智能焊接机器人工作作动平台结构仿真分析与优化设计研究  

Research on Simulation Analysis and Optimal Design of the Work Action Platform Structure for Intelligent Welding Robot

作　　者：陈浩 曾文浩 钟如健 陈启愉 吴智恒 罗良传 Chen Hao;Zeng Wenhao;Zhong Rujian;Chen Qiyu;Wu Zhiheng;Luo Liangchuan(Institute of Intelligent Manufacturing,GDAS,Guangzhou 510075,China;Guangdong Key Laboratory of Modern Control Technology,Guangzhou 510075,China;Guangzhou Risong Intelligent Technology Holding Co.,Ltd.,Guangzhou 510535,China)

机构地区：[1]广东省科学院智能制造研究所,广州510075 [2]广东省现代控制技术重点实验室,广州510075 [3]广州瑞松智能科技股份有限公司,广州510535

出　　处：《机电工程技术》2024年第12期187-191,共5页Mechanical & Electrical Engineering Technology

基　　金：广州市科技计划重点研发计划项目(2023B04J0022),广州市科技计划重点研发计划项目(2024B01J0121);广东省科学院发展专项资金项目(2022GDASZH-2022010108);广州市黄埔区国际科技合作项目(2022GH09)。

摘　　要：焊接机器人在汽车行业中得到了广泛应用,为了确保机器人焊接工作的稳定性和可靠性,通过对汽车焊接生产线上的一款智能焊接机器人建立简化后的智能焊接机器人有限元模型,设置边界条件与载荷约束,进行3种典型工作姿态下的工作作动平台结构刚度与强度仿真分析,以及得到在承载30 kg焊接工件下的校核结果,并且针对工作作动平台水平放置的极限场景进行不同优化方案的工作作动平台应力及变形对比仿真分析,提出了智能焊接机器人工作作动平台面板结构、新夹具约束位置调整等优化方案,使得工作作动平台优化后,在垂直载荷1235 N作用下的最大应力大幅降低为4.31 MPa,较原方案降低40.47%、最大变形量减少为0.041 mm,较原方案大幅降低66.39%,结果显示刚度有较大的提升、变形大大降低,从而推动智能焊接机器人更可靠、更高质量完成汽车焊接工序。Welding robots are widely used in the automotive industry.In order to ensure the stability and reliability of robot welding work,a simplified finite element model of an intelligent welding robot on the automotive welding production line is established,boundary conditions and load constraints are set,and the structural stiffness and strength of the work action platform under three typical working postures are simulated and analyzed.And the verification results are obtained under the load of 30 kg welding workpiece,and different optimization schemes are compared and simulated for the stress and deformation of the work action platform in the extreme scenario of horizontal placement of the work action platform.Optimization schemes such as the panel structure of the intelligent welding robot work action platform and the adjustment of the new fixture constraint position are proposed.Under the vertical load of 1235 N,the maximum stress is significantly reduced to 4.31 MPa,which is 40.47%lower than the original scheme,and the maximum deformation is reduced to 0.041 mm,which is 66.39%lower than the original scheme,the results show the stiffness greatly improved and the deformation of the work action platform significantly reduced after optimization,thereby promoting intelligent welding robots to complete automotive welding processes more reliably and with higher quality.

关 键 词：汽车焊接生产线 焊接机器人 可靠性仿真分析 优化设计 结构强度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TH132[自动化与计算机技术—控制科学与工程] TP391[机械工程—机械制造及自动化]