Research On Path Planning And Welding Process Virtual Simulation Of Automotive BIW Welding Robot

In order to improve the production quality and efficiency of BIW,robots are widely used in BIW welding production.Although many scholars have done a lot of research on robot welding path planning,and simulation software such as Process Simulation also provides intelligent path planning functions,the welding tasks of automotive BIW are generally relatively complicated,and the current path planning technology performance is still not satisfactory.As a result,the adjustment workload is large and the planning efficiency is affected.This paper studies the robot welding path planning and virtual simulation problem,improves the existing optimization algorithm,and applies it to the automotive BIW welding.First of all,various influencing factors of the welding path of the welding line of the front engine room of the body in white are analyzed,including the structural characteristics of the body in white,the process characteristics of the welding line,and the characteristics of the welding points.The task requirements of the welding robot are clarified and the theory is provided for subsequent path planning support.Secondly,the characteristics of the welding path planning of the welding line of the front engine room of the BIW are analyzed,the mathematical model is established and the genetic algorithm is selected to solve it.The principles,advantages and disadvantages of the genetic algorithm are analyzed,and improvement schemes are proposed according to the characteristics of the algorithm.The test program is written through mathematical software to obtain the value range of the algorithm parameters.Use the improved genetic algorithm to consider the welding deformation,plan a reasonable welding path with the shortest welding path as the goal,and compare with the path planned by the basic genetic algorithm and the traditional simulated annealing algorithm to verify the performance of the improved algorithm.The previous single robot welding path planning of the welding station in the engine room was used as an example,and the improved algorithm was used to optimize the welding path of the welding robot.Thirdly,the task content,planning objectives,constraint conditions and welding information of the welding of multiple robots in the front cabin of the BIW are analyzed in detail,and the constraints such as the balance of welding tasks of each welding robot,the motion performance of the robot and the interference problem of multiple robots at the same time are comprehensively considered.Then,a convex optimization mathematical model of solder joint distribution of multiple robot welding path planning was established,and the result of solder joint distribution was obtained by using MATLAB/CVX toolbox.A solution to the interference problem that may occur when multiple robots is in operation is proposed.The improved genetic algorithm is used to plan and simulate the path of the multi-robot welding station in the front engine room.Finally,the process simulation of the previous planning scheme is carried out in the virtual simulation software.The digital virtual simulation software Tecnomatix was used to simulate the algorithm planning results of the FE100 welding station of the front nacelle assembly of the BIW,and the preliminary plan designed before was adjusted according to the simulation results.This research has important engineering significance for rationally assigning robot welding tasks,optimizing robot welding paths,shortening welding time,making full use of manufacturing resources,and improving the production efficiency of BIW welding and the practicability of welding processes.