Research On Frame Welding Automation Scheme Based On Secondary Development Of Solid Works

In recent years,the demand for various types of rail vehicles such as high-speed rail bullet trains,urban subways and intercity light rail was increasing.The frame is the skeleton of bogie,and the application of welding robot for automatic welding can guarantee the welding quality,and significantly enhance the welding efficiency and improve the working environment of workers as well.However,the two existed application schemes have their defects,which affect the promotion of frame welding automation.Therefore,based on the secondary development of Solid Works,this thesis builds a flexible and universal framework welding automation scheme,which significantly improves the automation level of mechanical arm control,reduces the technical cost,and can quickly generate mechanical arm control programs suitable for various scenes.The main achievements are as follows:The welds suitable for welding robot in the frame are analyzed and selected.On the analysis of the CRH3 "H" type of the overall structure of the frame and welding process on the basis of the structure of the weld according to space position can be divided into inner side and outside the body length weld,the latter due to exposure to fully and workload is big,suitable for welding robot in automatic welding,so choose the weld in frame side beam between the plate and the bottom as the follow-up study.Through Solid Works secondary development to achieve rapid extraction of weld data.Based on the component object model technology,the secondary development program in the form of an independent executable file is developed by using VB.net programming language,which achieves the function of extracting the target weld in Solid Works welding model with specified precision.The coordinate transformation calculation of data can be carried out according to the specified fixed position,and a simple and easy to use interactive interface is designed.The standard D-H modeling of PUMA-560 manipulator was carried out for kinematic analysis.According to the standard D-H model,the D-H parameters of each joint were obtained.On this basis,the forward and inverse kinematics of PUMA-560 were analyzed,and the equations of calculating the end pose from the Angle value of each joint and the Angle value from the Angle value of each joint were obtained.Matlab and V-REP were used to realize the rapid generation and real-time motion simulation of the manipulator.The inverse kinematics solution and trajectory planning calculation program and v-REP external control program are written by Matlab,and v-REP can be controlled in real time according to the calculation results for simulation.A series of simulation experiments were designed to simulate and compare three scenarios of different welds,different fixed positions and different extraction accuracy.The results show that the scheme is feasible,fast,versatile and flexible.There are 63 figures,4 tables and 53 references in this thesis.