热冲压生产线中工业机器人输送路径的优化

以工业机器人为载体的冷热料混合输送系统,是高强度钢热成形生产线中的关键环节之一。为了最大程度减少热坯料输送过程的温度散失,必须保证热料输送过程的平稳性和快速性。以高强度钢板热冲压成形数字化生产线的研究为背景,以六自由度关节型工业机器人的运动学模型为基础,在分析其运动特性的基础上,寻找到一种优化的输送路径的方法,并对新、旧方案的模拟及实测结果进行对比分析,发现使用优化方案后,在将热料输送时间由原先的2.7s降低到1.8s的同时还降低了运动加速度,从而充分证明了新方案的优越性和适应性。

Optimization of industrial robot's transmission path in hot stamping production line

The transmission system with the industrial robot as the carrier which conveys both cold and hot metal sheets is one of the key links of the automatic production line for high strength steel hot stamping.In order to minimize the heat lose of the hot sheet during transmission,the rapidity and stability of the robot’s movement must be guaranteed.With the high strength steel hot stamping production line as the research background,the kinematics model of the joint industrial robot with six degrees of freedom was set up.On the basis of analyzing the motion characteristics,a kind of optimized transmission path was found out.After comparing with the former scheme by both the simulation results and the test results,the optimized scheme proved its superiority and adaptability by reducing the transmission time from 2.7 s to 1.8 s and reducing the acceleration simultaneously.