摘 要

近年来，由于汽车对化石能源的大量消耗，人们开始注意到节约能源的重要性，汽车轻量化可以有效减轻汽车的能量损失和污染排放，其中，采用轻质的热冲压高强度钢材是减轻车身重量的一个有效方法。本文针对热冲压生产线输送板料的快速性进行了设计，分析并确定了两机械手协同运输时的运输参数，并通过RobotStudio进行了三维建模和路径编程。

热冲压生产线的板料运输需要两个机械手合作完成，这两个机械手存在着一个交接板料的过程，若两机械手采用协同运输的方式进行交接，即两机械手在某一段距离内保持绝对位置和绝对速度的相同，使两机械手在运动过程中完成板料交接，则可以提高加热后的板料运输进入压力机的速度，缩短板料运输时间，从而减少板料在运输过程中的热量损失，提高热冲压成形产品的质量。

本文通过对协同运输方案进行运动学分析，计算出不同重合距离下的协同运输参数和总运输时间，结果显示，重合距离增加时，总的输送时间不断减少，但是当重合距离大到一定程度时，再增加重合距离带来的时间收益并不大，而且综合考虑生产线的空间布局，重合距离并非越大越好。

本文根据实际的热冲压生产线运输里程在RobotStudio中进行了协同运输方案的三维建模，并根据运动学计算的协同运输参数进行路径编程，将程序导入到实际生产线的机械手中便可完成协同运输。

关键词：热冲压生产线；多机械手协同运输；Robotstudio；仿真验证。

Abstract

In recent years, due to the huge consumption of fossil energy by automobiles, people begin to pay attention to the importance of energy conservation. Lightweight automobiles can effectively reduce the energy loss and pollution emissions of automobiles. Among them, the use of lightweight hot stamping high-strength steel is an effective method to reduce the body weight.In this paper, the rapidity of hot stamping production line was designed, the transport parameters of the two manipulators were analyzed and determined, and the 3d modeling and path programming were carried out through RobotStudio.

Hot stamping production line of sheet metal transport needs to be done two manipulator cooperation, the two robots there is a transition process of sheet metal, if two manipulator using collaborative transportation way to transition, namely two robots within a certain distance to maintain absolute position and absolute speed is the same, make the two manipulator complete sheet transfer in the process of movement, can improve the speed of transportation into the press sheet after heating, transport time shorten sheet, thereby reducing heat loss in the process of sheet metal in the transportation, improve the quality of hot stamping products.

Based on kinematics analysis has been made to the coordinated transport, calculate the coordinated transport parameters under different overlap distance and total transport time, the results show that the overlap distance increases, the total delivery time, but when the overlap distance to a certain extent, add overlap distance time of benefits is not large, and to comprehensively consider the spatial layout of production lines, the greater the overlap distance is not the better.

In this paper, according to the actual transportation mileage of hot stamping production line, 3d modeling of collaborative transportation scheme was carried out in RobotStudio, and path programming was carried out according to the kinematic calculation of collaborative transportation parameters. Collaborative transportation can be completed by importing the program into the mechanical hands of the actual production line.

Key Word：hot-stamping line；cooperation work of multi-manipulator；Robotstudio； simulation verification.

目录

摘要 I

Abstract II

目录 III

第1章 绪论 1

1.1选题背景 1

1.1.1热冲压成形技术简介 1

1.1.2热冲压生产线国内外研究现状 1

1.2研究目的、内容与意义 2

1.2.1研究目的和意义 2

1.2.2研究内容 4

第2章 协同策略分析 4

2.1离线协同和在线协同 4

2.2匀速协同和非匀速协同 5

2.3本章小结 6

第3章 协同运输运动学计算 6

3.1协同运输的T型曲线分析 6

3.1.1匀速协同的T型曲线与运动分析 7

3.1.2非匀速协同的T型曲线 8

3.2热冲压生产线参数计算 9

3.3本章小结 12

第4章 协同输送策略的路径编程 13

4.1 RobotStudio简介 13

4.2协同输送系统的结构 13

4.3协同输送在RobotStudio中的实现 14

4.3本章小结 17

第5章 总结与展望 17

5.1本文工作总结 17

5.2本文不足与未来工作展望 18

致谢 19

参考文献 20

附录A 慢节拍下的路径编程 22

附录B 中节拍下的路径编程 23