摘 要 摘摘 要要 基于工业机器人控制的滚边压合技术研究 工业机器人控制的滚边压合技术是近年来发展的热点之一，机器人控制的滚边压合技术的出现是迎合目前汽车市场发展趋势的必然，工业机器人技术在压合领域中的应用，根据轿车生产制造技术的要求，不但要满足其生产部件总成的安全性，同时在车身塑形，涂胶，机器人压合头，机器人编程等多方面都提出了更高的要求。 由于此项技术游离于机器人控制技术、压合技术、机械制造技术、计算机模拟技术之间，是各专业学科研究的综合应用，并且也是在近几年刚刚开始应用，目前在国内还没有针对此项技术专门的研究。所以本课题，通过对实际生产中此项技术的系统构成、建模编程、工具使用、轨迹规划、质量控制和调整等核心内容进行研究。 论文基于工业机器人滚边压合的技术特点，采用 ROBCAD 建模技术，离线编程方法，Audit 评审标准与质量调整优化手段等，剖析出机器人控制的滚边压合技术的突出技术优势和特点，最后基于研究得出工业机器人滚边压合技术特性及适用范畴。 介绍了工业机器人制造技术和压合技术的发展历史和概况，从发展的历史中得出了机器人技术和压合技术的结合点，滚边压合技术出现的必然性，将机器人的优势和滚边压合的优势结合，逐步取代传统标准翻边设备，并阐述了课题研究的范围和内容。着重就工业机器人滚边系统的构型进行了研究，阐述了滚边压合的原理、工艺设计标准、硬件构成，并结合 B 型车前盖的压合工艺特点进行了详细的分析，得出滚边压合系统组成灵活多变，组合方式必须满足工艺需求，同时可以采用多套压合轮组，并采取轮组工具更换的方式满足更加复杂的工艺要求的结论。机器人控制的滚边压合是一门综合研究的课题，不单纯的涉及到机器人程序编制，还涉及到整个系统的自动控制及通讯，是一套复杂的综合系统。课题以B 型车的生产工位为例通过对自动控制、机器人编程步骤，标准、离线编程等环节进行分析、整理和研究，理清了控制技术的关键点和构架脉络，并根据机器人滚边压合技术的特性剖析了产品的质量缺陷及质量控制方法及标准。 关键词：工业机器人；滚边压合；控制；工业机器人；滚边压合；控制； Abstract Abstract The Research of Base on Industry Robot Control to Roller Hemming Technology Industrial robot technology applies in the field of pressing, according to the requirements of car manufacturing, not only needs to meet the safety requirement of its production parts assembly, but also raises higher requirements in the body shaping, coating, robot pressing head, robot programming and so on. The roller hemming technology is the integrated application of the robot control technology, lamination technology, manufacturing technology, and computer simulation technology,. Besides, it is just beginning to applications in recent years and there is no specific study of this technology in our country. Therefore, this paper will study the core content of the technology, including system structure of this technology in actual production, modeling programming, tool, path planning, and quality controlling and adjusting. Based on technical features of industrial robot Control roller hemming using ROBCAD modeling techniques, off-line programming method, Audit evaluation criteria and quality adjustment and optimization means, the paper analyzes outstanding technical advantages and features. According to this result, we can draw the conclusion what the technical characteristics and application areas of roller hemming technology are. The paper introduces the development history and overview of the industrial robots manufacturing and roller hemming technology. From the study of their history we can deduce intersection points of them. It is inevitable for the appearance of industrial robot roller hemming technology,. This technology combines the advantages of robots and roller hemming, so it would replace the traditional standard flanging equipment. This paper is focused on industrial robots roller hemming system configuration, and expounds the principles of roller hemming, process design criteria and hardware construction ,combined with a detailed analysis of the Model B front cover roller hemming process features also conclude that roller hemming system composition is flexible, but composition method must meet the process requirement. So we can use several sets of crimping wheels, and change the whole set of wheels tool to meet the technological requirements. Roller hemming based on Industrial robot control is a comprehensive study subject, not simply related to the robot programming, but also to automatic control and communications of the whole system. Therefore，it is a complex integrated system. Taken Model B car work station as an example, through the analysis, collation and 吉林大学硕士学位论文 study of robot programming procedures, standards, off-line programming and other aspects, the paper clarifies the key points and framework of the control technology, and analyzes the product quality defects, quality control methods and standards, according to characteristic of robots roller hemming technology. Keywords: Industry Robot；Roller Hemming；Control 目 录 目 录 目 录 第第 1 章章 绪绪 论论.1 1.1 引言.1 1.2 工业机器人制造技术概述.1 1.2.1 工业机器人技术的起源和发展.1 1.2.2 工业机器人技术特点.2 1.3 压合技术的发展及现状.3 1.3.1 传统压合技术.3 1.3.2 国内外滚边压合技术的发展与现状.5 1.4 课题研究简介.7 1.4.1 课题研究对象及范围.7 1.4.2 研究内容.8 1.5 本章小结.8 第第 2 章章 工业机器人滚边压合系统能组工业机器人滚边压合系统能组 .9 2.1 滚边压合原理.