航空线束自动布线设备中机器人的应用  

Application of robots in aviation harness automatic wiring equipment

作　　者：杜伟超 王平 刘贡平 黄慧萍 王楠 乔晓利[1,3] DU Weichao;WANG Ping;LIU Gongping;HUANG Huiping;WANG Nan;QIAO Xiaoli(School of Mechelectronical Engineering,Changchun University of Technology,Changchun 130022,China;AVIC Xi’an Aircraft Industry Group Co.,Ltd.,Xi’an 710089,China;Chongqing Research Institute,Changchun University of Technology,Chongqing 401135,China)

机构地区：[1]长春理工大学机电工程学院,长春130022 [2]中航西安飞机工业集团股份有限公司,西安710089 [3]长春理工大学重庆研究院,重庆401135

出　　处：《重庆理工大学学报（自然科学）》2024年第6期141-148,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：军委装备发展部“慧眼行动”项目(62502010223);重庆英才计划包干制项目(cstc2022ycjh-bgzxm0187)。

摘　　要：针对航空线束生产过程劳动强度大,自动化程度低的问题,研发了航空线束自动布线设备,以布线机器人为核心执行机构,能够自动完成整个布线过程,极大地提高了航空线束的生产效率,降低了劳动强度。针对自动布线机器人生产过程中的布放拐点柱和铺设导线2个关键环节,提出基于视觉反馈的拐点柱插入方法和象限判别布线轨迹规划方法,降低了拐点柱插入失败的风险,解决了机器人布线轨迹规划难题。开展的相关实验中,共布放1014根拐点柱,未出现插入失败的情况,可在13.1~13.6 s的时间内完成单根拐点柱的布放工作;共铺设导线1385根,总长度10909 m,简单结构线束平均布线速度可达0.875 m/s,复杂结构线束平均布线速度可达0.652 m/s。The production of aviation harness features high labor intensity and low automaticity.Against this backdrop,the aviation harness automatic wiring equipment has been developed,which takes the wiring robot as the core actuator and automatically completes the entire wiring process,substantially improving the production efficiency of aviation harness and reducing the labor intensity.This paper investigates the two key links of laying inflection joint columns and wires in the production process of automatic wiring robot.Then,it proposes an inflection joint column insertion method and quadrant judgment routing trajectory planning method based on vision feedback,aiming to reduce the risk of inflection joint column insertion failure and address the problem of robot wiring trajectory planning.In our experiments,a total number of 1014 inflection joint columns are deployed,and no insertion failure has occurred.The deployment of a single inflection joint column is completed in 13.1~13.6 seconds and a total number of 1385 wires with a total length of about 10909 m are laid.The average wiring speed of simple structure harnesses reaches 0.875 m/s,and that of complex structural harnesses 0.652 m/s.

关 键 词：自动布线 视觉反馈 象限判别 轨迹规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]