【摘要】 手动液压搬运车是重要的物流搬运设备,其车架是由异型钣金件焊接而成。为了提高焊接质量和生产效率,降低劳动强度,主焊工位采用双机器人同步焊接加工势在必行。在充分考虑焊接变形和运动干涉的基础上,采用量子行为粒子群优化建立双机器人同步焊接数学模型,仿真求解了全局最优焊接路径的近似解,并将粒子群优化与量子行为粒子群优化做了仿真对比试验。结果表明,量子行为粒子群优化能更好地搜索整个解空间,在一定程度上有效解决了搬运车车架主焊工序双机器人同步焊接问题。更多还原

【Abstract】 Manual hydraulic pallet truck is the important logistics handling equipment,the frames are made of profiled sheet metal welded. In order to improve the welding quality and production efficiency,reduce labor intensity,the main welding stations using synchronous dual robot welding processing be imperative. Based on fully considering the welding deformation and motion interference,the mathematical model of dual robot simultaneous welding is establish by quantum behaved particle swarm optimization,simulation to approximate solution the global optimal solution of welding path,and do the simulation tested particle swarm optimization and quantum behaved particle swarm optimization. The results show that the quantum behaved particle swarm optimization can better search in the whole solution space,effectively solve the problem of dual robot simultaneous welding the truck frame in the main welding process to a certain extent.更多还原