山东大学毕业设计论文
摘要
机器人焊接装配线是汽车车身焊接装配车间的一个非常重要的组成部分，是一个汽车制造厂车身焊接工艺水平的体现，在一定程度上也是一个国家汽车制造技术的标志。机器人焊装线的应用，降低了工人的劳动强度，提高了劳动生产率，改善了产品质量，并且大大提高了车身制造水平，是国内汽车行业发展的必然趋势。
本文主要的研究内容和所达到的目标如下：
首先，了解工业机器人的国内外现状和发展前景，明确焊接机器人（尤其是应用于汽车车身的焊接)的设计意义和功能要求，掌握了工业机器人的结构特征与常见传动方案，为设计汽车车身焊接机器人做了相应知识准备和技术储备。
其次，对焊接机器人主要部件进行Solidworks三维实体简化建模，并将其导入虚拟样机设计软件ADAMS中，进行整机的虚拟样机运动仿真，优化并最终确定了焊接机器人的各部件尺寸参数和外形特征，以及获得一些重要的优化参数和工作信息。
再次，根据所确定的焊接机器人的外形特征和尺寸，结合工业机器人常用的传动方案，最终确定本产品的传动方案和动力供给方案，并选取了合适的电机，对组成焊接机器人的所有部件完成了Solidworks三维实体细节建模，最后装配成实体。
最后，应用Autocad软件完成焊接机器人各主要部件和装配体的二维工程图绘制，确定各主要部件的材料以及加工技术要求。基于SolidWorks Simulation，对焊接机器人的关键零件进行形变和应力的有限元分析，校核其刚度和强度，以检验设计的合理性和零件使用的安全性。
关键词：焊接机器人；虚拟样机运动仿真；结构设计；传动设计；三维建模；有限元分析
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山东大学毕业设计论文
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山东大学毕业设计论文
ABSTRACT
Robotic welding assembly line is a very important part of vehicle body welding shop,which represents the level of welding technology of vehicle body manufacture. Also, to a certain extent, it is a symbol of national automobile manufacturing technology.The application of robot welding line reduces the labor intensity of workers, improves the labor productivity and the product quality.What's more, it greatly improves the manufacture level of the automobile body. So it is the inevitable trend in the development of domestic automobile industry.
This article's main research content and achieved goal is as follows:
First, studying the present situation and development prospect of industrial robots in domestic and overseas, define welding robot's (especially which used in car body welding) design of the meaning and function requirements, master the structure characteristics of the industrial robot and common transmission scheme, which make the corresponding knowledge preparation and technical reserves to design a car body welding robot.
Second, using the Solidworks to modeling the 3d simplified entity of the welding robot.Then import it into ADAMS virtual prototype design software to run a machine movement simulation.This work ultimately optimize and determine the welding robot’s parts size parameters and shape characteristics , and get the optimization of parameters , obtain some important information about the working condition.
Third, depending on the size and shape characteristics of the welding robot, combined with industrial robot transmission scheme, this product was finally determined the transmission scheme and the power supply scheme, and choose the suitable machine.Then complete the Solidworks 3d entity details modeling of all the parts that make up the welding robot ,and assemble them into entity.
Finally, applying the Autocad software to complete welding robot's major components and assembly of 2d engineering drawing.Then determine materials and processing technology of major parts .Based on the SolidWorks Simulation to carry out
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山东大学毕业设计论文
finite element analysis on welding robot's key parts about the deformation and stress. Checking the stiffness and strength which in order to examine the rationality of the design and parts safety using.
Keywords: Welding robot; The virtual prototype simulation movement;Structure design; Transmission design; 3d modeling；finite element analysis
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