù)計(jì)。為了使企業(yè)研發(fā)人員明確機(jī)器人系統(tǒng)具體的可靠性要求,對機(jī)器人系統(tǒng)從上到下進(jìn)行合理的可靠性分配,明確了各部分的可靠性指標(biāo)。最后,為公司建立了 PANDA-FRACAS(Failure Reporting Analysis and Corrective ActionSystem)信息管理系統(tǒng),用來對焊接機(jī)器人的項(xiàng)目信息、故障數(shù)據(jù)、可靠性分析結(jié)果、可靠性預(yù)計(jì)與分配等信息進(jìn)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.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2198260