移载式机器人制孔系统在飞机装配中的应用

Application of Load Transfer Robot Hole-Drilling System in Aircraft Assembly

以机器人、末端执行器及AGV为平台构建的移载式机器人制孔系统既具备机器人制孔优质、高效、稳定的特点,又有适用范围广、对传统装配工装改进需求小、综合成本低的优势。本文研究了实现机器人制孔系统站位间转换、不同叠层材料的弱刚性结构精确制孔及锪窝等关键技术,并开展了典型壁板装配应用验证,实现了生产线上不同位置、不同结构形式部件的高精度、高效率自动制孔,该系统对提升飞机产品质量和生产效率、降低综合制造成本等具有重要意义。

By taking robot,end actuator and AGV as platforms,the load transfer robot hole-drilling system is constructed to make holes of high quality,high efficiency and stability.It also merits a wide application range,little demand for the modification of traditional assembly tooling and a low overall cost.In this paper,highly accurate and efficient auto hole-drilling for components of different structures and of various positions in production line is achieved by studying key technologies for station-to-station transition of the robot hole-drilling system,accurate hole-drilling and countersinking on weak rigid structure of different laminate materials,and by verifying its application on the assembly of typical panels.This system is of great significance in improving the aircraft quality and production efficiency,as well as reducing the overall production cost.