一种基于双机器人的自动钻铆终端器设计  

Design of a Drilling & Riveting End-machine Based on Dual-robot

作　　者：李菡[1] 余德忠[1] 

机构地区：[1]浙江大学机械工程学系,杭州310027

出　　处：《机械科学与技术》2010年第10期1297-1301,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：针对大型飞机的机身壁板零部件装配,提出一种基于双机器人协同的机器人钻铆终端机构以及与其配套的自动供钉装置。通过机器人夹持终端机构进行自动钻锪孔及辅助铆接试验,验证了机器人自动钻孔、顶紧及辅助铆接的可行性;分析并得出铆钉输送管道的最小弯曲半径计算方法及防止铆钉卡死的必要条件,保证了供钉过程中铆钉在柔性管道中输送的可靠性。实验与理论计算结果表明:该钻铆终端机构及其自动供钉装置的输送管道能够满足双机器人自动钻铆的应用要求。For the assembly of large aircraft fuselage wainscot,a kind of dual-robot-synergy-based robotic drilling riveting end-machine and its automated rivet feeding apparatus are presented.Through the test in which the robot clamp end-machine drills and countersinks holes automatically and does auxiliary riveting,the feasibility of robotic automatic drilling and riveting is verified.To ensure the reliability of rivet transportation in a flexible pipeline,the smallest pipe bend radius is analyzed and calculated,and the necessary condition is worked out to prevent the rivet from being locked in the pipe.All of the experiments and theoretical calculation results demonstrate that the robotic drilling riveting end-machine and its automated rivet feeding apparatus＇ flexible pipeline can satisfy the requirements of the assembly system.

关 键 词：机器人 钻铆 自动供钉 飞机装配 

分 类 号：TH16[机械工程—机械制造及自动化] V26[航空宇航科学与技术—航空宇航制造工程]