基于机器人的白车身焊接自动打磨技术研究  

Research on Robot-Based Automatic Grinding Technologies for BIW Welding

作　　者：刘久月 马立新 刘海旭 刘菁茹 都姗姗 Liu Jiuyue;Ma Lixin;Liu Haixu;Liu Jingru;Du Shanshan(FAW Tooling Die Manufacturing Co.,Ltd.,Changchun 130013)

机构地区：[1]一汽模具制造有限公司,长春130013

出　　处：《汽车工艺与材料》2023年第4期12-17,共6页Automobile Technology & Material

基　　金：高柔性4+N种车型自适应切换系统及数字化智能焊钳系统开发(20210301031GX)。

摘　　要：为减少焊点打磨工艺成本并控制打磨质量,研究一种由机器人抓持的自动打磨工具及其控制系统。通过力控传感器实现闭环控制,在60 ms内完成反馈并驱动柔性控制单元,最终输出打磨力精度误差小于1 N,使之可以打磨车身零件的复杂曲面。根据车身零件材料特性,通过试验选取合适的磨具,确保打磨质量。根据生产线工艺特性设计打磨工艺,最终实现自动打磨技术在生产线上应用。In order to reduce the cost of the solder joint grinding process and control the grinding quality,this paper studies an automatic grinding tool held by a robot and its control system.The closed-loop control is realized through the force control sensor,the feedback is completed within 60 ms and drive the flexible control unit at the same time.Finally,the precision error of the output grinding force is less than 1 N,so that it can grind the complex surface of the body parts.According to the material characteristics of body parts,appropriate grinding apparatus are selected through experiments to ensure the grinding quality.The grinding process is designed according to the process characteristics of the production line,and finally the automatic grinding technology is applied in the production line.

关 键 词：车身零件 焊点 机器人 自动打磨 力控 

分 类 号：U468.22[机械工程—车辆工程]