A multi-robot multi-station collaborative spot welding planning method based on step-by-step optimization
A multi-robot, multi-station technology, applied in the direction of manipulators, welding equipment, manufacturing tools, etc., to achieve the effect of improving search ability and convergence speed
Active Publication Date: 2021-05-11
SOUTHEAST UNIV
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[0005] Purpose of the invention: In order to overcome the deficiencies of the above-mentioned prior art, a multi-robot multi-station collaborative spot welding planning method based on step-by-step optimization is provided. The collaborative task planning algorithm, in the face of complex and constrained multi-robot multi-station operation optimization problems, adopts a step-by-step optimization method to simplify the problem and the model, which greatly reduces the search solution space and improves the computational efficiency and efficiency of the algorithm. convergence speed
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[0081] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0082] figure 1 The overall flowchart of the step-by-step optimization-based multi-robot multi-station collaborative spot welding operation planning method proposed for this patent. The specific steps of the algorithm are as follows:
[0083] 1. Establishment of multi-robot multi-station collaborative spot welding operation optimization model
[0084] The present invention is aimed at the spot welding operation line of automobile interior parts, such as figure 2 As shown, the assembly line mainly welds and assembles the welding spots at the joints of the automobile door panels. It is mainly composed of detachable welding and assembly units. There are currently 2 welding stations, and each station has 4 3-axis robots to complete the welding task at the same time. Each robot can move along three rails, and the welding unit of the w...
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The invention discloses a multi-robot multi-station collaborative spot welding operation planning method based on step-by-step optimization, which includes: describing and analyzing the multi-robot multi-station collaborative spot welding operation optimization problem, and setting up constraint conditions and optimization goals, Establish a multi-robot multi-station collaborative spot welding operation optimization model; based on the principle of task balance, establish an initial allocation plan, carry out solder joint code allocation and genetic algorithm iterative solution, and obtain a local optimal solder joint allocation scheme; single-robot solder joint sorting; complete Welding station allocation, get multi-robot multi-station collaborative spot welding operation planning scheme. The invention provides a multi-robot collaborative multi-station spot welding operation planning method, which solves the problems of multi-robot multi-station task planning problem constraints, complex models, and wide search solution space that are difficult to solve, and improves the algorithm's search ability and convergence speed.
Description
technical field [0001] The invention relates to the technical field of multi-robot collaborative task planning, in particular to a multi-robot multi-station collaborative spot welding planning method based on step-by-step optimization. Background technique [0002] With the development of robot technology, industrial robots have been widely used in all aspects of industrial production and daily life, such as welding, spraying, handling and other fields. Spot welding of automotive interior parts In the past manual welding operations, welders need to be exposed to arc light and high temperature for a long time, and the work intensity is relatively high. This kind of dangerous work cannot be operated for a long time, and it is easy to cause irreparable damage to the workers' health. damage. The operation of welding robots is more flexible, which can not only improve the efficiency of mechanical manufacturing and reduce costs, but also ensure the health of operators and play an...
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IPC IPC(8): B25J9/16B23K37/02
CPCB23K37/0258B25J9/1605B25J9/1682
Inventor 周波周睿甘亚辉钱堃房芳
Owner SOUTHEAST UNIV