基于机器人的白车身焊接自动打磨技术研究

Research on Robot-Based Automatic Grinding Technologies for BIW Welding

为减少焊点打磨工艺成本并控制打磨质量,研究一种由机器人抓持的自动打磨工具及其控制系统。通过力控传感器实现闭环控制,在60 ms内完成反馈并驱动柔性控制单元,最终输出打磨力精度误差小于1 N,使之可以打磨车身零件的复杂曲面。根据车身零件材料特性,通过试验选取合适的磨具,确保打磨质量。根据生产线工艺特性设计打磨工艺,最终实现自动打磨技术在生产线上应用。

In order to reduce the cost of the solder joint grinding process and control the grinding quality,this paper studies an automatic grinding tool held by a robot and its control system.The closed-loop control is realized through the force control sensor,the feedback is completed within 60 ms and drive the flexible control unit at the same time.Finally,the precision error of the output grinding force is less than 1 N,so that it can grind the complex surface of the body parts.According to the material characteristics of body parts,appropriate grinding apparatus are selected through experiments to ensure the grinding quality.The grinding process is designed according to the process characteristics of the production line,and finally the automatic grinding technology is applied in the production line.