车灯装配专用机械臂轻量化设计研究

Research on lightweight design of special robotic end-effector for automobile lamp assembly

随着汽车产业的高速发展,机器人技术被广泛应用于汽车零部件的加工和装配中。根据现有车灯制造企业的装配工艺和生产需求,开展基于力/位混合控制机械臂末端执行器设计的探索性研究。采用逆向建模、曲率分析和有限元法等手段,对比分析机械式、框架式和一体式三种执行器的运行情况与承载能力。不断优化设计方案,在机械原理方面实现接触面法向受力与运动的双向控制,满足配光镜小总成与灯体半总成的装配要求。在降低人员动作与搬运浪费、缩短节拍时间、改善自动化效率的同时,减少污渍、划伤和缝隙等影响因素的可能性,提高产品表面质量和生产力。

With the rapid development of automobile industry,robot technology is used widely in machining and assembly of auto parts.According to assembly process and production requirements of the existing automobile lamp manufacturing enterprises,an exploratory research on robotic end-effector design is carried out based on hybrid force/position control.Operation situations and carrying capacities of the three effectors,such as mechanical style,frame style and integral style,are analyzed comparatively on different methods,like reverse modeling,curvature analysis and finite element method.In terms of mechanical principles,these design schemes are optimized continuously to realize bidirectional control of force and motion in the vertical direction of contact surface,which achieve assembly requirements between the small assembly of matched mirror and the half assembly of lamp body.While reducing the personnel waste of motion and transportation,shortening the circle time and improving the automatic efficiency,the probability of stains,scratches,cracks and other influencing factors is not only decreased,the product surface qualities and their productivity are but increased.