Research On Side Body’s Welding Station Welding Spot Assignment And Path Planning

Body in white(BIW) is usually composed of300to500sheet metals formingparts with complicated shape. It is required to weld4000to5000soldered dots withmass production and fast pace on55to75work stations, meanwhile the clampinganchor points is up to1700to2500. In order to meet the demand for high rhythm,mass production and high efficiency production, more and more robots are applied towelding stations. To improve the work efficiency of welding robot, this paper takesthe side body welding as study object, lucubrates the welding spots distribution androbots welding route optimization.The side body distribution method based on Ant Colony Optimization (ACO) ispresented. Effect factors of the welding distribution are analyzed, which includerobot’s reachability, welding sequence and the weldability of the welding gun etc. Theproblem of welding distribution is transformed into the multi-knapsack problem, andthe welding distribution task model based on the ACO is established. The ACO designstrategy is adopted to solve the model, which takes soldering distance as optimizationobjective and meets the constraint conditions of partition equilibrium, reachabilityand welding distribution requirements etc.Contraposing disadvantages of the traditional greedy algorithm in the weldingroute planning, such as, artificial-selected initial points, easy to fall into localoptimum etc., this paper improves the greedy factors through the way of deletingmaximum distance. The problem of welding route planning was transformed intoTraveling Salesman Problem (TSP), and the welding route mathematical model basedon TSP was build. Taking the actual welding route of one robot on body side assemblystation as an example, this paper realizes improved greedy algorithm in MATLAB tosolve the problem of shortest welding route. By comparing the welding route resultsof the traditional greedy algorithm and improved greedy algorithm, the resultsindicate that improved greedy algorithm has higher precision and stability. Finally, thewelding route was simulated in DELMIA systems, which verifies the validity andfeasibility of this algorithm.