基于工业机器人的飞机柔性装配技术

Aircraft Flexible Assembly Technology Based on Industrial Robots

研究了基于工业机器人的飞机柔性装配技术,着重讨论了机器人精度补偿、末端执行器设计、法线检测与找正、系统控制、离线编程等关键技术。通过在小翼部件加工中的应用,达到了孔位精度<±0.5mm、法向精度<±0.5°等关键技术指标。结果表明,对于特定应用对象采用机器人技术进行飞机部件自动装配为一个理想、低成本的解决方案,随着当今工业机器人性能不断增强,配以末端执行器和相关的补偿系统,在航空工业作为装配平台是可行的。

The industrial robot flexible assembly technology for the plane drilling and riveting is presen- ted. The key technologies are researched including accuracy compensation of multi-joint robot, multi- function end effector （MFEE）, workpiece surface normal measurement and alignment, system control technology, and off-line programming etc. To qualify this for production on the small wing parts assem- blies, the system produces each hole to a diameter tolerance of ±0.5 mm and a normality tolerance of ＋ 0.5°. Results show that automated assembly of aircraft structures using robotic technology can be an ideal, low cost and effective solution in the appropriate application. With the increased functionality available in today＇s off-the-shelf industrial robots, teamed with the multifunction end effector and soft- ware compensation, their use as assembly platform in the aerospace industry is fast becoming viable.