基于接触式压力脚的机器人制孔法向检测与调姿方法  

Contact-type pressure foot-based detection and adjusting method of normal direction for robotic drilling system

作　　者：李鹏程[1] 李明宇 郑炜 徐鹏[1] 戴家隆[1] 王望 田威[1] LI Pengcheng;LI Mingyu;ZHENG Wei;XU Peng;DAI Jialong;WANG Wang;TIAN Wei(College of Mechanical and Electronic Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;AVIC Xi’an Aircraft Industry Group Company Ltd.,Xi’an 710089,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中航西安飞机工业集团股份有限公司,陕西西安710089

出　　处：《计算机集成制造系统》2023年第3期731-739,共9页Computer Integrated Manufacturing Systems

基　　金：国家重点基础研究发展计划(973计划)资助项目(2018YFB1306800);国家自然科学基金资助项目(51875287)。

摘　　要：铆接是飞机装配中结构件的主要连接方式,铆接质量直接关系到飞机的使用寿命和安全性,而制孔垂直度是影响铆接质量的重要因素。目前,自动化钻铆设备在工件受压变形前进行法向检测,变形后再进行法向调整,导致其难以实现壁薄、大曲率、弱刚性产品的法向找正。针对上述问题,本文研究了基于工件受压变形补偿的法向检测和法向调整方法,设计了能够满足壁薄、曲率大、刚性弱产品表面制孔垂直度要求的接触式法向找正压力脚模块,提出了改进的接触式法向检测与调姿算法。在4 mm叠层板上的制孔实验表明,采用相同的钻锪一体式制孔方法,经改进法向找正补偿后,制孔垂直度误差在0.07°以内,锪窝深度偏差在-0.03~0 mm以内,相较于未进行法向检测而直接制孔的方式,采用法向姿态补偿后的方式,将锪窝精度提高了68%。Riveting is the main connection method of structural parts in the aircraft assembly,the riveting quality is directly related to the service life and safety of the aircraft,and the verticality of the aperture is an important factor affecting the quality of riveting.At present,the automated drilling riveting equipment performs a normal detection before the workpiece is deformed,and the normal adjustment is made after the deformation,resulting in a method of difficulty to achieve a thin,large curvature and weak rigid product.In response to the above problems,a method of detecting the normal detection and normal adjustment of the workpiece based on the deformation compensation was performed.A contact-type pressure foot structure was designed to meet the thin,large curvature,and weak rigid product surface.The improved contact type normal direction detecting and posture adjusting method was proposed correspondingly.The experiment showed that the perforation vertical degree on the 4 mm thick laminate was within 0.07°,the depth deviation of the nest was within 0.03~0mm,and the accuracy was increased by 68%.

关 键 词：飞机装配 制孔装备 压力脚 法向找正 工业机器人 

分 类 号：V262.4[航空宇航科学与技术—航空宇航制造工程]