發(fā)布時間：2019-02-28 09:13

【摘要】：目前,隨著自動化技術的快速發(fā)展,以工業(yè)機器人為核心的自動化裝備已經遍及到機械生產的各個領域,特別是在焊接方面,工業(yè)機器人以其穩(wěn)定可靠的焊接質量、高效率的工作、可重復性等特點受到各大制造廠商的青睞。尤其是在汽車整車制造中,白車身的焊接質量對于提高整車的穩(wěn)定性有著至關重要的作用,有超過三分之二以上的焊點都是由工業(yè)機器人來焊接完成。但是因自動化水平較高,傳統(tǒng)的經驗加工方式不能夠滿足機器人的工作需求,經常有機器人工作順序不合理的情況產生,嚴重影響了機器人焊接時的工作效率。因此,如何在保證焊接質量的同時,規(guī)劃出一條節(jié)省機器人的焊接時間、提高生產效率的焊接路徑成為了當前研究的重點。本文以工業(yè)機器人在車身焊接時的工作過程為研究對象,對工業(yè)機器人點焊時的路徑進行規(guī)劃研究。工業(yè)機器人在工作時的運動路徑受到很多因素的影響,包括焊接工藝、機器人的運動方式、機器人的干涉問題等等。所以,本文首先對白車身的結構和應用工業(yè)機器人的白車身生產過程進行了分析,重點研究了工業(yè)機器人焊接系統(tǒng)的組成和焊接過程中的影響因素。通過對工業(yè)機器人位姿表達方式的研究,運用D-H方法構建了機器人的連桿坐標系和機器人運動學方程,并應用MATLAB軟件中的Robotics Toolbox工具箱對其進行仿真求解。在以上研究的基礎上,以白車身制造中的車門焊接為例,對其中的一個機器人工位進行路徑規(guī)劃。建立了工業(yè)機器人路徑規(guī)劃的系統(tǒng)方案,將路徑規(guī)劃問題轉化成數(shù)學語言來表達,構建了路徑規(guī)劃的數(shù)學模型,通過對路徑規(guī)劃算法的研究,采用將蟻群算法和遺傳算法結合起來的改進蟻群算法來進行路徑規(guī)劃求解,并應用MATLAB軟件編寫程序運算得到初始的焊接路徑。最后,應用ROBCAD軟件對路徑規(guī)劃結果進行模擬仿真,詳細闡述了仿真的過程,通過ROBCAD軟件中的點焊模塊建立了規(guī)劃后的焊接路徑,并結合實際對機器人工作時的干涉問題進行分析,提出了解決問題的辦法,最終確定了工業(yè)機器人在車身焊接工作中的路徑規(guī)劃方案。
[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.
【學位授予單位】：沈陽工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242.2

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