摘要
飞机装配连接中高锁螺栓应用量大,借助机器人进行自动化安装,可大大减轻工人工作量。根据高锁螺母自动化安装工艺需求,设计机器人末端执行器,主要包括螺母输送换位装置、套筒扳手拧紧传动装置和止动工具装置、线性进给传动装置,可完成自动化输送、换位、对位、吸附、进给、拧紧和止动等一系列动作。该末端执行器可安装于工业机器人之上,结合视觉测量和控制装置,构成高锁螺母自动化安装系统。
In aircraft assembly and mechanical connection,the quantity of hi-lock bolt is large,and the robot can be used in automatic installation to release human labor.According to the requirement of automatic installation for hi-lock nut,the robotic end-effecter is designed,which mainly includes the nut transposition device,the sleeve wrench tightening drive and the stop tool device,and the linear feed transmission device,and which can complete the automatic transport,transposition,counter-position,adsorption,feed,tightening and stop action.The end effector can be mounted on the robot and combined with the vision measuring and control device to form a hi-lock nut automatic installation system.
作者
姜杰凤
毕运波
JIANG Jiefeng;BI Yunbo(Qianjiang College,Hangzhou Normal University,Hangzhou 310036,CHN;Department of Mechanical Engineering,Zhejiang University,Hangzhou 310027,CHN)
出处
《制造技术与机床》
北大核心
2019年第8期73-76,共4页
Manufacturing Technology & Machine Tool
基金
浙江省基础公益研究项目(LGG18E050018)
浙江省教育厅一般科研项目(Y201737162)
