| With the rapid development of Internet technology and the strategic proposal of Industry4.0,the global manufacturing industry is developing towards the direaction of high precision,high flexibility and high intelligence.With the improvement of science and technology,people began to pay close attention to their own living environment,such as building materials of environmental protection and sustainability,etc.Under the background of building area of 2billion square meters each year in China,wood material,as a typical sustainable building material,has been widely used in residential buildings,tourism and other building sites.However,at present,wood structure composite wall,which as the main constituent material of wooden building,is confronted with the backward production situation of low automation degree and high scrap rate of products.In view of this weak production situation,this paper designed a set of multi-module automatic assembly system of wood structure composite wall.The main research contents are as follows:1.According to the composition characteristics of the wall parts,the structure principle and scheme of the flexible assembly system of the wall were designed,which includes material transport conveyor belt,gantry robot handling,multiple industrial robots with gantry robot nacking and so on.In addition,the reasonable improvement of the structure of the conveyor belt,the end structure of gantry robot and industrial robot were carried out and important equipments of the system were selected and clarify the entire assembly process;2.The analysis of the wall in model level,which includes the extraction of the wall posture,fitting semantic information by using of C# language combined with the secondary development of SolidWorks.It can also realize the automatic nail wall under SolidWorks;Then,the wall was digitally modeled by the fastener connection matrix and the fastener access matrix,and the assembly sequence planning was carried out with the idea of "disassembly method".Finally,in the end of chapter 3,the evaluation indexes of robot motion travel and assembly tool change times were established to evaluate the sequence group to select and demonstrate the optimal assembly sequence;3.The planning of assembly task for each device of the system was carried out according to the optimal assembly route and the forward and inverse kinematics analysis of the robot and the path planning of the robot were carried out from the level of accessibility.Specifically,it refers to: when in Barrier-free environment,the cubic spline interpolation method was used to generate path,when in environment full of obstacles,a kind of based on rapidly expanding random tree(RRT)obstacle avoidance path generation algorithm was put forward to generate path.With the shortcomings of the traditional RRT algorithm,such as blind sampling and long path,the paper made a reasonable improvement to it.And,paper also established columns-cylindrical work to generate the actual collision model combined with the kinematics model of the robot obstacle avoidance path and used bezier path to smooth the path.Furtherly,paper generated offline program by discrete treatment for robots to run;4.The integrating of each module of the system,the paper also transplanted the Matlab code to C# environment and developed the man-machine interface of the system,so as to improve the system availability.The paper also established the simulation model under Robot Studio and the system simulation model based on the event manager,Smart component and industrial robot and set up the signal interface through the Device Net protocol thus realized the virtual simulation of the system and verified the effectiveness of the proposed system. |
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