CN107350667A - A kind of emulation mode of the automobile door plate welding flexible production line based on digital factory - Google Patents
A kind of emulation mode of the automobile door plate welding flexible production line based on digital factory Download PDFInfo
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- CN107350667A CN107350667A CN201710483271.0A CN201710483271A CN107350667A CN 107350667 A CN107350667 A CN 107350667A CN 201710483271 A CN201710483271 A CN 201710483271A CN 107350667 A CN107350667 A CN 107350667A
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- door plate
- automobile door
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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Abstract
The invention discloses a kind of emulation mode of the automobile door plate welding flexible production line based on digital factory, comprise the following steps：Flexible production line is welded using digital factory simulation software Visual Components design vehicles door-plate, and three-dimensional modeling, analog simulation are carried out to it and improved and optimizated；By machine vision technique, the production line can detect the integrality of workpiece, the sum of solder joint and position, correct calling soldering tip and mold；The method of passage path planning, butt welding point carry out rational grouping management, set the welding region of each mechanical arm and plan the welding procedure of mechanical arm in each region.The emulation mode is based on digital plant, and automobile door plate welding production line, plant layout, production process optimization and checking feasibility can be designed before production line really puts into effect and finds mistake, can effectively reduce R＆D cycle and entreprise cost.
Description
Technical field
The present invention relates to the technical field of automatic production line trim designs, and in particular to a kind of based on digital factory
Automobile door plate welds the emulation mode of flexible production line.
Background technology
The fourth industrial revolution to be taken the lead in out by Germany " industrial 4.0 groups " on Hannover Messe for 2013 is general
Read --- " industry 4.0 ", it is one of German following important High-tech strategy plan.Digital factory is as intelligence manufacture engineering
One direction of development, its rich connotation, covers many-sided skill such as product design, production technology, three-dimensional artificial, information management
Art, the intelligentized development process of manufacturing industry can be promoted in all directions, help China's manufacturing industry rapidly to " made in China 2025 "
First step target strides forward.
At present, domestic many manufacturers generally realize product design using computer technology and digitized.However,
The research of the digitalized artificial of production process still cannot be promoted with application, the development of digital factory technology has been lacked pass
One ring of key.Digital factory emulation technology is only combined, production process could really realize digitlization.In process of production should
With digitalized artificial technology, it can be worked in crucial station using robot, set up the information acquisition system of production process, established
Play intelligent production process；It can realize in digitized environment and freely be interacted with production line threedimensional model, realization designs a model
Dynamic simulation, not only can before grasp production line the condition of production, modification cost can also be greatly reduced；Can be further simple
Change the design of production process, reduce the difficulty of industrial robot application system development, promote intelligent and networking production in reality
Application in the production process of border.
Digital factory emulation technology is a key components in digital factory technology, its use and popularization
Domestic manufacturing Digital Realization is beneficial to, fundamentally solves the problem of line production system exploitation.
The content of the invention
The invention aims to solve drawbacks described above of the prior art, there is provided a kind of vapour based on digital factory
The emulation mode of car door plate weld flexible production line.
The purpose of the present invention can be reached by adopting the following technical scheme that：
A kind of emulation mode of the automobile door plate welding flexible production line based on digital factory, the emulation mode bag
Include：
S1, using digital factory simulation software Visual Components to automobile door plate welding flexible production line enter
Row three-dimensional modeling, the different types of automobile door plate welding production line of production is constructed by analog simulation, wherein, the car door
Plate weld production line includes warehouse access section, robot welding area and transmission and memory block；
S2, using machine vision technique, the integrality for detecting workpiece, the selection for determining mold, detection solder joint sum and
Position, correct calling soldering tip and mold；
S3, it is grouped using path planning algorithm, butt welding point, and is obtained each on the automobile door plate welding production line
The time of task and process.
Further, it is that each robot welding station is equipped with soldering tip storehouse on the automobile door plate welding production line, is used for
Different types of workpiece welding, realizes Flexible production.
Further, the task on the automobile door plate welding flexible production line includes：Task A, task B and task C, its
Described in task A be warehouse access, the task B be robot welding, and the task C is transmission with storing；
The task A includes：Process A1, process A2, wherein, the process A1 stores for automobile door plate, the process A2
Automobile door plate transmits；
The task B includes：Process B 1, process B 2, process B 3, process B 4, process B 5, process B 6, process B 7, process
B8, wherein, the process B 1 is crawl automobile door plate and is placed in the mold of free time, and the process B 2 is in 4-XYZ stations 1
4 four axle robots change soldering tip from soldering tip storehouse, and the process B 3 is 4 four axle robots in 4-XYZ stations 1 according to weldering
Point group result is welded, and the process B 4 is that 4 four axle robots in 4-XYZ stations 2 change soldering tip from soldering tip storehouse,
The process B 5 is that 4 four axle robots in 4-XYZ stations 2 are welded according to solder joint group result, and the process B 6 is
2 six-joint robots in 2-6ROBOT stations change soldering tip from soldering tip storehouse, and the process B 7 is 2 in 2-6ROBOT stations
Platform six-joint robot is welded according to solder joint group result, and the process B 8 is that automobile door plate is separated from mold.
Further, the step S1 is specifically included：
S11, the type selecting of robot device, crawl robot, four axle XYZ welding robots and the welding of six axles are chosen respectively
Robot；
S12, robot welding area are built, wherein, the robot welding area includes：1 crawl robot, 8 four
Axle XYZ welding robots, 2 six axle welding robots, 4 be used for load automobile door plate can be recycled mold, 1 can rise
The conveyer belt, 1 automobile door plate conveyer belt and 1 finished product conveyer belt that are used to transport mold of drop；
S13, transmission and memory block are built, wherein, the transmission includes with memory block：1 XY is to conveyer belt, 1 goods
Frame, 2 stacking machines and 3 discrepancy goods work stations；
S14, barcode scanning device assembling, by fixed infrared barcode scanning device on a moving belt, pass through in automobile door plate
When recorded, determine that automobile door plate appears in the time of some station, so as to realize the real-time tracking of parts or product；
S15, device for visual identification assembling, auxiliary production is carried out using robot vision technology so that robot can
From motion tracking and catch part.
Further, the step S2 is specifically included：
S21, workpiece integrality detection, the image of workpiece is obtained using machine vision technique, to pretreated workpiece
Image carries out rim detection and contours extract, then carries out characteristic matching, so as to judge Number of Jobs, species, model, size letter
Breath, determines whether workpiece is complete；
S22, solder joint sum and position detection, it is actual each in order to detect after each part of workpiece is identified
Whether there is correct solder joint number and position in part, whether the workpiece figure by contrasting reality has in circled is welded accordingly
Point, if all had, the solder joint sum of workpiece and position are all correct；
S23, correct calling soldering tip and mold, when vision system obtains the circumference of workpiece, it is possible to match correspondingly
Mold, then by mold information transfer to execution system, it is possible to successfully call correct mold.When vision system identifies
All parts in workpiece, it is possible to it is corresponding to obtain the soldering tip model needed for each part, by these information transfers to mechanical arm,
Mechanical arm can selects suitable soldering tip from soldering tip storehouse, it is possible to completes the welding of corresponding component.
Further, the step S3 is specifically included：
S31, the solder joint contained by automobile door plate is grouped, based on path planning algorithm, butt welding point is reasonably divided
Group, improve the efficiency of production line；
S32, in each region, based on least radius method, plan the welding procedure of mechanical arm in the region；
S33, the simulation result according to solder joint group result and digital factory, the time needed for each process is obtained, and
According to the required time, judge whether to need by increasing or decreasing station, carry out raising efficiency.
Further, according to the simulation result of digital factory, the time needed for each process is obtained, and according to required
Time, judge whether to need by increasing or decreasing station.
The present invention is had the following advantages relative to prior art and effect：
1) design for welding flexible production line to automobile door plate based on Visual Components is realized.
2) the workpiece integrity detection based on machine vision and solder joint sum detection, can detect underproof input work
Part, useless processing is prevented, and can be according to the result of NI Vision Builder for Automated Inspection, to different workpiece, robot corresponding to calling
Program, realize Flexible production.
3) passage path planning algorithm, the solder joint contained by workpiece is reasonably grouped, improves efficiency.
4) soldering tip storehouse is collocated with the production line, the soldering tip needed for different workpieces can be deposited, realizes Flexible production, and can
According to the simulation result of digital factory, to decide whether to increase or decrease station, to improve efficiency.
Brief description of the drawings
Fig. 1 is Visual Components apparatus for production line overlooking the structure diagrams；
Fig. 2 is Visual Components apparatus for production line overall structure diagrams；
Fig. 3 is welding post design diagram；
Fig. 4 is the solder joint packet diagram based on path planning；
Fig. 5 is machine vision module workflow diagram；
Fig. 6 is workpiece figure and feature extraction figure；
Fig. 7 is workpiece circumference extraction figure；
Fig. 8 is workpiece number of welds and position detection；
Fig. 9 is the threedimensional model in soldering tip storehouse；
Figure 10 is welding post workflow；
Figure 11 is production line workflow.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment
Present embodiment discloses it is a kind of based on digital factory mixing air switch assembling line emulation mode, such as
Shown in accompanying drawing 11, the emulation mode comprises the following steps：
S1, using digital factory simulation software Visual Components to automobile door plate welding flexible production line enter
Row three-dimensional modeling, the different types of automobile door plate welding production line of production is constructed by analog simulation, wherein, the car door
Plate weld production line includes warehouse access section, robot welding area and transmission and memory block；Total design such as accompanying drawing 1 and attached
Shown in Fig. 2.
S11, the type selecting of robot device：From the robot of ABB AB, model is IRB2400L and IRB120.Wherein,
IRB2400L is four axle welding robots for crawl robot and six axle welding robots, IRB120.Crawl robot is mainly born
For duty from conveyer belt grabbing workpiece to workbench, four axle welding robots are mainly responsible for the solder joint of welding vertical direction, the weldering of six axles
Welding robot is mainly responsible for the solder joint of welded bands angle.
S12, robot welding area are built, and the robot welding area includes：1 crawl robot, 8 four axle XYZ welderings
Welding robot, 2 six axle welding robots, 4 be used to loading automobile door plate mold, 1 liftable use can be recycled
In conveyer belt, 1 automobile door plate conveyer belt and the 1 finished product conveyer belt of transport mold, welding post design diagram such as Fig. 3 institutes
Show, workflow is as shown in Figure 10；
S13, the transmission are built with memory block, and the transmission includes with memory block：1 XY is to conveyer belt, 1 shelf, 2
Individual stacking machine and 3 discrepancy goods work stations；
S14, assembling barcode scanning device, by fixed infrared barcode scanning device on a moving belt, when automobile door plate passes through
Time is recorded, and determines that automobile door plate appears in the time of some station, so as to realize the real-time tracking of parts or product；
S15, assembling device for visual identification, carry out auxiliary production so that robot can be certainly using robot vision technology
Motion tracking simultaneously catches part.
S2, using machine vision technique, the integrality for detecting workpiece, the selection for determining mold, detection solder joint sum and
Position, correct calling soldering tip and mold.Wherein, vision module workflow is as shown in Figure 5.
S21, workpiece integrity detection, the image of workpiece is obtained using machine vision technique, to pretreated workpiece figure
As carrying out rim detection and contours extract, then characteristic matching is carried out, so as to judge that Number of Jobs, species, model, size etc. are believed
Breath, determines whether workpiece is complete.The present embodiment is using the Image denoising algorithm based on fractional order integration and based on fractional order differential
Algorithm for image enhancement workpiece image is handled, due to micro- compared to traditional Image Pretreatment Algorithm, these fractional orders
Denoising and enhancing effect of the integral algorithm for workpiece image are more preferable, make the information of workpiece image more complete, improve vision
Accuracy of the system to workpiece identification.Then rim detection and contours extract are carried out to pretreated workpiece image again, then entered
Row characteristic matching, so as to judge the information such as Number of Jobs, species, model, size, determine whether workpiece is complete.As shown in Figure 6
It is workpiece features figure.
S22, solder joint sum and position detection, it is actual each in order to detect after each part of workpiece is identified
Whether there is correct solder joint number and position in part, whether the workpiece figure by contrasting reality has in circled is welded accordingly
Point, if all had, the solder joint sum of workpiece and position are all correct, ensure that the progress of subsequent step.This implementation
In example, the position that there should be solder joint in workpiece figure is drawn into a certain size circle first using Hough loop truss algorithm, then it is right
Whether in circled there is corresponding solder joint than the workpiece figure of reality, if all had, the solder joint sum of workpiece and position
All it is correct, ensure that the progress of subsequent step.As shown in Figure 8.
S23, correct calling soldering tip and mold, when vision system obtains the circumference of workpiece, it is possible to match correspondingly
Mold, then by mold information transfer to execution system, it is possible to successfully call correct mold.When vision system identifies
All parts in workpiece, it is possible to it is corresponding to obtain the soldering tip model needed for each part, by these information transfers to mechanical arm,
Mechanical arm can selects suitable soldering tip from soldering tip storehouse, it is possible to completes the welding of corresponding component.Workpiece circumference extracts
Figure is as shown in fig. 7, production line can judge the type of workpiece according to its area.
S3, it is grouped using path planning algorithm, butt welding point, and is obtained each on the automobile door plate welding production line
The time of task and process, as shown in table 1.
Each task activity time table of the production line of table 1.
S31, the solder joint contained by automobile door plate is grouped, based on path planning algorithm, butt welding point is reasonably divided
Group, improve the efficiency of production line；Using a kind of synchronous positioning based on path planning and Multipurpose Optimal Method.Knowing processing
After the solder joint distribution situation of part, butt welding point carries out rational grouping management, sets the welding region of each mechanical arm.Specific packet
As shown in figure 4, the group that wherein Z1~Z4 is responsible for by 4 four axle robots.
S32, in each region, based on least radius method, plan the welding procedure of mechanical arm in the region；For each
Solder joint, by analyzing the pad of target part and the relativeness of mechanical arm, build seat of each mechanical arm relative to welding region
Mark system, establishes the kinematics and kinetics equation of mechanical arm, plans electroplating equipment wielding machine arm from working as using mechanical arm inverse kinematics principle
Motion control rule of the preceding pad to next pad.
The production line possesses flexible production ability, can handled a variety of equipped with the soldering tip storehouse for adapting to different automobile door plates
Automobile door plate, and corresponding station can be increased or decreased according to simulation result, to lift production line efficiency.
The production line is that each robot welding station is equipped with soldering tip storehouse, is welded for different types of workpiece, is realized mixed
Line produces.The threedimensional model in soldering tip storehouse is as shown in Figure 9.
According to the simulation result of digital factory, the time needed for each process is obtained, and according to the required time, judge
Whether need, by increasing or decreasing station, to carry out raising efficiency.In the present embodiment, the simulation result of digital factory is shown,
Process time needed for 4-XYZ stations is 80S, and the process time needed for 2-6ROBOT is 40S, to improve line balancing rate,
Just two 4-XYZ stations are employed.
In summary, the inventive method is realized welds flexible production line based on Visual Components to automobile door plate
Design；Workpiece integrity detection and solder joint sum detection based on machine vision, can detect underproof input workpiece,
Useless processing is prevented, and can be according to the result of NI Vision Builder for Automated Inspection, to different workpiece, robot journey corresponding to calling
Sequence, realize Flexible production；Passage path planning algorithm, the solder joint contained by workpiece is reasonably grouped, improves efficiency.The life
Soldering tip storehouse is collocated with producing line, the soldering tip needed for different workpieces can be deposited, realizes Flexible production, and can be according to digital factory
Simulation result, to decide whether to increase or decrease station, to improve efficiency.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (8)
1. a kind of emulation mode of the automobile door plate welding flexible production line based on digital factory, it is characterised in that described imitative
True method includes：
S1, using digital factory simulation software Visual Components to automobile door plate welding flexible production line carry out three
Dimension modeling, the different types of automobile door plate welding production line of production is constructed by analog simulation, wherein, the automobile door plate weldering
Producing line of delivering a child includes warehouse access section, robot welding area and transmission and memory block；
S2, using machine vision technique, the integrality for detecting workpiece, the selection for determining mold, detect solder joint sum and position,
It is correct to call soldering tip and mold；
S3, it is grouped using path planning algorithm, butt welding point, and obtains each task on the automobile door plate welding production line
With the time of process.
A kind of 2. emulation side of automobile door plate welding flexible production line based on digital factory according to claim 1
Method, it is characterised in that be that each robot welding station is equipped with soldering tip storehouse on the automobile door plate welding production line, for difference
The workpiece welding of type, realizes Flexible production.
A kind of 3. emulation side of automobile door plate welding flexible production line based on digital factory according to claim 1
Method, it is characterised in that
Task on the automobile door plate welding flexible production line includes：Task A, task B and task C, wherein the task A is
Warehouse accesses, and the task B is robot welding, and the task C is transmission and storage；
The task A includes：Process A1, process A2, wherein, the process A1 stores for automobile door plate, the process A2 automobiles
Door-plate transmits；
The task B includes：Process B 1, process B 2, process B 3, process B 4, process B 5, process B 6, process B 7, process B 8, its
In, the process B 1 is crawl automobile door plate and is placed in the mold of free time, and the process B 2 is 4 four in 4-XYZ stations 1
Axle robot changes soldering tip from soldering tip storehouse, and the process B 3 is that 4 four axle robots in 4-XYZ stations 1 divide according to solder joint
Group result is welded, and the process B 4 is that 4 four axle robots in 4-XYZ stations 2 change soldering tip from soldering tip storehouse, described
Process B 5 is that 4 four axle robots in 4-XYZ stations 2 are welded according to solder joint group result, and the process B 6 is 2-
2 six-joint robots in 6ROBOT stations change soldering tip from soldering tip storehouse, and the process B 7 is 2 in 2-6ROBOT stations
Six-joint robot is welded according to solder joint group result, and the process B 8 is that automobile door plate is separated from mold.
4. a kind of automobile door plate welding flexible production line based on digital factory according to any one of claims 1 to 3
Emulation mode, it is characterised in that the step S1 is specifically included：
S11, the type selecting of robot device, crawl robot, four axle XYZ welding robots and six axle welding robots are chosen respectively
People；
S12, robot welding area are built, wherein, the robot welding area includes：1 crawl robot, 8 four axle XYZ
Welding robot, 2 six axle welding robots, 4 be used for load automobile door plate can be recycled mold, 1 it is liftable
For transporting the conveyer belt, 1 automobile door plate conveyer belt and 1 finished product conveyer belt of mold；
S13, transmission and memory block are built, wherein, the transmission includes with memory block：1 XY is to conveyer belt, 1 shelf, 2
Individual stacking machine and 3 discrepancy goods work stations；
S14, barcode scanning device assembling, by fixed infrared barcode scanning device on a moving belt, when automobile door plate passes through
Recorded, determine that automobile door plate appears in the time of some station, so as to realize the real-time tracking of parts or product；
S15, device for visual identification assembling, auxiliary production is carried out using robot vision technology so that robot can be automatic
Track and catch part.
5. a kind of automobile door plate welding flexible production line based on digital factory according to any one of claims 1 to 3
Emulation mode, it is characterised in that the step S2 is specifically included：
S21, workpiece integrality detection, the image of workpiece is obtained using machine vision technique, to pretreated workpiece image
Rim detection and contours extract are carried out, then carries out characteristic matching, so as to judge Number of Jobs, species, model, dimension information,
Determine whether workpiece is complete；
S22, solder joint sum and position detection, after each part of workpiece is identified, it is by contrasting actual workpiece figure
No to have corresponding solder joint in circled, if all had, the solder joint sum of workpiece and position are all correct；
S23, correct calling soldering tip and mold, when the circumference of vision system acquisition workpiece, match corresponding mold, then
By mold information transfer to execution system, correct mold is called；The all parts in workpiece are identified when vision system, it is corresponding
The soldering tip model needed for each part is obtained, by these information transfers to mechanical arm, mechanical arm selects suitable weldering from soldering tip storehouse
Head, complete the welding of corresponding component.
6. a kind of automobile door plate welding flexible production line based on digital factory according to any one of claims 1 to 3
Emulation mode, it is characterised in that the step S3 is specifically included：
S31, the solder joint contained by automobile door plate is grouped, based on path planning algorithm, butt welding point is reasonably grouped, and is carried
The efficiency of high production line；
S32, in each region, based on least radius method, plan the welding procedure of mechanical arm in the region；
S33, the simulation result according to solder joint group result and digital factory, obtain the time needed for each process, and according to
The required time, judge whether to need by increasing or decreasing station, carry out raising efficiency.
A kind of 7. emulation side of automobile door plate welding flexible production line based on digital factory according to claim 5
Method, it is characterised in that use pretreated workpiece image based on fractional order integration in the detection of the workpiece integrality
Image denoising algorithm and rim detection and contours extract are carried out to workpiece based on the algorithm for image enhancement of fractional order differential.
A kind of 8. emulation side of automobile door plate welding flexible production line based on digital factory according to claim 5
Method, it is characterised in that will should have in workpiece figure first using Hough loop truss algorithm in the detection of the solder joint sum and position
The position for having solder joint draws a certain size circle, then contrasts whether actual workpiece figure in circled has corresponding solder joint,
If all had, the solder joint sum of workpiece and position are all correct.
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| CN109967904B (en) * | 2017-12-27 | 2022-03-29 | 中集车辆(集团)股份有限公司 | Automatic assembling and welding method for trailer |
| CN109514552A (en) * | 2018-11-14 | 2019-03-26 | 华南理工大学 | A kind of method of the identification of automobile door plate solder joint and path of welding planning |
| CN110389534A (en) * | 2019-07-01 | 2019-10-29 | 东华大学 | A kind of Multi-axis motion control virtual experimental system based on the twin technology of number |
| CN110488810A (en) * | 2019-07-22 | 2019-11-22 | 华南理工大学 | Welding robot optimum path planning method based on improved Particle Swarm Algorithm |
| CN111922563A (en) * | 2020-07-19 | 2020-11-13 | 武汉理工大学 | MBD-based welding process planning method and device |
| CN111922563B (en) * | 2020-07-19 | 2021-09-28 | 武汉理工大学 | MBD-based welding process planning method and device |
| CN112355633A (en) * | 2020-11-19 | 2021-02-12 | 安徽东方旭电气设备有限公司 | Digital assembly line |
| CN112355633B (en) * | 2020-11-19 | 2022-01-14 | 安徽东方旭电气设备有限公司 | Digital assembly line |
| CN112330193A (en) * | 2020-11-20 | 2021-02-05 | 上汽大通汽车有限公司 | Error-proofing method for finished automobile manufacturing production line |
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