TH.2026.01.017]
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三轮车架多机协同柔性焊接生产线设计()

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

Title:: Design of a multi-robot collaborative flexible welding production line for tricycle frames

作者:: 邓菲1; 2; 李欣1; 2; 张金辉1; 2; 于浩1; 2; 1.河北省机电一体化中试基地有限公司；2.河北省智能测控技术创新中心,河北石家庄 050000

Author(s):: DENG Fei1; 2; LI Xin1; 2; ZHANG Jinhui1; 2; YU Hao1; 2; 1.Hebei Mechatronics Intermediate Pilot Base Co., Ltd. Hebei Shijiazhuang 050000, China; 2.Hebei Intelligent Measurement and Control Technology Innovation Center, Hebei Shijiazhuang 050000, China

Keywords:: electric tricycle; tricycle frames welding; welding production line; multi-robot cooperative welding

摘要:: 针对电动三轮车车架自动焊接生产需求，设计了一条基于8台焊接机器人协同作业的柔性车架焊接生产线。在成本控制前提下，针对厚料利用旋转电弧传感器实时补偿焊接误差，针对薄料通过激光位移传感器实时采集焊缝信息并调整轨迹，实现自适应轨迹规划；在车架非悬空固定情况下，采用多机器人协同分步焊接策略，保障焊接过程中车架结构稳定性，有效抑制热变形；设置双工位焊台确保无间断焊接。试运行情况表明，该生产线实现了车架从原料到成品的全流程自动焊接，与传统人工焊接相比，焊接效率和质量均得到明显提升，有利于推动企业生产数字化升级，增强综合竞争力。

Abstract:: A flexible vehicle frame welding production line based on the collaborative operation of 8 welding robots has been designed to meet the automatic welding production needs of electric tricycle frames. Under cost control constraints, rotating arc sensors are used in real-time to for welding errors for thick materials, while laser displacement sensors are employed to collect weld seam information and adjust trajectories in real-time for thin materials, achieving adaptive trajectory planning. A multi-stage welding sequence with synchronized robots ensures structural stability and effectively suppresses thermal deformation while frames remain secured in non-suspended fixtures. A dual-station welding table is set up to ensure uninterrupted welding. Trial operation results indicate that this production line has achieved full-process automatic welding of frames from raw materials to finished products. Compared to traditional manual welding, both welding efficiency and quality have been significantly improved, which is conducive to promoting the digital upgrade of enterprise production and enhancing overall competitiveness.

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备注/Memo:: 收稿日期：2025-08-09基金项目：石家庄市中试熟化平台项目（234790134A）第一作者：邓菲（1988—），女，汉族，河北衡水人，硕士研究生，高级工程师，研究方向为智能装备设计开发。Email：hsdengfei@126.com

更新日期/Last Update: 1900-01-01