Research On Path Planning And Virtual Simulation Of Atomobile Body Welding Robot

As one of the four processes of automobile manufacturing,the welding quality of BIW is very important to improve the stability of automobile.In order to improve the production rhythm and efficiency,robots are widely used in automobile welding production.At present,the path planning of welding robot in BIW Welding Production is based on the experience of workers.However,there are many problems such as long planning time,unreasonable distribution of welding points and welding path planning,welding interference and so on.Therefore,the research on robot welding path planning is of great engineering significance to the rational distribution of robot welding tasks,shortening welding time,giving full play to the advantages of manufacturing resources and improving the production efficiency of body welding.In this paper,the path planning of single and multiple welding robots on the welding station of engine compartment assembly is studied.Firstly,the welding technology and path planning object of BIW are studied.This paper analyzes the structure of BIW and the relationship among the three objects: welding production line,BIW Welding Production Process and parts,process and manufacturing resources,and studies and divides the welding points on the parts of engine compartment assembly and engine compartment assembly,spot welding process of engine compartment assembly and manufacturing resources objects(mainly robot,welding gun and welding fixture)Analysis,to provide a theoretical basis for the establishment of subsequent path planning constraints.Secondly,the welding path planning of single robot is studied.First of all,the overall technical scheme for solving the path planning problem is formulated,the mathematical model for solving the path planning problem is established,the advantages and disadvantages of various intelligent algorithms are analyzed,and ant colony algorithm is selected as the basic planning algorithm for solving the robot welding path planning problem.Secondly,through a large number of experiments to determine the good performance of the ant colony algorithm parameters range,to improve the selection of ant colony algorithm parameters to provide a certain guarantee.Then,some improvements are made to improve the basic ant colony algorithm,that is,to optimize the initial pheromone concentration and the particle swarm algorithm after introducing the definition of“crossover and mutation”of genetic algorithm.Finally,taking a single welding robot on eh020 welding station as an example,the improved algorithm is used to optimize the welding path of the welding robot.Then,the problem of multi robot welding path planning is studied.Analyze the goals and constraints of path planning,The mathematical model of solder joint assignment and robot interference is established,and the solder joint assignment problem is solved by convex optimization theory.The multi robot path planning problem is decomposed into multiple single robot path planning problems.Then take two robots in EH020 welding station of engine room assembly as examples to verify the effectiveness and rationality of the algorithm.Finally,the simulation of the welding process of the engine compartment assembly is established.Using digital virtual simulation software tecnomatix to simulate the algorithm planning results of EH020 welding station of engine compartment assembly,further verify the rationality and effectiveness of the algorithm.