机器人滚压包边成形缺陷的研究.pdf

西华大学硕士学位论文
摘 要
机器人滚压包边技术的出现是目前汽车市场发展趋势的必然产物。其用成本低，占
地面积小，柔性好等优点来逐渐取代传统压力机包边模具占地多，能耗大，投资成本高
等缺点。
本文首先介绍了模具包边等各种覆盖件内、外板的包边工艺，包边类型以及优缺点
等，进而引出机器人滚压包边技术与其各方面的对比，说明使用机器人滚压包边技术的
优越性。接着，着重对机器人滚压包边系统的三大组成部分进行了详细阐述。最后，借
助于有限元软件分析，对机器人滚压包边过程进行数值模拟分析。在实际的覆盖件包边
扣合生产过程中，产生的质量缺陷对汽车的装配和整体车型外观有着不容忽视的影响。
本文在对滚边过程进行数值模拟过程时，通过改变滚边次数、TCP-RTP 距离、滚轮直径
以及滚边的摩擦系数等工艺参数，研究了这些参数对滚边质量缺陷的影响。同时，在数
值模拟分析的基础上，通过比较分析研究了哪类工艺参数对滚压包边质量影响更大，并
分析了此类因素所带来的质量缺陷问题。

关键字： 机器人滚压包边技术；数值模拟分析；滚边质量缺陷


























I
机器人滚压包边成形缺陷的研究
Abstract
To meet the incremental requirements of car manufacturing market, the appeared robotic
roller hemming technology, with the advantage of low cost, small footprint, good flexibility
and so on, is inevitable a trend currently to replace the traditional hemming technology with
die, which is characterized by large area occupation, energy consumption, and high
investment.
In this thesis, at first, the hemming process, its classification and characteristic was
introduced. And the advantages of robotic roller hemming technology were emphasized
through compared with die hemming technology. Then, the three major constitution of the
robotic roller hemming system were focused and elaborated. Finally, the process of robotic
roller hemming was simulated by FE software Ls-Dyna. This numerical simulation was come
from quality defects appeared in practical automotive assembly of hemming process. In the
numerical simulation, by change the hemming steps, the TCP-RTP distance, the roller
diameter, the coefficient of friction and other process factors, the affects on quality defects
has been studied for hemming process. Meanwhile, in order to identify which factors hav