Design Of Robot Workstation For Welding Automotive Sheet Metal Parts

With the gradual popularization of automatic production,welding robot workstation has been widely used in the field of automobile manufacturing.The welding robot workstation can not only efficiently and stably conduct automobile welding,but also protect the personal safety of the workers.In this paper,A special welding robot workstation is designed by taking the A pillar inner plate of A company's A20 model as the research object.Firstly,the structure of the inner plate assembly of the left A pillar of the automobile is analyzed,the production process is planned,and the technical requirements of the welding robot workstation are formulated.At the same time,the robot system,welding system and peripheral equipment that make up the workstation are selected and the space layout of the workstation is reasonably allocated.Introduced the design principle and the locating datum for the automobile welding fixture,based on the unified body benchmark system(RPS),according to the car left A column plate assembly,the structure design of sheet-metal parts respectively on the anchor point positioning clamping mechanism and other components of welding fixture,at last,by using CATIA three-dimensional modeling software to assemble them into A complete set of,It has a flexible special welding fixture,and passed the motion simulation and interference check.On this basis,D-H parameter modeling and forward and inverse kinematics analysis were carried out for the selected welding robot using the Robotics Toolbox,and the reachable working space of the welding robot was solved.This paper studies the motion planning scheme of welding robot,builds its mathematical model,and compares the advantages and disadvantages of different algorithms.Finally,the ant colony algorithm is chosen for the motion planning of welding robot,and the implementation steps of this algorithm are explained in detail.By setting different parameters,the motion planning scheme of the welding robot was obtained,and the length of the shortest welding path was calculated by programming with MATLAB software.Finally,the application of simulation software PDPS import special welding jig and welding robot workstation da figure,set the motion path of welding robot,and the simulation of welding process on the workstation,combined with the actual situation of the welding robot work interference problem put forward solutions,final output offline program,It effectively reduces the time of manual experience planning the welding joint processing sequence and greatly improves the production efficiency.A set of welding robot workstation and matching special welding fixture are designed to meet the actual production requirements.Through simulation analysis and verification after secondary optimization,the overall operation of the workstation is stable,and the welding quality meets the production requirements.There is no interference between the welding fixture and the welding torch movement,so the whole welding station can achieve safe production,and its production tempo is 138 s,which meets the required production time.At present,the welding robot workstation has been accepted by enterprises and put into production and use.