基于双机器人的整流罩电磁铆钉自动装配策略研究

Research on Automatic Assembly Strategy of Fairing Electromagnetic Rivets Based on Dual Robots

针对武装直升机整流罩的铆钉装配过程中存在的装配难度高和铆钉数量(基数)多等问题,提出一种基于双工业机器人协同装配的策略。该策略采用基于C#.NET桌面程序的上位机为核心、PLC和工业机器人协同控制的控制系统。通过对铆钉装配工艺的研究,提出了铆钉装配策略,基于工业机器人运动学模型,设计了铆钉装配路径。基于Robotstudio搭建铆钉穿插工序仿真模型,对铆钉装配轨迹进行仿真,搭建铆钉装配实验平台,对铆钉装配仿真的装配轨迹进行实验对比验证。

Aiming at the problems of high assembly difficulty and large number of rivets in the rivet assembly process of the fairing of the gunship,a strategy based on the collaborative assembly of dual industrial robots is proposed.This strategy adopts the host computer based on C#.NET desktop program as the core,and the control system controlled by PLC and industrial robot collaboratively.Through the research on the rivet assembly process,the rivet assembly strategy is proposed,and the rivet assembly path is designed based on the kinematic model of the industrial robot.Based on Robotstudio,a simulation model of rivet insertion process is built,the rivet assembly trajectory is simulated,the rivet assembly experimental platform is built,and the experimental comparison and verification of the rivet assembly simulation assembly trajectory are carried out.