Study In Solutions Of Body Splicing Flexibility Based On Robot Simulation Technology

Welding production line,an automated welding equipment,is to weld stamping parts of the body into the BIW（body in white）assembly.welding is an important automobile production process.it plays a crucial role in automotive design and production.Because of the lag in automotive equipment manufacturing industry,a large number of homemade cars’ produce must rely on imported equipment.And it’s a fatal weakness to chinese auto industry who is committed to independent innovation and promoting national car brand.This paper,taking NL-1 & NL₂ models design as the background,proposed a solutions based on grid-type robot to achieve flexible main splicing welding,analyzed the technical difficulties in the process of solution implementation,carried out the key technology research for technical difficulties,and established an implementation plan.It specifically includes the following:（1）This paper established the robot load boundary model,and analysed robot load’s design requirements for flexible grid-type fixture.Based on this,robot selection and quick type selection program based on load boundary model has been established.（2）Using grid-type fixture design method,a grid-type fixture design objecting to flexibility was established.Split auto body clamp into four grid-type fixtures in up,down,left and right.The main body welding equipment will have flexibility by installing four grid-type fixtures on eight rapid positioning locking mechanisms on the floor.Based on this,the paper describes technical program of achieving Grid-type fixture design based on CATIA V5R19 platform.（3）This paper studied the off-line programming techniques objecting to flexible main splicing,and constructed off-line programming platform based on ROBCAD.Through in-depth study of off-line programming of controller IRC5 of ABB robot and researching of measurement technology between tool and work object of robot based on off-line programming,the method of correcting spatial location of robot coordinate system and tool coordinate system in engineering practice was proposed.Finally,It verified the feasibility of the solutions by analyzing the application of flexible main splicing by robot on NL-1 & NL₂ models and outputing off-line programming of robot.