【作者】 王敏；

【导师】 莫易敏；

【作者基本信息】 武汉理工大学 ， 机械工程， 2012， 硕士

【摘要】 随着我国汽车工业的迅猛发展和人力成本的逐年上升,车身工艺自动化已成为时代发展的必然趋势。然而现阶段,我国绝大多数汽车企业的车身焊装生产线是以人工焊接为主,但设计出的能替代人工焊接的、低成本的焊接机械手在使用中存在现实问题。本文以优化产品的生产工艺,提高产品的质量和生产效率为目标,对其现有的简易焊接机械手设备进行优化、改造和完善。本文在充分调研了焊接机械手的使用条件和技术指标后,结合实际使用问题,合理提出了改进策略及方法,确定了结构及控制优化策略。通过对原机构添加平衡装置、改变整机布局优化设计,及通过标准化设计在焊接机械手的防尘、防滑、防锈、润滑、过载保护和后期维护等方面进行完善优化设计。本文以标准化设计为思想,以完善机械手为目标,将整机按模块进行优化设计,减短了优化设计周期,减小了优化设计难度。本文运用UG软件的相关功能对焊接机械手进行三维建模,完成了整机的虚拟装配。运用UG高级仿真功能,应用Nastran解算器对焊接机械手关键部件进行了有限元分析,通过分析结果,验证了优化设计合理性。最后对焊接机械手工作误差来源进行详细分析,提出了合理的误差补偿方案。本文对焊接机械手使用的华中数控系统进行简单介绍后,针对其工作流程及实际生产需求功能,设计出计数功能、断点恢复功能、自动磨损补偿功能,完善了焊接机械手的控制系统。纵观全文,此次优化设计最终完成了焊接机械手结构及策略的优化设计。样机已经加工制造完成,并在生产线上使用。目前运行稳定,使用良好。更多还原

【Abstract】 With China’s rapid development of automobile industry and manpower cost is increasing year by year, body process automation has become an inexorable trend of the times. However, at this stage, the vast majority of our enterprise car body welding production line is manual welding, the welding manipulator that designed to replace manual welding and to reduce cost has practical problems. The purpose of this paper is to optimize the production process and improve product quality and production efficiency, is to optimize and improve the existing simple welding manipulator equipment.In this paper, in the full investigation of the welding manipulator using conditions and technical indicators, with the actual use, we reasonable put forward improvement strategy and method, and determine the structure and control optimization strategy. We add balance device, change the layout optimization design for the original mechanism, and improve optimization design by means of standardized design in the welding manipulator dust-proof, anti-skid, anti-rust, lubrication, overload protection and the later maintenance and other aspects. Based on the standardized design for the idea, in order to improve the mechanical hand for the target, the machine according to the module for optimization design, shortens the design cycle, reduces the design difficulty.This paper uses UG software related functions on the welding robot for three-dimensional modeling, it complete virtual machine assembly. Using UG advanced simulation function, the application of Nastran solver on the welding manipulator key parts is analyzed by finite element method, through the analysis of the results, verify the rationality of optimization design. At the end of the welding robot work source of error is analyzed in detail, we put forward reasonable error compensation scheme.The HNC-21M CNC system the welding manipulator uses are introduced in this paper, according to its working process and the actual production needs,we designed the counting function, the recovery function and automatic wear compensation function to improve the welding manipulator control system.Throughout this paper, the optimization design finished the welding manipulator ’s structure and strategy.The prototype has been completed,and was used in the production line. It has stable operation and good use.更多还原